Using the library with other versions of software or firmware may have results other than described in the present documentation.
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UNINTENDED EQUIPMENT OPERATION |
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oBe sure that the software and firmware are of the versions supported by this library. oContact your Schneider Electric service representative for compatibility information. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Version identification
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Description |
Version |
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Robotic |
V3.0.3.0 |
EcoStruxure Machine Expert V1.2.6
Version identification
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Description |
Version |
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Modicon M262 Motion Controller (TM262M25MESS8T and TM262M35MESS8T) |
V5.0.4.83 |
Version identification
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Description |
Version |
|---|---|
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EcoStruxure Machine Expert |
V1.2.6 |
For the related hardware/firmware information, see above.
The Modicon M262 Motion Controllers TM262M25MESS8T and TM262M35MESS8T are supported now with the following stipulations:
oSercos cycle time must be set to 4 ms.
oOne M262 controller can control one robot.
oThe method IF_RobotConfiguration.SchneiderElectricRobot is not supported.
oThe tracking methods IF_RobotConfiguration.AddLinearTrackingSystem, IF_RobotConfiguration.AddLinearTrackingSystem2, IF_RobotConfiguration.AddLinearTrackingSystem3, and IF_RobotConfiguration.AddRotativeTrackingSystem are not supported.
oFor Modicon M262 Motion Controllers: If FB_Robot and/or IF_Robot report a diagnostic message and the axis is in MOIN.ET_AxisState.ErrorStop state, FB_Robot and/or IF_Robot must be disabled and MC_Reset must be executed to reset the axis.
For Modicon M262 Motion Controllers with an axis configured as modulo, the property xEnable of FB_Robot does not operate as intended.
If you set xEnable to TRUE a diagnostic message is reported.
Workaround:
1.Disable the robot.
2.Modify the axis from modulo to linear.
3.Enable the robot. Result: A diagnostic message is reported.
4.Disable the robot again.
5.Enable the robot.
