NOTE: This library is for projects exclusively.
The library Robotic V1.2.1.0 is released for projects exclusively.
Gc_xLibraryForProject : BOOL := TRUE;
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. |
oPacDrive 3 Controller LMC101C
oPacDrive 3 Controller LMC201C
oPacDrive 3 Controller LMC300C
oPacDrive 3 Controller LMC400C
oPacDrive 3 Controller LMC600C
oSoMachine Motion V4.1
PacDrive 3 V4.1
oPacDrive LMC x00C V1.51.10.6 or greater
oPacDrive LMC x01C V1.51.10.6 or greater
oIF_RobotConfiguration.Delta2Ax
With this method, the robot can be configured as a biaxial Delta robot with two degrees of freedom.
The property rastJoint2 has been added.
It represents the joints at the TCP plate of the configured triaxial Delta robot which correspond to the mechanical robot coordinate system.
The feedback interface has been added and is a property of IF_RobotFeedbackKinematic.
It represents the cartesian positions of the motors and joints of the configured biaxial Delta robot which correspond to the mechanical robot coordinate system.
The property rastJoint has been renamed to rastJoint1.
It represents the cartesian positions of the joints between the upper and lower arms of the configured triaxial Delta robot which correspond to the mechanical robot coordinate system.
oRuntime optimization
The runtime when sending motion commands to the robot has been optimized.
The interpolation of spline motions is fully supported in the present version.
oIF_RobotConfigurationAdvanced.ModifyCoordinateSystem
In case of a two-dimensional transformation of the robot, the method will verify whether it is possible to move or rotate the coordinate system or not.
It is not possible to move the coordinate system in Z direction if the working plane of the robot is XY.
oMotion commands have caused Watchdog Exception
A Watchdog Exception appears less frequently with multiple motion commands per cycle sent to the robot while the robot is in target.
