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 LMC Eco
oPacDrive LMC Pro
oPacDrive LMC Pro2
oSoMachine Motion V4.3 SP1
PacDrive 3 V4.3 SP1
oPacDrive LMC Eco V1.54.20.3 or greater
oPacDrive LMC Pro V1.54.20.3 or greater
oPacDrive LMC Pro2 V1.54.20.3 or greater
oIF_RobotFeedbackConnectedPath.lrRemainingTime
The time until the robot reaches the end of the connected path is returned. If the calculation is based on motion parameters set by methods of IF_RobotMotion or IF_RobotJogging, this is indicated by the feedback property IF_RobotFeedbackConnectedPath.etMovementMode.
A configured auxiliary axis can be moved without having a connected path defined. An asynchronous movement can also be triggered at a specific path position of a defined connected path. If a synchronous or an asynchronous movement of an auxiliary axis is active, this is indicated by the feedback property IF_RobotFeedbackMotionAuxiliaryAxis.etMovementMode.
oIF_RobotConfiguration.SetEmergencyParameter2
Setting the emergency parameters for a specific robot component ET_RobotComponent.
oIF_RobotConfiguration.GetEmergencyParameter2
Reading the emergency parameters of a specific robot component ET_RobotComponent.
oIF_RobotConfigurationAdvanced.ExtendConnectedPath
Allowing to add more than 100 segments to a connected path.
oIF_RobotFeedbackSpace.rstTangent
The tangent vector of the three-dimensional movement of the tool center point is returned.
oThe number of configurable auxiliary axes (Gc_udiMaxNumberOfAuxiliary) is increased to 10.
oIF_RobotMotion.ClearSegmentsFromId
If no synchronous auxiliary axis movement is active, the connected path is continued with a following motion command.
The feedback property returns TRUE as default value even if no move commands are sent.
The feedback property returns TRUE as default value even if no move commands are sent.
oIn several situations, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot in connection with calculating the motion profile. Calculating the motion profile of the robot is improved.
