V2.2.0.0

System Requirements

Using the library with other versions of software or firmware may have results other than described in the present documentation.

 WARNING
UNINTENDED EQUIPMENT OPERATION
  • Be sure that the software and firmware are of the versions supported by this library.
  • Contact your Schneider Electric service representative for compatibility information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Supported Hardware

  • PacDrive LMC Eco

  • PacDrive LMC Pro

  • PacDrive LMC Pro2

Software Requirements

  • SoMachine Motion V4.3 SP1

Firmware Requirements

PacDrive 3 V4.3 SP1

  • PacDrive LMC Eco V1.54.20.3 or greater

  • PacDrive LMC Pro V1.54.20.3 or greater

  • PacDrive LMC Pro2 V1.54.20.3 or greater

New Functions

  • IF_Configuration.AddLinearTrackingSystem2(…)

    A linear tracking system can be added to the robot. Information about the tracking direction in relation to the velocity source: The tracking direction can be configured along one of the positive Cartesian axes, X, Y, or Z of the coordinate system defined within the method. The velocity source is mapped to this axis. To read the configured tracking direction, the output q_etTrackingDirection is added to the method IF_Configuration.GetLinearTrackingSystem(…).

Modifications

  • The library Robotic V2.3.1.0 or greater is required.

Enhancements

  • A cold start of the robot is fully supported in the present version in case a Schneider Electric robot is configured by the method IF_Configuration.SchneiderElectricRobot(…) and the robot was jogged outside the working envelope.