V1.0.1.0

Overview

NOTE: This library is for projects exclusively.

The library Robotic V1.0.1.0 is released for projects exclusively.

Gc_xLibraryForProject : BOOL := TRUE;

Description

This library is a collection of POUs for controlling robot kinematics.

Kinematics that can be controlled:

  • Triaxial Delta robot - IF_RobotConfiguration.Delta3Ax

  • Triaxial Cartesian robot - IF_RobotConfiguration.Cartesian3Ax

  • Biaxial Cartesian robot - IF_RobotConfiguration.Cartesian2Ax

  • Up to triaxial user-defined robot - IF_RobotConfiguration.User3Ax

Motion interpolation in order to move to a point in two or three-dimensional space:

  • Linear interpolation - IF_RobotMotion.MoveL

  • Circular interpolation - IF_RobotMotion.MoveC

  • Spline interpolation - IF_RobotMotion.MoveS

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 3 Controller LMC201C

  • PacDrive 3 Controller LMC300C

  • PacDrive 3 Controller LMC400C

  • PacDrive 3 Controller LMC600C

Software Requirements

  • SoMachine Motion V4.0

Firmware Requirements

PacDrive 3 V4.0

  • PacDrive LMC x00C V1.50.3.7 or greater

  • PacDrive LMC x01C V1.50.3.7 or greater