V2.1.1.0

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_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.

  • IF_RobotMotion.MoveAsync

    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.

  • IF_RobotConfiguration.SetEmergencyParameter2

    Setting the emergency parameters for a specific robot component ET_RobotComponent.

  • IF_RobotConfiguration.GetEmergencyParameter2

    Reading the emergency parameters of a specific robot component ET_RobotComponent.

  • IF_RobotConfigurationAdvanced.ExtendConnectedPath

    Allowing to add more than 100 segments to a connected path.

  • IF_RobotFeedbackSpace.rstTangent

    The tangent vector of the three-dimensional movement of the tool center point is returned.

Modifications

  • The number of configurable auxiliary axes (Gc_udiMaxNumberOfAuxiliary) is increased to 10.

Enhancements

  • IF_RobotMotion.ClearSegmentsFromId

    If no synchronous auxiliary axis movement is active, the connected path is continued with a following motion command.

  • IF_RobotFeedback.xOnPath

    The feedback property returns TRUE as default value even if no move commands are sent.

  • IF_RobotFeedback.xInTarget

    The feedback property returns TRUE as default value even if no move commands are sent.

  • In 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.