V2.6.1.0

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

  • Linear Tracking System

    • IF_RobotConfiguration.AddLinearTrackingSystem3(…)

      By using this method to configure a linear tracking system, it is possible to define the system ID.

  • Additional Transformation TCP

    • IF_RobotConfigurationAdvanced.AdditionalTransformationTCP(…)

      An additional user-defined transformation for the TCP can be configured.

  • Resulting Acceleration Limitation Parameters

    • IF_RobotConfigurationAdvanced.SetResAccLimitParameters(…)

      Additional configuration parameters for the functionality to limit the resulting acceleration of a robot space movement can be set.

    • IF_RobotConfigurationAdvanced.GetResAccLimitParameters(…)

      Additional configuration parameters for the functionality to limit the resulting acceleration of a robot space movement can be read.

  • Estimated Stop Position AuxAx

    • IF_RobotFeedbackMotionAuxiliaryAxis.lrEstimatedStopPosition

      Returns the estimated stop position of an active movement of an auxiliary axis.

  • Target Extension of a Connected Path

    In several situations, the velocity of the path movement gets zero during the movement.

    Situations:

    1. The path movement of the robot is in the deceleration phase to its end position. A motion command IF_RobotMotion.MoveL(…), IF_RobotMotion.MoveC(…), or IF_RobotMotion.MoveS(…) is sent to extend the path movement of the robot.

    2. A IF_RobotMotion.SetStopOnPath(…) command is active and the path movement of the robot is in the deceleration phase to the stop position on path. The stop-on-path is reset by the IF_RobotMotion.ResetStopOnPath(…) command.

    3. The parameter IF_RobotMotion.lrVelOverride was set to 0.0 and the path movement of the robot is in the deceleration phase to stop-on-path. The parameter IF_RobotMotion.lrVelOverride is set to a value greater than 0.0.

    4. FB_Robot.xStart was set to FALSE and the path movement of the robot is in the deceleration phase to stop-on-path. FB_Robot.xStart is set to TRUE again.

    If it is possible, a motion profile is calculated without zero velocity during the path movement.

Modifications

  • License Points

    License points are no longer required by the following functions:

    • FB_Robot

    • IF_RobotConfiguration.Delta2Ax

    • IF_RobotConfiguration.Delta3Ax

    • IF_RobotConfiguration.Articulated2Ax

    • IF_RobotConfiguration.SchneiderElectricRobot

  • Transform Coordinate

    The Application Logger entry of a successful call of the method IF_RobotMotion.TransformCoordinate(…) is removed.

Enhancements

  • Calculating the Estimated Stop Position

    • Under certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot during calculating the estimated stop position of the TCP on the connected path.

      Calculating the estimated stop position is improved.

  • Calculating a Motion Profile

    • Under certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by a move command (MoveL, MoveS, MoveC) in connection with calculating the motion profile of the connected path.

    • Under certain conditions, the diagnostic message ET_Diag.ExecutionAborted - ET_DiagExt.SwitchTimeInvalid was returned by the robot.

    • Under certain conditions, the diagnostic message ET_Diag.ExecutionAborted - ET_DiagExt.PathPositionEndExceeded was returned by the robot.

    Calculating the motion profile is improved.

  • Software Watchdog Caused by Calculating Spline Points

    • FB_EllipticSpline.CalcSplineExtended(…)

      Calling this method could lead into a software watchdog.

      Calculating spline points is improved.

  • Hardware Watchdog Caused by Enabling the Robot

    • FB_Robot.xEnable TRUE -> FALSE

      Enabling the robot could lead into a hardware watchdog.

      Enabling the robot is improved.

  • Target Position of Connected Path Not Reached

    • Under certain conditions, the target position of a connected path has not been reached.

      IF_RobotFeedback.xInMotion returns FALSE, but IF_RobotFeedback.xInTarget returns not TRUE.

      Reaching the target position of a connected path is improved.

  • Stop on Path

    • IF_RobotMotion.SetStopOnPath(…)

      The method can be called successfully even if IF_RobotMotion.lrVelOverride was set to 0.0.

      Calling the method is improved.

  • Calculating an Elliptic Spline

    FB_EllipticSpline.CalcFullSpline(…)

    The method returns the correct spline points even if a working plane is configured and the method is called more than once without any change of the input parameters.

    Calculating an elliptic spline is improved.

  • Sercos Write Cycle Overflow

    FB_Robot.xEnable TRUE -> FALSE

    Under certain conditions, the diagnostic message 8507 Sercos write cycle overflow was caused by disabling the robot.

    Disabling the robot is improved.