V2.9.0.0

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 V4.4

  • SoMachine Motion V4.4 SP1

Firmware Requirements

PacDrive 3 V4.4

  • PacDrive LMC Eco V1.56.15.12 or greater

  • PacDrive LMC Pro V1.56.15.12 or greater

  • PacDrive LMC Pro2 V1.56.15.12 or greater

New Functions

  • IF_RobotConfiguration.Gantry2Ax(…)

    • With this method, the robot can be configured as a biaxial Gantry robot with two degrees of freedom.

  • IF_RobotFeedback.ralrRefPositionAuxAx

    • The reference position of auxiliary axes can be read even if the robot is disabled.

  • IF_RobotMotion.TransformCoordinate(…)

    • A coordinate can be transformed into the mechanical coordinate system.

Modifications

  • Global constants to reduce size of memory required by FB_Robot

    Several global constants were introduced to reduce the size of memory required by the FB_Robot.

    • Gc_udiMaxNumberOfConnectedPaths

    • Gc_udiMaxNumberOfZones

    • Gc_udiMaxNumberOfLinearSegments

    • Gc_udiMaxNumberOfCircularSegments

    • Gc_udiMaxNumberOfSplineSegments

    • Gc_udiMaxNumberOfJointSegments

    • Gc_udiMaxNumberOfTrackingEvents

    • Gc_udiMaxNumberOfStopsOnPath

    • Gc_udiMaxNumberOfArmConfigurationEvents

    • Gc_udiMaxNumberOfAuxAxSyncMovements

    • Gc_udiMaxNumberOfOrientationSyncMovements

    • Gc_udiMaxNumberOfAuxAxAsyncMovements

    • Gc_udiMaxNumberOfOrientationAsyncMovements

The former library internal value for available objects in the list was 100. The value for the new global constants is reduced to 20. You may edit these global constant values in the range of 0 to 100. If you edit the constants with a value greater than 100, the value is set to 100 by the library.

Enhancements

  • Monitoring work envelope of SchneiderElectricRobot

    • The monitoring of the work envelope is fully support if the robot is configured by IF_RobotConfiguration.SchneiderElectricRobot(…) in combination with IF_RobotConfigurationAdvanced.AdditionalTransformationTCP(…) and auxiliary axes are used.

  • IF_RobotFeedback.rstRefPositionTCP

    • A configured IF_RobotConfigurationAdvanced.AdditionalTransformationTCP(…) is taken into account even if the robot is disabled.

  • FB_EllipticSpline.CalcSplineExtended(…)

    • The diagnostic message ET_DiagExt.TargetInvalid is returned correctly if the target of the half spline is higher than the configured absolute height of the spline.

  • IF_RobotFeedback.xOnPath

    • If the robot is not on path, the feedback returns FALSE.

      The feedback becomes TRUE after calling IF_RobotMotion.ClearSegamentsFromId(i_udiSegmentId := 0).

  • Compiler warning - C0410: COMPATIBILITY WARNING (Properties of type REFERENCE TO)

    • The compiler advisory no longer occurs with this library.

  • IF_RobotFeedbackConnectedPath.etMovementState

    • The feedback is fully supported.

  • IF_AdditionalTransformationTCP.Change(…)

    • Calling the method Change(…) more than once without robot path motion in between is fully supported.