V2.5.0.0

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

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

Integration of SCARA

  • IF_Configuration.Scara4Ax()

    The RoboticModule can be configured as a SCARA with four axes including four degrees of freedom. (Refer to IF_Configuration.Scara4Ax()).

    The fourth axis D is supported by functionalities of:

    • IF_Homing

    • IF_Manual

    • IF_SoftwareLimits

  • IF_Configuration.BrakeReleaseButton()

    The brake release button for the Lexium S Robot is configured by IF_Configuration.SchneiderElectricRobot(). (Refer to IF_Configuration.BrakeReleaseButton()).

  • Orientation

    ROB.ET_RobotComponent.OrientationZ is introduced if the RoboticModule is configured as a SCARA.

    • IF_Configuration.Scara4Ax()

    • IF_Configuration.SchneiderElectricRobot() Robot S-Series

    The orientation is supported by functionalities of:

    • IF_Configuration

    • IF_ConfigurationAdvanced

    • IF_Manual

    • IF_SoftwareLimits

Schneider Electric Robot

  • In case IF_Configuration.SchneiderElectricRobot() was called to parametrize the RoboticModule and a diagnostic message from the Schneider Electric robot is forwarded to the RoboticModule, an exception is sent to the template exception list.

Modifications

  • None

Enhancements

  • Homing

    The homing mode IF_Homing.LimitSwitch is fully supported in this version regarding the parameterization of IF_HardwareLimit.etAuxAxSignalType.

  • Manual

    In case of TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH an active jogging movement is stopped with configured emergency parameters.