V1.2.1.0

Overview

NOTE: This library is for projects exclusively.

The library Robotic V1.2.1.0 is released for projects exclusively.

Gc_xLibraryForProject : BOOL := TRUE;

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 LMC101C

  • PacDrive 3 Controller LMC201C

  • PacDrive 3 Controller LMC300C

  • PacDrive 3 Controller LMC400C

  • PacDrive 3 Controller LMC600C

Software Requirements

  • SoMachine Motion V4.1

Firmware Requirements

PacDrive 3 V4.1

  • PacDrive LMC x00C V1.51.10.6 or greater

  • PacDrive LMC x01C V1.51.10.6 or greater

New Functions

  • IF_RobotConfiguration.Delta2Ax

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

  • IF_RobotFeedbackDelta3Ax

    The property rastJoint2 has been added.

    It represents the joints at the TCP plate of the configured triaxial Delta robot which correspond to the mechanical robot coordinate system.

  • IF_RobotFeedbackDelta2Ax

    The feedback interface has been added and is a property of IF_RobotFeedbackKinematic.

    It represents the cartesian positions of the motors and joints of the configured biaxial Delta robot which correspond to the mechanical robot coordinate system.

Modifications

  • IF_RobotFeedbackDelta3Ax

    The property rastJoint has been renamed to rastJoint1.

    It represents the cartesian positions of the joints between the upper and lower arms of the configured triaxial Delta robot which correspond to the mechanical robot coordinate system.

  • Runtime optimization

    The runtime when sending motion commands to the robot has been optimized.

Enhancements

  • IF_RobotMotion.MoveS

    The interpolation of spline motions is fully supported in the present version.

  • IF_RobotConfigurationAdvanced.ModifyCoordinateSystem

    In case of a two-dimensional transformation of the robot, the method will verify whether it is possible to move or rotate the coordinate system or not.

    It is not possible to move the coordinate system in Z direction if the working plane of the robot is XY.

  • Motion commands have caused Watchdog Exception

    A Watchdog Exception appears less frequently with multiple motion commands per cycle sent to the robot while the robot is in target.