V3.3.0.0

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.

Library Information

Version identification

Description

Version

Robotic

V3.3.0.0

Hardware/Firmware Information

Version identification

Description

Version

PacDrive LMC Eco

V1.68.8.1 or greater

PacDrive LMC Pro

V1.68.8.1 or greater

PacDrive LMC Pro2

V1.68.8.1 or greater

Modicon M262 Motion Controller

(TM262M25MESS8T and TM262M35MESS8T)

V5.1.5.47 or greater

Software Information

Version identification

Description Version

EcoStruxure Machine Expert

V2.0.2

For the related hardware/firmware information, see above.

New Features

  • IF_RobotConfigurationAdvanced.GetExternalPositionSourceAccLimit()

    Reading the acceleration limit for a specific component.

  • IF_RobotConfigurationAdvanced.SetExternalPositionSourceAccLimit()

    Setting a limit for the acceleration of the external position source.

  • IF_RobotConfiguration.Delta4Ax

    Configure a four-axis Delta robot.

  • IF_RobotConfigurationAdvanced.lrVelOverrideZeroThreshold

    This parameter can be used to define a minimum threshold when the VelOverride is treated as zero.

  • IF_RobotConfigurationAdvanced.lrMinVelOverrideVariation

    This parameter can be used to define a minimum variation threshold for the VelOverride.

Modifications

The behavior of the following feedback properties is modified:

  • IF_RobotFeedbackMotionAuxiliaryAxis.lrEstimatedStopPosition

  • IF_RobotFeedbackMotionOrientation.lrEstimatedStopPosition

  • IF_RobotFeedbackTracking.rstEstimatedStopPosition

  • IF_RobotFeedbackSpace.rstEstimatedStopPosition

Instead of zero, the feedback returns the position of the component when the robot is disabled.

This influences the following feedback:

  • IF_RobotFeedback.raifAuxAx[ET_RobotComponnent.AuxAx1…ET_RobotComponnent.AuxAx10].lrEstimatedStopPosition

  • IF_RobotFeedback.raifOrientation[ET_RobotComponent.OrientationX...ET_RobotComponent.OrientationZ].lrEstimatedStopPosition

  • IF_RobotFeedback.ifTracking.rstEstimatedStopPosition

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.rstEstimatedStopPosition

  • IF_RobotFeedback.ifSpace.rstEstimatedStopPosition

Enhancements

  • None