V2.12.1.0

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 V4.4 SP1

Firmware Requirements

PacDrive 3 V4.4 SP1

  • PacDrive LMC Eco V1.56.21.13 or greater

  • PacDrive LMC Pro V1.56.21.13 or greater

  • PacDrive LMC Pro2 V1.56.21.13 or greater

New Functions

  • IF_ConfigurationAdvanced.ExternalPositionSource(…)

    The feature provides the necessary elements to configure and implement an external position source of the robot and write the reference values for the robot components Cartesian, orientation, and auxiliary axes.

  • IF_RobotWarmStart

    A property named ifWarmStart of type IF_RobotWarmStart has been added to FB_Robot. The interface provides methods and properties to perform a sequenced warm start of the configured robot components.

Modifications

None

Enhancements

  • Watchdog exception

    • Under certain conditions, a watchdog exception occurred during the call of the method IF_RobotMotion.TransformCoordinate(…) in combination with transforming coordinates from or into a configured tracking system. Transforming coordinates from one coordinate system to another coordinate system has been improved.

    • Under certain conditions, a watchdog exception occurred during the call of the method IF_RobotMotion.ClearSegmentsFromId(…) with i_udiSegmentId equal to 0 in combination with two loaded connected paths. Clearing the segments has been improved.

  • Position feedback of Cartesian X, Y, and Z as well as orientations and auxiliary axes

    In case of tracking deviation, the position feedback of Cartesian X, Y, and Z as well as orientations and auxiliary axes has been improved.

  • Two sent connected paths when Execute is set to FALSE

    Two sent connected paths when Execute is set to FALSE were not started after Execute was subsequently set to TRUE. This behavior has been improved.