V3.1.2.0

System Requirements

Using the library with other versions of software or firmware may have results other than described in the present documentation.

Library Information

Version identification

Hardware/Firmware Information

EcoStruxure Machine Expert V2.0

Version identification

Software Information

Version identification

For the related hardware/firmware information, see above.

New Features

• None

Modifications

• None

Enhancements

• Using library Robotic V3.1.2.0 on Machine Expert V2.0 is improved

  • The diagnostic message (DiagCode 850 / DiagMsg FB_SemaphoreMe.Create failed, no memory) reported to the controller is improved.

• Using IF_RobotMotion.lrVelOverride in combination with IF_RobotMotion.Execute() is improved

  The following combination of robot commands is improved and the robot starts to move.

  • IF_RobotMotion.Execute(i_xValue := FALSE)

  • IF_RobotMotion.lrVelOverride := 0.0

  • IF_RobotMotion.MoveL / MoveS / MoveC / MoveJ

  • IF_RobotMotion.Execute(i_xValue := TRUE)

  • IF_RobotMotion.lrVelOverride := 100.0

• Watchdog exception

  Using robot feedback in the following methods caused a watchdog exception in case the robot is disabled.

  • IF_AdditionalTransformationTCP.Direct()

  • IF_AdditionalTransformationTCP.Inverse()

  • IF_AdditionalTransformationAxes.Direct()

  • IF_AdditionalTransformationAxes.Inverse()

  Affected robot feedback was

  • IF_RobotFeedback.rstRefPositionTCP

  • IF_RobotFeedback.rstRefOrientationTCP

  • IF_RobotFeedback.etCurrentArmConfiguration

  • IF_RobotFeedback.ralrRefPositionAuxAx

  • IF_RobotFeedbackKinematic.ralrRefPositionJoint

  • IF_RobotFeedbackKinematic.rstMechRefPositionTCP

  • IF_RobotFeedbackKinematic.rstMechRefOrientationTCP

  • IF_RobotFeedbackArticulated2Ax.rastMotor

  • IF_RobotFeedbackArticulated2Ax.rastJoint

  • IF_RobotFeedbackDelta2Ax.rastJoint1

  • IF_RobotFeedbackDelta2Ax.rastJoint2

  • IF_RobotFeedbackDelta2Ax.rastMotor

  • IF_RobotFeedbackDelta3Ax.rastJoint1

  • IF_RobotFeedbackDelta3Ax.rastJoint2

  • IF_RobotFeedbackDelta3Ax.rastMotor

  Using the mentioned robot feedback in the mentioned methods is improved.

• IF_RobotConfigurationAdvanced.ModifyCoordinateSystem() and IF_RobotConfigurationAdvanced.ModifyCoordinateSystem2()

  Rotating the coordinate system of a two-dimensional robot by +-180 degree on the existing Cartesian directions is improved.

• Calculating a Motion Profile

  Under certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the move command IF_RobotMotion.MoveSync() in connection with calculating the motion profile of the connected path. Calculating the motion profile is improved.

• Movement of robot when diagnostic message is reported

  In case of diagnostic message ET_Diag.DriveConditionInvalid / ET_DiagExt.DriveNotReady is reported by the robot, it will not move even if the axes are brought back in its expected condition. The robot must be disabled to quit the diagnostic message. The behavior is improved.

• Robot feedback TrackingDeviation anomaly

  The robot feedback TrackingDeviation does not deliver the correct value on PacDrive Lexium Motion Controllers (the feedback value is not available on Modicon M262 motion controllers):

  The value 0.0 is returned instead of a correct value for TrackingDeviation. Affected robot feedback:

  • IF_RobotFeedback.ifSpace.lrTrackingDeviation

  • IF_RobotFeedback.ifSpace.ifX.lrTrackingDeviation

  • IF_RobotFeedback.ifSpace.ifY.lrTrackingDeviation

  • IF_RobotFeedback.ifSpace.ifZ.lrTrackingDeviation

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.lrTrackingDeviation

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifX.lrTrackingDeviation

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifY.lrTrackingDeviation

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifZ.lrTrackingDeviation

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationX].lrTrackingDeviation

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationY].lrTrackingDeviation

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationZ].lrTrackingDeviation

  Therefore, the default monitoring of the tracking deviation and the monitoring of the maximum tracking deviation configured is not providing useful information. The maximum tracking deviation can be configured by calling the method IF_RobotConfigurationAdvanced.SetTrackingDeviationLimit().

  No tracking deviation alerts and no ControllerStop of robot axes is triggered in case the TrackingDeviation would exceed the configured maximum value (input i_lrValue) multiplied by the configured factor (input i_lrFactor).

  Affected robot components:

  • ET_RobotComponent.All

  • ET_RobotComponent.Space

  • ET_RobotComponent.CartesianAll

  • ET_RobotComponent.CartesianX

  • ET_RobotComponent.CartesianY

  • ET_RobotComponent.CartesianZ

  • ET_RobotComponent.OrientationAll

  • ET_RobotComponent.OrientationX

  • ET_RobotComponent.OrientationY

  • ET_RobotComponent.OrientationZ

  Affected robot feedback:

  • IF_RobotFeedback.ifSpace.xTrackingDeviationWarning

  • IF_RobotFeedback.ifSpace.ifX.xTrackingDeviationWarning

  • IF_RobotFeedback.ifSpace.ifY.xTrackingDeviationWarning

  • IF_RobotFeedback.ifSpace.ifZ.xTrackingDeviationWarning

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.xTrackingDeviationWarning

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifX.xTrackingDeviationWarning

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifY.xTrackingDeviationWarning

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.ifZ.xTrackingDeviationWarning

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationX]. xTrackingDeviationWarning

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationY]. xTrackingDeviationWarning

  • IF_RobotFeedback.raifOrientation[ROB.ET_RobotComponent.OrientationZ]. xTrackingDeviationWarning