V2.6.0.0

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

  • IF_Configuration.Gantry2Ax(…)

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

  • Properties to read the configured homing mode

    • IF_Homing.raetAxisModeOnHoming of type ET_HomingMode

      The configured homing mode on Homing of main axes can be read.

    • IF_Homing.raetAxisModeOnInit of type ET_HomingMode

      The configured homing mode on Init of main axes can be read.

    • IF_Homing.raetAuxAxModeOnHoming of type ET_HomingMode

      The configured homing mode on Homing of auxiliary axes can be read.

    • IF_Homing.raetAuxAxModeOnInit of type ET_HomingMode

      The configured homing mode on Init of auxiliary axes can be read.

  • FC_EtHomingModeToString(…)

    Converting an enumeration element of the type ET_HomingMode from the RoboticModule library to a string.

Modifications

  • None

Enhancements

  • ST_ModuleInterface.q_xHomeOk

    In case of homing on Init is configured, the behavior of the feedback ST_ModuleInterface.q_xHomeOk after reenabling the module is the same as its behavior during the first enable of the module.

  • Compiler warning - C0410: COMPATIBILITY WARNING (Properties of type REFERENCE TO)

    The compiler advisory no longer occurs with this library.

  • Operation modes BrakeRelease and BrakeReleaseButton

    IF_Configuration.BrakeReleaseButton(i_xAdditionalCircuit := TRUE) is configured.

    The timeout to detect an invalid state of the connected contactors of the additional circuit, when leaving operation modes, is fully supported.