V2.11.0.0

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
RoboticModule	V2.11.0.0

Hardware/Firmware Information

SoMachine Motion V4.4 SP1

Version identification

Description	Version
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

EcoStruxure Machine Expert V1.1

Version identification

Description	Version
PacDrive LMC Eco	V1.60.3.3 or greater
PacDrive LMC Pro	V1.60.3.3 or greater
PacDrive LMC Pro2	V1.60.3.3 or greater

EcoStruxure Machine Expert V1.2

Version identification

Description	Version
PacDrive LMC Eco	V1.62.5.4 or greater
PacDrive LMC Pro	V1.62.5.4 or greater
PacDrive LMC Pro2	V1.62.5.4 or greater

Software Information

Version identification

Description	Version
SoMachine Motion	V4.4 SP1

For the related hardware/firmware information, see above.

Version identification

Description	Version
EcoStruxure Machine Expert	V1.1

For the related hardware/firmware information, see above.

Version identification

Description	Version
EcoStruxure Machine Expert	V1.2

For the related hardware/firmware information, see above.

New Features

IF_ConfigurationAdvanced.udiNumberOfPeriodsSetPosB

If a robot is configured using the Scara4Ax transformation, AxisB acts as a periodic axis. A SetPos is executed to realize the period modification of AxisB and therefore manage overflow of the axis position if AxisB rotates without limit in any one direction by using the possibility to modify the arm configuration with the newly introduced enumeration elements ROB.ET_ArmConfiguration.InnerRight or ROB.ET_ArmConfiguration.InnerLeft.

Mitigated Anomalies

None