V2.13.0.0

System Requirements

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

WARNING
	UNINTENDED EQUIPMENT OPERATION Ensure 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.

Version identification

Description	Version
Robotic	V2.13.0.0

Version identification

Version identification

Description	Version
EcoStruxure Machine Expert	V1.1

IF_RobotFeedbackKinematic.ralrRefPositionJoint

Feedback for joint positions of robot kinematics.
ET_OrientationConvention.ZXY

ET_OrientationConvention.ZXY was added and can be used, for example, to configure a linear tracking system.
Additional Output Variables q_lrPeriodStart and q_lrPeriodLength for IF_RobotConfiguration.GetConfiguredDrive

To read the configured period data for an auxiliary axis, the outputs q_lrPeriodStart and q_lrPeriodLength were added.
IF_RobotConfigurationAdvanced.xDisableTrackingEncoderCheck

The parameter verifications of FeedConstant, GearIn, GearOut, and Direction for the tracking encoder against the corresponding parameters of the velocity source can be disabled.
IF_RobotConfigurationAdvanced.xSetTrackingEncoderParameters

The parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set automatically fitting to the corresponding parameters of the velocity source.
IF_Configuration.User6Ax(…)

With this method, the robot can be configured as a six axial user-configured robot with six degrees of freedom.

In case of ResultantAccelerationLimitation and PreAnalysis = TRUE, a StopOnPath is retained.

In case a motion profile must be modified due to limit ResultantAccelerationLimitation a StopOnPath is executed.