V3.8.1.0

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.

Library Information

Version identification

Description	Version
Robotic	V3.8.1.0

Hardware/Firmware Information

Version identification

Description	Version
PacDrive LMC Eco	V1.76.14.1 or greater
PacDrive LMC Pro	V1.76.14.1 or greater
PacDrive LMC Pro2	V1.76.14.1 or greater
Modicon M262 Motion Controller (TM262M25MESS8T and TM262M35MESS8T)	V5.1.7.19 or greater

Software Information

Version identification

Description	Version
EcoStruxure Machine Expert	V2.2.2
EcoStruxure Machine Expert	V2.3
EcoStruxure Automation Expert - Motion	V24.1

New Features

The method Scara4AxCoupling was added to the interface IF_Configuration. With this method the robot can be configured as a SCARA Robot with four axes which uses a coupling for Z (translation movement along the mechanical Z axis) and OrientationZ (rotation about the mechanical Z axis).

Modifications

Calculating the motion profile is improved.
Transforming a pose when referring to the mounting flange is improved.
Diagnosis of the method GetLinearTrackingSystem is improved in case it is called with a system ID that is configured as another tracking system type (for example, tracking source).

Enhancements

none