V1.4.1.0

Overview

NOTE: This library is for projects exclusively.

The library "Robotic" V1.4.1.0 is released for projects exclusively.

Gc_xLibraryForProject : BOOL := TRUE;

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.

Supported Hardware

  • PacDrive 3 Controller LMC101C

  • PacDrive 3 Controller LMC201C

  • PacDrive 3 Controller LMC300C

  • PacDrive 3 Controller LMC400C

  • PacDrive 3 Controller LMC600C

Software Requirements

  • SoMachine Motion V4.2

Firmware Requirements

PacDrive 3 V4.2

  • PacDrive LMC x00C V1.53.5.6 or greater

  • PacDrive LMC x01C V1.53.5.6 or greater

New Functions

  • IF_RobotConfiguration.Articulated2Ax

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

  • IF_RobotFeedbackArticulated2Ax

    The feedback interface has been added and is a property of IF_RobotFeedbackKinematic.

    It represents the cartesian positions of the motors and joints of the configured biaxial Articulated robot which correspond to the mechanical robot coordinate system.

Modifications

  • None

Enhancements

  • IF_RobotConfigurationAdvanced.ModifyCoordinateSystem

    The behavior of the input i_stOrientation is fully supported in the present version.