V2.1.1.0

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
  • 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 LMC Eco

  • PacDrive LMC Pro

  • PacDrive LMC Pro2

Software Requirements

  • SoMachine Motion V4.3 SP1

Firmware Requirements

PacDrive 3 V4.3 SP1

  • PacDrive LMC Eco V1.54.20.3 or greater

  • PacDrive LMC Pro V1.54.20.3 or greater

  • PacDrive LMC Pro2 V1.54.20.3 or greater

New Functions

  • IF_Configuration.SetEmergencyParameter2

    Setting the emergency parameters for a specific robot component ROB.ET_RobotComponent.

  • IF_Configuration.GetEmergencyParameter2

    Reading the emergency parameters of a specific robot component ROB.ET_RobotComponent.

  • IF_ConfigurationAdvanced.ExtendConnectedPath

    Allowing to add more than 100 segments to a connected path.

Modifications

  • None

Enhancements

  • Drive alert messages of robot axes and auxiliary axes are supported now. An exception with reaction TPL.ET_Reaction.StopEndOfCycle is added to the exception list.

  • The homing mode IF_Homing.RestorePosFromAxisEncoder is fully supported in the present version for auxiliary axis in case of PeriodStart = 0.0.