V2.5.0.0

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.

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

  • Resulting Acceleration Limitation Space

    • IF_RobotMotion.SetMaxAccelerationResultant(…)

      By using the robot component ET_RobotComponent.Space, the maximum resulting acceleration can be configured to limit the space movement of the robot.

    • IF_RobotMotion.GetMaxAccelerationResultant(…)

      By using the robot component ET_RobotComponent.Space, the configured maximum resulting acceleration to limit the space movement of the robot can be read.

    • IF_RobotFeedback.ifSpace.lrCurvatureA

      Approximation of the curvature of the space movement considering a tracking movement.

    • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.lrCurvature

      Curvature of the space movement without considering a tracking movement. Only the movement caused by move commands is considered.

    • IF_RobotFeedback.ifCurrentConnectedPath.lrMaxAccelerationResultant

      Configured maximum resulting acceleration for space movement for the connected path.

  • Calc Spline Extended

    • FB_EllipticSpline.CalcSplineExtended(…)

      A parameterizable elliptic spline can be calculated for pick-and-place applications.

  • Velocity Limitation Axes

    • IF_RobotConfigurationAdvanced.SetVelocityLimitationAxes(…)

      A velocity limitation for robot axes can be configured. The velocity is limited to the configured value in the drive parameter MaxVel rated with a configurable limit factor.

    • IF_RobotConfigurationAdvanced.GetVelocityLimitationAxes(…)

      The configuration of the velocity limitation for robot axes can be read.

    • IF_RobotFeedbackVelocityLimitation

      Feedback values regarding the functionality velocity limitation axes.

  • Additional Transformation Axes

    • IF_RobotConfigurationAdvanced.AdditionalTransformationAxes(…)

      A user-defined transformation for the robot axes, for example mechanical coupled axes, can be configured.

Modifications

  • Transform Coordinate

    • IF_RobotMotion.TransformCoordinate(…)

      The Application Logger entry for a successful call of the method has been removed.

Enhancements

  • Estimated Stop Position

    • In several situations, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot in connection with calculating the estimated stop position of the TCP on the connected path. Calculating the estimated stop position is improved.

  • Modify Coordinate System

    • If the robot was enabled, no motion commands were executed and IF_RobotConfigurationAdvanced.ModifyCoordinateSystem(…) or IF_RobotConfigurationAdvanced.ModifyCoordinateSystem2(…) was called, the diagnostic message ET_Diag.LimitReached and ET_DiagExt.ExcessiveTrackingDeviationLimitExceeded was returned by the robot. This situation is fully supported in the present version.