V2.11.0.0

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.

Library Information

Version identification

Description	Version
SchneiderElectricRobotics	V2.11.0.0

Hardware/Firmware Information

EcoStruxure Machine Expert V2.0

Version identification

Description	Version
PacDrive LMC Eco	V1.64.18.26 or greater
PacDrive LMC Pro/Pro2	V1.64.18.26 or greater

Software Information

Version identification

Description	Version
EcoStruxure Machine Expert	V2.0

For the related hardware/firmware information, see above.

New Features

New function blocks supported

FB_Calibration:
- FB_Calibration P-Series
- FB_Calibration T-Series

Mitigated Anomalies

None

Enhancements

Property xDisableWorkEnvelopeMoveCmds of FB_RobotPSeries / FB_RobotTSeries / FB_RobotSSeries

While the property xDisableWorkEnvelopeMoveCmds is set to TRUE it is possible to send move commands to the robot with a target position outside the work envelope, for example, for target positions in tracking. When the target position was meanwhile arrived inside the work envelope due to tracking and the target is reached. If this property is then set to FALSE, and a new move command is sent to the robot, the incorrect message

q_etDiag = “ExecutionAborted”

q_etDiagExt = “WorkEnvelope”

q_sMsg = “Command refused. TCP is outside work envelope” was delivered.

This behavior is improved now - move commands can be successfully sent to the robot.