Using the library with other versions of software or firmware may have results other than described in the present documentation.
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UNINTENDED EQUIPMENT OPERATION |
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oBe sure that the software and firmware are of the versions supported by this library. oContact your Schneider Electric service representative for compatibility information. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Version identification
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Description |
Version |
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Robotic |
V2.13.0.0 |
Version identification
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Description |
Version |
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PacDrive LMC Eco |
V1.60.3.3 or greater |
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PacDrive LMC Pro |
V1.60.3.3 or greater |
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PacDrive LMC Pro2 |
V1.60.3.3 or greater |
Version identification
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Description |
Version |
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EcoStruxure Machine Expert |
V1.1 |
oIF_RobotFeedbackKinematic.ralrRefPositionJoint
Feedback for joint positions of robot kinematics.
ET_OrientationConvention.ZXY was added and can be used, for example, to configure a linear tracking system.
To read the configured period data for an auxiliary axis, the outputs q_lrPeriodStart and q_lrPeriodLength were added.
oIF_RobotConfigurationAdvanced.xDisableTrackingEncoderCheck
The parameter verifications of FeedConstant, GearIn, GearOut, and Direction for the tracking encoder against the corresponding parameters of the velocity source can be disabled.
oIF_RobotConfigurationAdvanced.xSetTrackingEncoderParameters
The parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set automatically fitting to the corresponding parameters of the velocity source.
With this method, the robot can be configured as a six axial user-configured robot with six degrees of freedom.
oIn case of ResultantAccelerationLimitation and PreAnalysis = TRUE, a StopOnPath is retained.
In case a motion profile must be modified due to limit ResultantAccelerationLimitation a StopOnPath is executed.
