V1.6.1.0

Overview

NOTE: This library is for projects exclusively.

The library "Robotic" V1.6.1.0 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 described in the present documentation.

 WARNING
UNINTENDED EQUIPMENT OPERATION
  • Be sure 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

  • Any cartesian feedback of IF_RobotFeedback refer to the coordinate system ET_CoordinateSystem.CSR.

  • IF_RobotConfiguration.AddLinearTrackingSystem

    With this configuration method, a linear tracking system can be added to the robot.

  • IF_RobotConfiguration.GetLinearTrackingSystem

    With this method, the data of a configured linear tracking system of the robot can be read.

  • IF_RobotConfigurationAdvanced.ModifyCoordinateSystem2

    With this method, a coordinate system of the robot can be modified.

    In contrast to the method IF_RobotConfigurationAdvanced.ModifyCoordinateSystem, this method has the additional input parameter i_etOrientationConfiguration of type ET_OrientationConfiguration.

  • IF_RobotMotion.ChangeCoordinateSystem

    With this method, a change of the coordinate system, for example to a configured tracking system, can be initiated.

  • IF_RobotMotion.SetMaxTrackingAccelerationResultant

    With this method, the maximum resulting acceleration (change of the velocity per time unit), with which a tracking movement of the robot has to be started or stopped can be determined.

  • IF_RobotMotion.GetMaxTrackingAccelerationResultant

    With this method, the configured maximum resulting acceleration (change of the velocity per time unit), with which a tracking movement of the robot has to be started or stopped can be read.

  • IF_RobotFeedback.xInCoordinateSystem

    If the robot is changing the coordinate system, this property is set to FALSE, otherwise the value is TRUE.

  • IF_RobotFeedback.etCurrentCoordinateSystem

    Coordinate system in which the robot is moving. The coordinate system can be changed by call of the method IF_RobotMotion.ChangeCoordinateSystem

  • IF_RobotFeedback.rstLastTarget

    With this property, the last sent target can be read. The target is returned in the coordinate system set by IF_RobotMotion.ChangeCoordinateSystem and can be used for example as start point for an elliptic spline to be calculated with FB_EllipticSpline.

  • IF_RobotFeedbackTracking

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

    It gives feedback about a tracking movement of the robot.

  • IF_RobotFeedbackTrajectoryStorage.ifSpace of type IF_RobotFeedbackSpace

    Interface with return values of the robot motion in the cartesian space. Only the path movement, without a tracking movement, of the robot is returned.

  • IF_RobotFeedbackTrajectoryStorage.udiAvailableTrackingEvents

    Available tracking events used if IF_RobotMotion.ChangeCoordinateSystem is called to change the coordinate system in which the robot is moving.

  • FB_EllipticSpline.CalcFullSpline

    The output q_lrApexScalingFactor has been added.The method calculates an optimized apex automatically.

    If the value is not equal to 0.0, the apex of the elliptic spline is moved either towards the start position or towards the target position, where 0 defines the center position between the start position and the target position. If the value is positive, the apex is moved towards the target position. If it is negative, the apex is moved towards the start position.

Modifications

  • None

Enhancements

  • IF_RobotConfiguration.SchneiderElectricRobot

    The calculation of the stop position to verify the work envelope, in case a Schneider Electric robot is configured, is fully supported in the present version.

  • The calculation of the motion profile is fully supported in the present version in case the robot is decelerating towards the target and a new move command is sent and added to the connected path.

  • IF_RobotFeedback.udiPreviousSegmentId, udiPreviousSegmentId and udiPreviousSegmentId

    Calling the properties is fully supported in the present version and does not cause a hardware watchdog.

  • IF_RobotMotion.lrVelOverride

    Changing the VelOverride is fully supported in the present version.

  • In case of FB_Robot.xEnable and FB_Robot.xStart are set to FALSE at the same time, the robot uses the defined emergency parameters to decelerate the path motion.