V2.13.0.0

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
  • 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.

Library Information

Version identification

Description

Version

RoboticModule

V2.13.0.0

Hardware Information

Version identification

Description

Version

PacDrive LMC Eco

V1.64.15.3 or greater

PacDrive LMC Pro

V1.64.15.3 or greater

PacDrive LMC Pro2

V1.64.15.3 or greater

Software Information

Version identification

Description Version

EcoStruxure Machine Expert

V2.0

For the related hardware/firmware information, see above.

New Features

  • IF_ConfigurationAdvanced.SetFeedbackState() and GetFeedbackState()

    With the method SetFeedbackState() the state of a robot feedback can be defined. In order to save CPU calculation time, the possibility to disable robot feedback by calling the method SetFeedbackState() is introduced. The same method can be used to enable the robot feedback again. By calling the method GetFeedbackSet() the actual configuration can be retrieved.

  • IF_ConfigurationAdvanced.xShiftMoveSyncStartPosition

    The start position on the connected path of a MoveSync command is shifted to the earliest possible position.

  • IF_Manual.xWorkEnvelopeReached

    The property IF_Manaul.xWorkEnvelopeReached has been introduced as feedback if the work envelope has been reached during jogging a Schneider Electric Robot. In addition, a warning is triggered with AutoQuit enabled to report the information also into the exception list that the work envelope has been reached during jogging a Schneider Electric Robot.

  • IF_Manual.xEnableRobotIfHomeOk

    If configured to TRUE the robot is enabled when entering the operation mode Manual or after axis jogging in operation mode Manual if ST_ModuleInterface.q_xHomeOk signals TRUE.

    Move commands can be send using the robot interface ST_ModuleInterface.iq_ifMotion. This can be used to improve the handling of using JogOnPath.

Modifications

  • Exceptions reported by robotic module with reaction TPL.ET_Reaction.StopEndOfCycle

    The robotic module does not react immediately on own exceptions with reaction StopEndOfCycle anymore.It waits until the reaction StopEncOfCycle is reported to the module at the input iq_stStandardModuleItf.i_stReaction.axReaction[TPL.ET_Reaction.StopEndOfCycle].

Enhancements

  • iq_stStandardModuleItf.q_xException improved

    The module feedback q_xException turns back to FALSE in case of an exception with AutoQuit configured disappears, like an SoftwareLimit exception.

  • Watchdog exception

    The robotic module does not trigger a watchdog exception anymore when AdditionalTransformationTCP is configured and for example the robot feedback rstRofOrientationTCP was used and an emergency stop was performed.

  • Jogging of Cartesian axes with hardware limits configured as NormallyClosed

    Jogging of Cartesian axis with hardware limits configured as NormallyClosed is improved.