V2.2.0.0

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.

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

  • IF_RobotFeedback.ifSpace.rstEstimatedStopPosition

    The position represents the estimated Cartesian stop position on the connected path including a potential tracking.

  • IF_RobotFeedback.ifTrajectoryStorage.ifSpace.rstEstimatedStopPosition

    The position represents the estimated Cartesian stop position on the connected path.

  • IF_RobotFeedback.ifTracking.rstEstimatedStopPosition

    The position represents the estimated Cartesian stop position where an active tracking is stopped.

Modifications

  • None

Enhancements

  • In several situations the diagnostic message ET_Diag.UnexpectedProgramBehavior is returned by the robot in connection with calculating the motion profile. Calculating the motion profile of the robot has been improved in order to reduce the occurrence of errors.

  • A watchdog exception does not occur in connection with calling the method IF_RobotMotion.ClearSegmentsFromId().

  • The application logger entries generated by the call of IF_RobotMotion.MoveSync are more detailed.