V2.10.4.0

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

  • EcoStruxure Machine Expert V1.0

Firmware Requirements

PacDrive 3

  • PacDrive LMC Eco V1.58.8.2 or greater

  • PacDrive LMC Pro V1.58.8.2 or greater

  • PacDrive LMC Pro2 V1.58.8.2 or greater

New Functions

ET_PositioningMode.PeriodicShort

The positioning mode PeriodicShort is introduced for periodic auxiliary axes.

IF_RobotMotion.MoveSync(…) and IF_RobotMotion.MoveAsync(…) support the new positioning mode.

A periodic auxiliary axis moves the shortest distance within the configured period.

Since the orientation (SCARA) is not periodic, the positioning mode PeriodicShort is not available for calls of the method MoveSync() with the input i_etComponent = ET_RobotComponent.OrientationX...ET_RobotComponent.OrientationZ.

Modifications

None

Enhancements

  • Monitoring Work Envelope of SchneiderElectricRobot Lexium S Robot

    • The monitoring of the work envelope is fully support if the robot is configured by IF_RobotConfiguration.SchneiderElectricRobot(…) as a Lexium S Robot and the OrientationZ is jogged.

  • Calculating a Motion Profile

    • Under certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by a move command (MoveL, MoveS, MoveC) in connection with calculating the motion profile of the connected path. Calculating the motion profile is improved.

  • Asynchronous Movement After Warm Start

    • An asynchronous movement of auxiliary axes or orientations is continued after a warm start.