V2.7.1.0

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 V4.4 SP1

Firmware Requirements

PacDrive 3 V4.4 SP1

  • PacDrive LMC Eco V1.56.21.13 or greater

  • PacDrive LMC Pro V1.56.21.13 or greater

  • PacDrive LMC Pro2 V1.56.21.13 or greater

New Functions

None

Modifications

None

Enhancements

  • Sending module commands

    The module command sequence ET_Cmd.Homing -> ET_Cmd.Start -> ET_Cmd.Homing -> ET_Cmd.Start is fully supported.

  • Feedback about HomeOk

    The feedback q_xHomeOk stays TRUE after the module is already homed and the module command ET_Cmd.Homing is sent without sending the command ET_Cmd.Start afterwards.

  • Diagnostic messages

    Diagnostic messages regarding axis D and orientations as well as for software limits are improved.

  • Support for a configured reaction offset

    A configured ST_StandardModuleInterface.iqstExt.udiReactionOffset is fully supported.

  • Usage of configured emergency parameters to stop an active robot movement

    Sending the module command ET_Cmd.Stop in parallel to an incoming reaction TPL.ET_Reaction.SyncStopEL / TPL.ET_Reaction.SyncStopEH is improved. An active robot movement is stopped with configured emergency parameters.