V2.10.0.0

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.

Version identification

Description	Version
RoboticModule	V2.10.0.0

SoMachine Motion V4.4 SP1

Version identification

EcoStruxure Machine Expert V1.2

Version identification

Version identification

Description	Version
SoMachine Motion	V4.4 SP1

For the related hardware/firmware information, see above.

Version identification

Description	Version
EcoStruxure Machine Expert	V1.2

For the related hardware/firmware information, see above.

IF_ConfigurationAdvanced.xUseEStopParameterForEstimatedStopPosition

After the configuration property is set to TRUE, the feedback of the estimated stop position is calculated based on the configured emergency parameters for path movement.

Affected feedback of estimated stop position:
- IF_RobotFeedback.ifSpace.rstEstimatedStopPosition
- IF_RobotFeedBack.ifTrajectoryStorage.ifSpace.rstEstimatedStopPosition
IF_ConfigurationAdvanced.SetTrackingParameters(…) and IF_ConfigurationAdvanced.GetTrackingParameters(…)

The methods can be used to apply a set of parameters or retrieve a set of parameters of a tracking system.

Introduced tracking parameter ROB.ST_TrackingParameters.lrAccelerationZeroThreshold:

This value defines an acceleration limit for a tracking system. For accelerations below this limit, the state of the tracking system is treated as constant velocity or standstill during desynchronization phase.

None