V2.12.1.0

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.

Library Information

Version identification

Description

Version

SchneiderElectricRobotics

V2.12.1.0

Hardware/Firmware Requirements

EcoStruxure Machine Expert V2.0.2.

Version identification

Description

Version

PacDrive LMC Eco

V1.64.18.13 or greater

PacDrive LMC Pro/Pro2

V1.64.18.13 or greater

Software Requirements

Version identification

Description

Version

EcoStruxure Machine Expert

V2.0.2

For the related hardware/firmware information, see above.

New Functions

  • New function blocks:

    • FB_CollisionHandlerPSeries

      The function block implements the collision handler of a T-Series robot.

    • FB_CollisionHandlerTSeries

      The function block implements the collision handler of a P-Series robot.

  • New interfaces:

    • IF_CollisionHandlerPSeries

    • IF_CollisionHandlerTSeries

Enhancements

  • Method CheckPositionInWorkEnvelope of IF_RobotPSeries, IF_RobotTSeries, IF_RobotSSeries

  • Property xRobotInWorkEnvelope of IF_RobotPSeries, IF_RobotSSeries, IF_RobotTSeries and FB_RobotPSeries, FB_RobotSSeries, FB_RobotTSeries

    When the property returns TRUE, the robot TCP is inside the work envelope. When the property returns FALSE, the robot TCP is outside the work envelope.

  • Property raxLastPositionCheckOK of IF_RobotPSeries, IF_RobotSSeries, IF_RobotTSeries