Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 91
ETHERNET/IP COMMUNICATION
ROBOT STATUS TAG
Bytes Data Type Bits 6–15 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0–1 WORD Unused RecoveryMode BrakesEngaged SimMode Homed Activated Busy
Table 51: Robot status tag
5.6.2 Error code tag
The structure of the error code tag is described in Table 52 . See Table 13 for detailed explanations.
ERROR CODE TAGS
Bytes Data Type Name Minimum Maximum
2–3 UINT ErrorCode 0 65,535
Table 52: Error code tag
5.6.3 Checkpoint tag
The structure of the checkpoint tag is described in Table 53 . See Table 14 for detailed explanations.
CHECKPOINT TAG
Bytes Data Type Name Minimum Maximum
4–7 UDINT Checkpoint 0 8,000
Table 53: Checkpoint tag
5.6.4 MoveId tag
The structure of the MoveID tag is described in Table 54 . See Table 14 for detailed explanations.
MOVEID TAG
Bytes Data Type Name Minimum Maximum
8–9 REAL MoveID 0 65,535
Table 54: MoveID tag
5.6.5 fIfO space tag
The structure of the Motion queue space tag is described in Table 55 . See Table 14 for detailed
explanations.
FIFO SPACE TAG
Bytes Data Type Name Minimum Maximum
10–11 UINT Motion queue space 0 13,000
Table 55: Motion queue space tag