Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 93
ETHERNET/IP COMMUNICATION
TARGET END-EFFECTOR POSE TAGS
Bytes Data Type Name
40–43 REAL Coordinate x
44–47 REAL Coordinate y
48–51 REAL Coordinate z
52–55 REAL Euler angle α
56–59 REAL Euler angle β
60–63 REAL Euler angle γ
Table 59: Target end-effector pose tag assembly
5.6.10 Target configuration
The structure of the target configuration tag is described in Table 60 . The data is the same as that
returned by the combination of the TCP/IP commands
GetRtTargetConf
and
GetRtTargetConfTurn
.
TARGET CONFIGURATION TAGS
Bytes Data Type Name Minimum Maximum
64 SINT c
s
(shoulder) −1 1
65 SINT c
e
(elbow) −1 1
66 SINT c
w
(wrist) −1 1
67 SINT c
t
(last joint turn) −100 100
Table 60: Robot target configuration tags
5.6.11 WRf
The structure of WRF tag is described in Table 61 . The data is the same as that returned by
GetRtWrf
.
WRF TAG ASSEMBLY
Bytes Data Type Name
68–71 REAL Coordinate x
72–75 REAL Coordinate y
76–79 REAL Coordinate z
80–83 REAL Euler angle α
84–87 REAL Euler angle β
88–91 REAL Euler angle γ
Table 61: WRF tag assembly
5.6.12 TRf
The structure of TRF tag is described in Table 62 ; it is the same data as what is returned by
GetRtTrf
.