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
. 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
. 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
; it is the same data as what is returned by
GetRtTrf
.
Summary of Contents for Meca500 R3
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