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Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
when it has finished processing all the previously received commands, even though there are more
commands stacking up to be processed in the communication channel (between robot and application).
Using the
SetCheckpoint
command is the best way to follow the sequence of execution of commands.
Finally, motion commands can generate errors, explained in
.
2.1.1 delay(
t
)
This command is used to add a time delay after a motion command. In other words, the robot
completes all movements sent before the
Delay
command and stops temporarily. (In contrast, the
PauseMotion
command interrupts the motion as soon as received by the robot.)
Arguments
•
t
: desired pause duration in seconds.
2.1.2 GripperOpen/GripperClose
These commands are used to open or close
grippers. The gripper will move
its fingers apart or together until the grip force reaches 40 N. You can reduce this maximum grip
force using the
SetGripperForce
command. You can also control the speed of the gripper with the
SetGripperVel
command.
By default, the
GripperOpen
and
GripperClose
commands open or close the gripper fingers until
resistance is met. However, a maximum opening or closing distance can be set using the command
SetGripperRange
.
GripperOpen
and
GripperClose
commands behave like a robot motion command, and will
be executed only after the preceding motion command has been completed. However, if a
robot motion command is sent after either command, the robot will start executing the motion
command without waiting for the gripper to finish its action. You must therefore send a
Delay
command after these commands.
2.1.3 MoveGripper(
d
)
The
grippers are equipped with incremental encoders, so it is impossible to
directly measure the absolute positions of the gripper jaws. Thus, during the homing of the robot, the
gripper is also homed by completely closing and then opening its fingers, until resistance is met in each
direction. The maximum fingers opening is detected and is a positive number not larger than 6 mm
(MEGP 25E) or 48 mm (MEGP 25LS). Most importantly, the fingers opening, a non-negative distance,
is defined as the sum of the distances traveled by each jaw from their fully-closed positions detected
during homing.
The
MoveGripper
command makes the gripper fingers move towards the specified fingers opening.
Arguments
•
d
: desired fingers opening, a non-negative value in mm, from 0 to the maximum fingers opening
detected during homing.
Unlike other position-mode
Move*
commands,
MoveGripper
command does not return any error if
the desired finger opening is not reached because of an object limiting the movement of the gripper
fingers. The fingers will simply continue to force in the direction of the desired fingers opening with
the force set by the
SetGripperForce
command, and the "holding part" gripper status will be true (see
Summary of Contents for Meca500 R3
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