Mecademic Meca500 R3, Programming Manual

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20 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
Arguments
• ẋ , ẏ , ż : the components of the linear velocity of the TCP with respect to the TRF, in mm/s, ranging
from −1000 mm/s to 1000 mm/s;
• ω
x
, ω
y
, ω
z
: the components of the angular velocity of the TRF with respect to the TRF , in °/s, ranging
from −300°/s to 300°/s.
Note that the robot will come to a complete stop after a period of time defined by the
SetVelTimeout
command, unless another MoveLinVelTrf or a MoveLinVelWrf command is sent and, of course, unless
a PauseMotion command is sent or some motion limit is encountered. Also, bear in mind that this
command, unlike position-mode motion commands, generates no motion errors when a joint limit
(including the desired turn configuration) or a singularity that cannot be crossed is reached. The robot
simply stops before the limit.
2.1.11 MoveLinVelWrf( ẋ , ẏ , ż,ω
x
, ω
y
, ω
z
)
This command makes the robot move its TRF with the specified Cartesian velocity, defined with respect
to the WRF.
Arguments
• ẋ , ẏ , ż : the components of the linear velocity of the TCP with respect to the WRF, in mm/s, ranging
from −1000 mm/s to 1000 mm/s;
• ω
x
, ω
y
, ω
z
: the components of the angular velocity of the TRF with respect to the WRF , in °/s, ranging
from −300°/s to 300°/s.
Note that the robot will come to a complete stop after a period of time defined by the SetVelTimeout
command, unless another MoveLinVelWrf or a MoveLinVelTrf command is sent and, of course, unless
a
PauseMotion
command is sent or some motion limit is encountered. Also, bear in mind that this
command, unlike position-mode motion commands, generates no motion errors when a joint limit
(including the desired turn configuration) or a singularity that cannot be crossed is reached. The robot
simply stops before the limit.
2.1.12 MovePose( x , y , z , α , β , γ )
This command makes the robot move its TRF to a specific pose with respect to the WRF. Essentially,
the robot controller calculates all possible joint sets corresponding to the desired pose, including those
corresponding to a singular robot posture. Then, it either chooses the joint set that corresponds to
the desired robot posture and turn configurations, if such were set, or the one that is fastest to reach.
Finally, it executes internally a
MoveJoints
command with the chosen joint set.
Thus, all joint rotations start and stop at the same time. The path the robot takes is linear in the joint
space, but nonlinear in Cartesian space. Therefore, the path the TCP will follow to its final destination is
not easily predictable, as illustrated in Figure 12 .
Using this command, the robot can cross any singularity or start from a singular robot posture, or even
go a singular robot posture, without any peculiarities. As with the
MoveJoints
command, if the complete
motion cannot be performed due to joint limits, it will not even start, and an error will be generated.
Arguments
•
x
,
y
,
z
: the coordinates of the origin of the TRF with respect to the WRF, in mm;
• α , β , γ : the Euler angles for the orientation of the TRF with respect to the WRF, in degrees.