Mecademic Meca500 R3, Programming Manual

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24 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
This command is only useful if you have a wired end-effector with long enough cables to allow joint 6
to rotate more than ±180°. For example, if using the MEGP 25E gripper, limit joint 6 to ±180° using the
SetJointLimits command and then use either SetAutoConfTurn (1) or SetConfTurn (0). If using a cable-
less end-effector, then the automatic turn configuration should never be disabled. However, remember
to always bring joint 6 within the ±420° range before powering the robot off (recall Section 1.3.1 ).
Arguments
• c
t
: turn configuration, an integer between −100 and 100.
The turn configuration parameter defines the desired range for joint 6, according to the following
equation: −180° + c
t
360° < θ
6
≤ 180° + c
t
360°).
default values
Enabled by default (see SetAutoConfTurn ), so when you start the robot, there is no default desired
turn configuration. The only way to set a desired turn configuration is to specify it with the command
SetConfTurn
or to execute the command
SetAutoConfTurn
(0). The latter sets the desired turn
configuration to the one of the current position of joint 6.
2.1.22 SetGripperforce( p )
This command limits the grip force of Mecademic grippers.
Arguments
• p : percentage of maximum grip force (~40 N), ranging from 5% to 100%.
default values
By default, the grip force limit is 50%.
2.1.23 SetGripperRange ( d
closed
, d
open
)
This command sets the closed and open states of the gripper and is used mainly to redefine the actions
of the
GripperClose
and
GripperOpen
commands, respectively. The
SetGripperRange
command is
useful for the MEGP 25LS gripper. If, for example, you are manipulating parts that require fingers
opening between 10 mm and 20 mm, but the allowable range of the gripper as detected during
the homing is 48 mm, it would be more efficient to redefine the actions of the
GripperClose
and
GripperOpen
commands by calling
SetGripperRange
(8,22), or else the fingers will move more than
necessary, and therefore increase your cycle time.
The
SetGripperRange
command does not limit the accessible range of the gripper, in contrast to the
SetJointLimits
command, which limits the range of a joint. For example, if during homing, the robot
detected that the range for the finger opening was [0, 15], and then you sent SetGripperRange (8,13),
you can still open the gripper more with MoveGripper (14). However, using the commands GripperOpen
and
GripperClose
will be equivalent to using the commands
MoveGripper
(8) and
MoveGripper
(13),
respectively. Furthermore, when the fingers opening is 8 mm (or less) or 13 mm (or more), the state of
the gripper will be “gripper open” or “gripper close”, respectively (see
GetRtGripperState
).
Arguments
• d
closed
: fingers opening that should correspond to closed state, in mm;
• d
open
: fingers opening that should correspond to open state, in mm.