Mecademic Meca500 R3, Programming Manual

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30 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
2.2.10 GetModelJointLimits ( n )
This command returns the default joint limits, i.e., those presented in Section 1.1.5 .
Arguments
• n : joint number, an integer ranging from 1 to 6.
Responses
[2113][ n , θ
n ,min
, θ
n ,max
]
– n : joint number, an integer ranging from 1 to 6;
– θ
n ,min
: lower joint limit, in degrees;
– θ
n ,max
: upper joint limit, in degrees.
2.2.11 GetProductType
This command returns the type (model) of the product.
Responses
[2084][Meca500]
2.2.12 GetRobotName
This command returns the robot's name, set with the command
SetRobotName
.
Note that the robot name is used as a host name when the robot's network configuration uses DHCP.
Responses
[2095][ s ]
– s : string containing the robot's name.
2.2.13 GetRobotSerial
This command returns the serial number of the robot, for robots manufactured recently. For all other
robots, the serial number can only be found on the back of the robot's base.
Responses
[2083][robot's serial number]
2.2.14 Home
This command starts the robot and MEGP 25* gripper homing process ( Section 1.3.1 ). While homing, it is
critical to remove any obstacles that could hinder the robot and gripper movements.
Responses
[2002][Homing done.]
[1032][Homing failed because joints are outside limits.]
[1014][Homing failed.]
The first response (2002) is sent if homing was completed successfully. The second response (1032)
is sent if the homing procedure failed because it was started while a robot joint was outside its user-
defined limits. The last response (1014) is sent if the homing failed for other reasons.