Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) iii
2.2.35 StartSaving( n ) .........................................................................................................................................................38
2.2.36 StopSaving ..............................................................................................................................................................38
2.2.37 SyncCmdQueue(
n
) ..................................................................................................................................................39
2.2.38 SwitchToEtherCat ...................................................................................................................................................39
2.2.39 TcpDump(
n ) ............................................................................................................................................................39
2.2.40 TcpDumpStop .........................................................................................................................................................39
2.3. Data request commands ............................................................................................................................40
2.3.1 GetAutoConf ...........................................................................................................................................................40
2.3.2 GetAutoConfTurn ....................................................................................................................................................40
2.3.3 GetBlending ............................................................................................................................................................40
2.3.4 GetCartAcc .............................................................................................................................................................40
2.3.5 GetCartAngVel ........................................................................................................................................................41
2.3.6 GetCartLinVel .........................................................................................................................................................41
2.3.7 GetCheckpoint ........................................................................................................................................................41
2.3.8 GetConf ...................................................................................................................................................................41
2.3.9 GetConfTurn ...........................................................................................................................................................41
2.3.10 GetGripperForce .....................................................................................................................................................42
2.3.11 GetGripperRange ...................................................................................................................................................42
2.3.12 GetGripperVel .........................................................................................................................................................42
2.3.13 GetJointAcc ............................................................................................................................................................42
2.3.14 GetJointLimits(
n
) ....................................................................................................................................................42
2.3.15 GetJointLimitsCfg ..................................................................................................................................................43
2.3.16 GetJointVel .............................................................................................................................................................43
2.3.17 GetMonitoringInterval ............................................................................................................................................43
2.3.18 GetNetworkOptions ................................................................................................................................................43
2.3.19 GetRealTimeMonitoring .........................................................................................................................................44
2.3.20 GetTorqueLimits .....................................................................................................................................................44
2.3.21 GetTorqueLimitsCfg ...............................................................................................................................................44
2.3.22 GetTrf ......................................................................................................................................................................44
2.3.23 GetVelTimeout ........................................................................................................................................................44
2.3.24 GetWrf.....................................................................................................................................................................44
2.4. Real-time data request commands ...........................................................................................................45
2.4.1 GetCmdPendingCount............................................................................................................................................46
2.4.2 GetJoints ................................................................................................................................................................46
2.4.3 GetPose ..................................................................................................................................................................46
2.4.4 GetRtAccelerometer(
n
) ..........................................................................................................................................46
2.4.5 GetRtc .....................................................................................................................................................................47
2.4.6 GetRtCartPos .........................................................................................................................................................47
2.4.7 GetRtCartVel ...........................................................................................................................................................47
2.4.8 GetRtConf ...............................................................................................................................................................48
2.4.9 GetRtConfTurn ........................................................................................................................................................48
2.4.10 GetRtExtToolStatus ................................................................................................................................................48
2.4.11 GetRtGripperForce .................................................................................................................................................49
2.4.12 GetRtGripperPos ....................................................................................................................................................49
2.4.13 GetRtGripperState ..................................................................................................................................................49