Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 41
TCP/IP COMMUNICATION
2.3.5 GetCartAngVel
This command returns the desired limit of the angular velocity of the TRF with respect to the WRF, set by
the command SetCartAngVel .
Responses
[2155][ ω ]
– ω : TRF angular velocity limits, in °/s.
2.3.6 GetCartLinVel
This command returns the desired TCP velocity limit, set by
SetCartLinVel
.
Responses
[2154][ v ]
–
v
: TCP velocity limit, in mm/s.
2.3.7 GetCheckpoint
This command returns the argument of the last executed
SetCheckpoint
.
Responses
[2157][ n ]
– n : checkpoint number.
2.3.8 GetConf
This command returns the desired posture configuration (see Figure 5 ), or more precisely, the posture
configuration that will be applied to the next MovePose or MoveLin* command in the motion queue. This
is either the posture configuration explicitly specified with the
SetConf
command, or the one that was
automatically assigned when the
SetAutoConf
(0) command was executed.
Responses
[2029][
c
s
,
c
e
,
c
w
]
– c
s
: shoulder configuration parameter, either −1 or 1
†
;
– c
e
: elbow configuration parameter, either −1 or 1
†
;
– c
w
: wrist configuration parameter, either −1 or 1
†
.
† if automatic posture configuration selection is enabled, the value of each parameter is an asterisk,
i.e., the response is [2029][*,*,*].
2.3.9 GetConfTurn
This command returns the desired turn configuration (see Figure 5 ), or more precisely, the turn
configuration that will be applied to the next
MovePose
or
MoveLin*
command in the motion queue.
Recall that this is either the turn configuration that you have explicitly specified with the command
SetConfTurn , or the one that was automatically assigned when the command SetAutoConfTurn (0) was
executed.