Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 45
TCP/IP COMMUNICATION
Responses
[2013][ x , y , z , α , β , γ ]
– x , y , z : the coordinates of the origin of the WRF with respect to the BRF, in mm;
– α , β , γ : the Euler angles representing the orientation of the WRF with respect to the BRF, in
degrees.
2.4. Real-time data request commands
The request commands in this section return real-time data pertaining to the current status of the robot.
One such data point is the current joint set, but there is a command that also returns the current length
of the motion queue, and another that returns the current status of the torque limits, for example.
There are two types of robot positioning real-time data commands. The first type returns data according
to real-time measurements from the robot sensors:
•
GetRtJointTorq
: returns the current joint torques, as measured by the motor currents.
•
GetRtAccelerometer
: returns the current acceleration in link 5, as measured by the embedded
accelerometer.
•
GetRtJointPos
: returns the current joint set, as measured by the joint encoders.
•
GetRtCartPos
: returns the current TRF pose as calculated from the real-time joint encoder mea-
surements.
•
GetRtJointVel
: returns the current joint velocities as calculated from the real-time joint encoder
measurements.
•
GetRtCartVel
: returns the current Cartesian velocity as calculated from the real-time joint encoder
measurements.
•
GetRtConf
: returns the current posture configuration as calculated from the real-time joint encoder
measurements.
•
GetRtConfTurn
: returns current turn configuration as calculated from the real-time joint encoder
measurements.
The second type returns real-time targets calculated by the trajectory planner:
•
GetRtTargetJointPos
: returns the current target joint pose as calculated by the trajectory planner.
• GetRtTargetCartPos : returns the current target TRF pose data as calculated by the trajectory plan-
ner.
• GetRtTargetJointVel : returns the current target joint velocities as calculated by the trajectory
planner.
• GetRtTargetCartVel : returns the current target Cartesian velocity as calculated by the trajectory
planner.
• GetRtTargetConf : returns the current target posture configuration as calculated by the trajectory
planner.
• GetRtTargetConfTurn : returns the current target turn configuration as calculated by the trajectory
planner.
For example, if the robot is active and homed, but not moving, the
GetRtTargetJointPos
command
will always return the same joint set, as long as the robot remains stationary. In reality, the robot is