Mecademic Meca500 R3, Programming Manual

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48 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
2.4.8 GetRtConf
Contrary to the command GetConf which returns the desired posture configuration parameters, the
GetRtConf returns the current posture configuration parameters, as calculated from the real-time data
coming from the joint encoders. In addition, the
GetRtConf
command returns a timestamp.
Responses
[2218][ t , c
s
, c
e
, c
w
]
– t : timestamp in microseconds;
– 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
†
.
† at the corresponding singularity, we return 0, but display the text "n/a" in the web interface.
2.4.9 GetRtConfTurn
Contrary to the command GetConfTurn which returns the desired turn configuration parameter, the
GetRtConfTurn
returns the current turn configuration parameter, as calculated from the real-time data
coming from the joint encoder of joint 6. In addition, the
GetRtConfTurn
command returns a timestamp.
Response
[2219][
t
,
c
t
]
– t : timestamp in microseconds;
– c
t
: turn configuration parameter, an integer between −100 and 100.
2.4.10 GetRtExtToolStatus
This command returns the general status of the external tool connected to the I/O port of the Meca500,
preceded with a timestamp. For additional status information, use the commands GetRtGripperState
or
GetRtValveState
.
Responses
[2300][ t , simType , phyType , hs , es , oh ]
– t : timestamp in microseconds;
– simType : simulated external tool type (0 for none, 10 for MEGP 25E gripper, 11 for MEGP 25LS
gripper, 20 for MPM500 pneumatic module);
– phyType : physical external tool type mounted on the robot (0 for none, 10 for MEGP 25E gripper,
11 for MEGP 25LS gripper, 20 for MPM500 pneumatic module);
– hs : homing state (0 for homing not performed, 1 for homing performed);
– es : error state (0 for absence of error, 1 for presence of error);
– oh : overheat (0 if there is no overheat, 1 if the gripper is in overheat).