Mecademic Meca500 R3, Programming Manual

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50 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
2.4.14 GetRtGripperVel
This command returns the current finger velocity, as percentage of the maximum finger velocity for the
Mecademic grippers.
Responses
[2323][ t , p ]
– t : timestamp in microseconds;
– p : current finger velocity, as signed percentage of maximum velocity of the gripper fingers.
2.4.15 GetRtJointPos
This command returns the current joint set read by the joint encoders. It also returns a timestamp.
Responses
[2210][ t , θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
]
– t : timestamp in microseconds;
– θ
i
: the angle of joint i , in degrees ( i = 1, 2, ..., 6).
2.4.16 GetRtJointTorq
This command returns the current joint torques.
Responses
[2213][ t , τ
1
, τ
2
, τ
3
, τ
4
, τ
5
, τ
6
]
– t : timestamp in microseconds;
– τ
i
: the torque of joint i as a signed percentage of the maximum allowable torque ( i = 1, 2, ..., 6).
2.4.17 GetRtJointVel
This command returns the current joint velocities, as calculated by differentiating the data coming from
the joint encoders.
Responses
[2212][
t
,
θ̇
1
,
θ̇
2
,
θ̇
3
,
θ̇
4
,
θ̇
5
,
θ̇
6
]
– t : timestamp in microseconds;
– θ̇
i
: the rate of change of joint i , in °/s ( i = 1, 2, ..., 6).
2.4.18 GetRtTargetCartPos
This command returns the current target pose of the TRF with respect to the WRF, rather than the pose
as calculated from real-time data from the joint encoders. It returns the same data as the legacy GetPose
command, except for the additional timestamp.
Responses
[2201][ t , x , y , z , α , β , γ ]
– t : timestamp in microseconds;
– x , y , z : the coordinates of the origin of the TRF with respect to the WRF, in mm;