Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 53
TCP/IP COMMUNICATION
Responses
[2228][ t , x , y , z , α , β , γ ]
– t : timestamp in microseconds;
– x , y , z : the coordinates of the origin of the WRF with respect to the BRF, in mm;
– α , β , γ : he Euler angles representing the orientation of the WRF with respect to the BRF, in
degrees.
2.4.28 GetStatusGripper
This deprecated command returns the gripper's status, but it is deprecated as of firmware 9.0. Use
GetRtExtToolStatus
or
GetRtGripperState
instead.
Responses
[2079][ ge , hs , hp , lr , es , oh ]
– ge : gripper enabled, i.e., present (0 for disabled, 1 for enabled);
– hs : homing state (0 for homing not performed, 1 for homing performed);
– hp : holding part (0 if the gripper does not hold a part, 1 otherwise);
– lr : limit reached (0 if the fingers are not fully open or closed, 1 otherwise);
– 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).
2.4.29 GetStatusRobot
This command returns the status of the robot.
Responses
[2007][ as , hs , sm , es , pm , eob , eom ]
– as : activation state (1 if robot is activated, 0 otherwise);
– hs : homing state (1 if homing already performed, 0 otherwise);
– sm : simulation mode (1 if simulation mode is enabled, 0 otherwise);
– es : error status (1 for robot in error mode, 0 otherwise);
– pm : pause motion status (1 if robot is in pause motion, 0 otherwise);
– eob : end of block status (1 if robot is not moving and motion queue is empty, 0 otherwise);
– eom : end of movement status (1 if robot is not moving, 0 if robot is moving).
Note that pm = 1 if a
PauseMotion
or a
ClearMotion
was sent, or if the robot is in error mode.
2.4.30 GetTorqueLimitsStatus
This command returns the status of the torque limits (whether a torque limit is currently exceeded).
Responses
[3028][ s ]
– s : status (0 if no detection, 1 if a torque limit was exceeded).