Mecademic Meca500 R3, Programming Manual

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60 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
STATUS MESSAGES
Message Explanation
[3035][TCP dump capture started for x seconds] Sent to indicate that the requested TCP dump capture has
started and confirms the maximum duration of x seconds.
[3036][TCP dump capture stopped] Sent after a previously started TCP dump capture has finished.
[3037][Pneumatic module error] A communication error with the pneumatic module was
detected. Contact our technical support team.
[3039][External tool firmware must be updated.] Activation has failed, because the robot has detected that the
firmware of the EOAT is older than the firmware of the robot.
[3070][1/0] E-Stop or P-Stop 1 raised (1) or cleared (0).
Table 3: Status messages and descriptions
2.5.4 Monitoring port messages
The Meca500 is configured to send immediate robot feedback over TCP port 10001. Several kinds of
feedback messages are sent over this port, some of which are optional (see SetRealTimeMonitoring ):
MONITORING PORT MESSAGES
Message Description
[2007][ as , hs , sm , es , pm , eob , eom ] Response from the
GetStatusRobot
command (only when the
data changes and at connection, but can be sent several times
during a monitoring interval)
[2026][ θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
] Joint set
[2027][ x , y , z , α , β , γ ] Pose of the TRF with respect to the WRF
[2049][Recovery mode enabled] The recovery mode becomes enabled.
[2050][Recovery mode disabled] The recovery mode becomes disabled.
[2079][ ge , hs , hp , lr , es , oh ] Response from the legacy
GetStatusGripper
command (sent
only when a gripper is installed and its status changes and at
connection, but can be sent several times during a monitoring
interval)
[2200][ t , θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
]
GetRtTargetJointPos
[2201][ t , x , y , z , α , β , γ ]
GetRtTargetCartPos
[2202][ t , θ̇
1
, θ̇
2
, θ̇
3
, θ̇
4
, θ̇
5
, θ̇
6
]
GetRtTargetJointVel
[2203][ t , τ
1
, τ
2
, τ
3
, τ
4
, τ
5
, τ
6
]
GetRtTargetJointTorq
[2204][ t , ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
]
GetRtTargetCartVel
[2208][ t , c
s
, c
e
, c
w
] Response from the GetRtTargetConf command (only when the
data changes and at connection)
[2209][ t , c
t
] Response from the
GetRtTargetConfTurn
command (only
when the data changes and at connection)
[2210][ t , θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
] GetRtJointPos
[2211][ t , x , y , z , α , β , γ ] GetRtCartPos
[2212][ t , θ̇
1
, θ̇
2
, θ̇
3
, θ̇
4
, θ̇
5
, θ̇
6
] GetRtJointVel