Mecademic Meca500 R3, Programming Manual

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68 Programming manual for Meca500 (for firmware 9.2.x)
COMMUNICATING OVER CyCLIC PROTOCOLS
MOTION COMMAND ID NUMBERS
ID Description
23 MoveLinVelTrf , arguments 1, 2, 3 are in mm/s and 4, 5, 6 are in °/s.
24 SetVelTimeout , argument 1 is in seconds.
25 SetConfTurn , argument 1 is an integer number, ranging from −100 to 100.
26 SetAutoConfTurn, argument 1 is 0 or 1.
27 SetTorqueLimits , all six arguments are percentage of maximum joint torque, from 0.001 to 100.
28
SetTorqueLimitsCfg
, argument 1 is severity (0 to 4), argument 2 is detection mode (0 or 1). See
Section 2.1.28 .
29
MoveJointsRel
, all six arguments are in degrees.
30
SetValveState
, both arguments are 0 or 1.
31
SetGripperRange
, both arguments are in mm.
32
MoveGripper
, argument 1 is in mm.
100
StartProgram
, argument 1 is the ID of the offline program to start, from 1 to 500.
Table 8: List of MotionCommandID numbers
3.4.4 Host time
Table 9 lists the fields that allow the host to set robot's date/time.
HOST TIME FIELDS
Field Type Description
HostTime Integer Current time in seconds since epoch (i.e., since 00:00:00 UTC January 1, 1970). If non-zero,
the robot will update its own time to this value (same as
SetRtc
). This is useful for robot
logs to contain meaningful time (the robot forgets time every time it's rebooted).
Table 9: Host time fields
3.4.5 Brake control
Table 10 lists the fields that allow to control robot brakes (when deactivated) for joints 1, 2 and 3 (all
three at the same time).
Brakes behavior:
• Brakes are automatically disengaged when robot is activated (the robot will actively maintain its
position when not moving).
• Brakes are automatically engaged when robot is powered-down (or P-Stop 1).
• Brakes are automatically engaged when robot gets deactivated.
• While robot is in 'deactivated' state, brakes state can be controlled using the fields below.
!
Disable brakes with caution; without brakes, all joints collapse downward.