Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 71
COMMUNICATING OVER CyCLIC PROTOCOLS
3.5. Cyclic data received from the robot
Every cycle, the robot reports:
•
RobotStatus
, as described in Table 13 .
•
MotionStatus
, as described in Table 14 .
• TargetJointSet . Values: [
θ
1
,
θ
2
,
θ
3
,
θ
4
,
θ
5
,
θ
6
]. Unit is in degrees. Same as GetRtTargetJointPos .
• Corresponding target pose (TRF with respect to WRF) and associated information:
– TargetEndEffectorPose . Values: [ x , y , z , α , β , γ ]. Units are in mm or degrees. Same as
GetRtTargetCartPos .
– TargetConfiguration. Values: [shoulder −1/1, elbow −1/1, wrist −1/1, last joint turn]. Same as the
combination of GetRtTargetConf and GetRtTargetConfTurn .
– WRF (with respect to BRF) Values: [ x , y , z , α , β , γ ]. Units are in mm or degrees. Same as GetRtWrf .
– TRF (with respect to BRF) Values: [ x , y , z , α , β , γ ]. Units are in mm or degrees. Same as
GetRtTrf
.
• Robot timestamp, as described in Table 15 .
• DynamicData #1, #2, #3, #4. See Table 16 .
ROBOT STATUS
Field Type Description
ErrorCode Integer Indicates the error code (see Tables 1 and 3) or 0, if there is no error.
Busy Bool True only while the robot is being activated, homed or deactivated.
Activated Bool Indicates whether the motors are on (powered).
Home Bool Indicates whether the robot is homed and ready to receive motion commands.
SimActivated Bool Indicates whether the robot simulation mode is activated.
BrakesEngaged Bool Indicates whether the brakes are engaged.
RecoveryMode Bool Indicates whether the robot recovery mode is activated.
EStop Bool Indicates whether the E-Stop is activated (Meca500 R4 only).
Table 13: Robot status
MOTION STATUS
Field Type Description
Checkpoint Integer Indicates the last checkpoint number reached (the value stays unchanged
until another checkpoint number is reached). See Section 2.1.19 for a detailed
description of checkpoints.
MoveID Integer Acknowledges the MoveID of the last motion command queued for execution.
FIFOSpace Integer The number of commands that can be added to the robot's motion queue at any
given time (the maximum is 13,000). If 0 (too many commands sent), subsequent
commands will be ignored.
Paused Bool Indicates whether the motion is paused. This bit will remain set (and robot will
remain paused) as long as motion control bits Pause or ClearMotion remain set.
Motion will resume once both Pause and ClearMotion bits become 0.