Mecademic Meca500 R3, Programming Manual

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72 Programming manual for Meca500 (for firmware 9.2.x)
COMMUNICATING OVER CyCLIC PROTOCOLS
MOTION STATUS
Field Type Description
EOB Bool The End of Block (EOB) bit is true only when the robot is not moving and there is
no motion command left in the motion queue. Note that the EOB bit may be raised
before all sent commands have been completed, due to network or processing
delays. Therefore, do not rely on this flag to be informed when a sequence of
movements has been completed (use a checkpoint instead).
EOM Bool The End Of Motion (OOM) bit is true if the robot is not moving. Note that the
EOM bit may be raised between two consecutive motion commands. Therefore,
do not rely on this flag to be informed when a sequence of movements has been
completed (use a checkpoint instead).
Cleared Bool Indicates whether the motion queue is cleared. If the queue is cleared, the robot is
not moving. This bit will remain true (and robot will remain paused) as long as the
motion control bit ClearMotion remains set. Motion will resume once both Pause
and ClearMotion bits become 0.
PStop2 Bool Indicates whether the P-Stop 2 is set.
ExcessiveTorque Bool Indicates whether a joint torque is exceeding the corresponding user-defined
torque limit.
PStop2Resettabe Bool Indicates whether the P-Stop 2 is removed, but is not reset yet.
OfflineProgramID Integer ID of the offline program currently running (0 if none).
Table 14: Motion status
ROBOT TIMESTAMP
Field Type Description
RobotTimestamp (seconds part) Integer Robot's monotonic timestamp (seconds) based on arbitrary reference.
RobotTimestamp (microseconds
part)
Integer Robot's monotonic timestamp (microseconds within current second).
DynamicDataUpdateCount Integer Number of times all available dynamic data has been refreshed (see
value 'Automatic' in Table 11 ).
Table 15: Robot timestamp
ROBOT DYNAMIC DATA
Field Type Description
DynamicDataTypeID Integer Dynamic data type (among values in Table 11 ).
Value 1 Real First associated value (see corresponding DynamicDataTypeID in Table 12 ).
Value 2 Real Second associated value (see corresponding DynamicDataTypeID in Table 12 ).
Value 3 Real Third associated value (see corresponding DynamicDataTypeID in Table 12 ).
Value 4 Real Fourth associated value (see corresponding DynamicDataTypeID in Table 12 ).
Value 5 Real Fifth associated value (see corresponding DynamicDataTypeID in Table 12 ).
Value 6 Real Sixth associated value (see corresponding DynamicDataTypeID in Table 12 ).
Table 16: Robot dynamic data