Mecademic Meca500 R3, Programming Manual

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86 Programming manual for Meca500 (for firmware 9.2.x)
ETHERNET/IP COMMUNICATION
OUTPUT TAG ASSEMBLY
Bytes Data Type Name Description
0–3 DWORD RobotControl See Table 42 .
4–5 UINT MoveID See Table 43 .
6–7 WORD MotionControl See Table 44 .
8–11 UDINT Movement See Table 45 .
12–15 REAL Argument 1 for Movement See Table 46 .
16–19 REAL Argument 2 for Movement See Table 46 .
20–23 REAL Argument 3 for Movement See Table 46 .
24–27 REAL Argument 4 for Movement See Table 46 .
28–31 REAL Argument 5 for Movement See Table 46 .
32–35 REAL Argument 6 for Movement See Table 46 .
36–39 DINT HostTime See Table 47 .
40–43 DWORD BrakesControl See Table 48 .
44–47 UDINT DynamicDataConfiguration 1 See Table 49 .
48–51 UDINT DynamicDataConfiguration 2 See Table 49 .
52–45 UDINT DynamicDataConfiguration 3 See Table 49 .
46–59 UDINT DynamicDataConfiguration 4 See Table 49 .
Table 41: Output tag assembly
5.5.1 Robot control tag
This tag controls the robot's initialization and simulation. Table 42 describes the tag's bits. See Table 5
for detailed explanations.
CONTROL TAGS
Bytes Data Type Bits 6–31 Bit 4 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
0–3 DWORD Unused Recovery-Mode Sim-Mode Reset-Error Home Activate Deactivate
Table 42: Robot control tag
5.5.2 MoveId tag
This tag ( Table 43 ) contains the distinct user-defined ID number associated with each motion command
sent to the robot. See Table 6 for detailed explanations.
MOVEID TAG
Bytes Data Type Name Minimum Maximum
4–5 UINT MoveID 0 65,535
Table 43: MoveID tag