Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 19
TCP/IP COMMUNICATION
Figure 13: The TCP path when using the MoveLin command
Arguments
• x , y , z : the coordinates of the origin of the TRF with respect to the WRF, in mm;
• α , β , γ : the Euler angles representing the orientation of the TRF with respect to the WRF, in degrees.
2.1.8 MoveLinRelTrf(
x
,
y
,
z
,
α
,
β
,
γ
)
This command has the same behavior as the
MoveLin
command, but allows a desired pose to be
specified relative to the current pose of the TRF. Thus, the arguments x , y , z , α , β , and γ r epresent the
desired pose of the TRF with respect to the current pose of the TRF (i.e., the pose of the TRF just before
executing the MoveLinRelTrf command).
As with the MoveLin command, if the complete motion cannot be performed, it will not even start and
an error will be generated.
Arguments
• x , y , z : the position coordinates, in mm;
• α , β , γ : the Euler angles, in degrees.
2.1.9 MoveLinRelWrf( x , y , z , α , β , γ )
This command is similar to the
MoveLinRelTrf
command, but instead of defining the desired pose with
respect to the current pose of the TRF it is defined with respect to a reference frame that has the same
orientation as the WRF but its origin is at the current position of the TCP. As with the MoveLin command,
if the complete motion cannot be performed due to singularities or joint limits, it will not even start and
an error will be generated.
Arguments
• x , y , z : the position coordinates, in mm;
• α , β , γ : the Euler angles, in degrees.
2.1.10 MoveLinVelTrf( ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
)
This command makes the robot move its TRF with the specified Cartesian velocity, defined with respect
to the TRF.