Programming manual for Meca500 (for firmware 9.2.x)
43
TCP/IP COMMUNICATION
Arguments
•
n
: joint number, an integer ranging from 1 to 6.
Responses
[2090][
n
,
θ
n
,min
,
θ
n
,max
]
–
n
: joint number, an integer ranging from 1 to 6;
–
θ
n
,min
: lower joint limit, in degrees;
–
θ
n
,max
: upper joint limit, in degrees.
2.3.15 GetJointLimitsCfg
This command returns the status of the user-enabled joint limits, defined by
SetJointLimitsCfg
.
Responses
[2094][
e
]
–
e
: status, 1 for enabled, 0 for disabled.
2.3.16 GetJointVel
This command returns the desired joint velocity reduction factor, set with the
SetJointVel
command.
Responses
[2152][
p
]
–
p
: percentage of maximum joint velocities.
2.3.17 GetMonitoringInterval
This command returns the time interval at which real-time feedback from the robot is sent from the
robot over TCP port 10001.
Responses
[2116][
t
]
–
t
: time interval in seconds.
2.3.18 GetNetworkOptions
This command returns the parameters affecting the network connection.
Responses
[2119][
n
1
,
n
2
,
n
3
,
n
4
,
n
5
,
n
6
]
–
n
1
: number of successive keep-alive TCP packets that can be lost before the TCP connection is
closed, where
n
1
is an integer number ranging from 0 to 43,200
–
n
2
,
n
3
,
n
4
,
n
5
,
n
6
: currently not used.
Summary of Contents for Meca500 R3
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