Mecademic Meca500 R3, Programming Manual

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44 Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
2.3.19 GetRealTimeMonitoring
This command returns the numerical codes of the responses that have been enabled with the
SetRealTimeMonitoring command.
Responses
[2117][ n
1
, n
2
, ... ]
2.3.20 GetTorqueLimits
This command returns the desired joint torque thresholds, set with the
SetTorqueLimits
command.
Responses
[2161][ p
1
, p
2
, p
3
, p
4
, p
5
, p
6
]
– p
i
: percentage of the maximum allowable torque that can be applied at joint i ( i = 1, 2, ..., 6).
2.3.21 GetTorqueLimitsCfg
This command returns the desired behavior of the robot, when a joint torques exceeds the thresholds
set by the
SetTorqueLimits
. This desired behavior is set with the
SetTorqueLimitsCfg
command.
Responses
[2160][ s , m ]
– s : an integer defining the torque limit event severity (see SetJointLimitsCfg );
– m : an integer defining the detection mode (see SetTorqueLimitsCfg ).
2.3.22 GetTrf
This command returns the current definition of the TRF with respect to the FRF, set with the SetTrf
command.
Responses
[2014][ x , y , z , α , β , γ ]
– x , y , z : the coordinates of the origin of the TRF with respect to the FRF, in mm;
– α , β , γ: the Euler angles representing the orientation of the TRF with respect to the FRF, in
degrees.
2.3.23 GetVelTimeout
This command returns the timeout for velocity-mode motion commands, set with the
SetVelTimeout
command.
Responses
[2151][ t ]
– t : desired time interval, in seconds, ranging from 0.001 s to 1 s.
2.3.24 GetWrf
This command returns the current definition of the WRF with respect to the BRF, set with the
SetWrf
command.