Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 69
COMMUNICATING OVER CyCLIC PROTOCOLS
BRAKES CONTROL FIELDS
Field Type Description
EnableBrakesControl Bool Must be set to 1 to allow brakes control through cyclic data. The purpose of this
bit is to ensure that the brakes do not get inadvertently disabled if cyclic data sent
to the robot contains all zeroes.
EngageBrakes Bool If set to 1, the brakes are engaged, else the brakes are disengaged and
the robot might fall down under the effects of gravity. This bit is ignored if
EnableBrakesControl bit is cleared. This bit is ignored if the robot is activated.
Table 10: Brakes control fields
3.4.6 dynamic data configuration
Table 11 lists the fields that allow choosing which dynamic data the robot will return. These values may
be set to automatic, to a fixed value, or changed every cycle, as required by the application. See Table 12
for a list of available dynamic data types. Finally, note that there may be a delay of 1 or two cycles before
the change takes effect.
DYNAMIC DATA CONFIGURATION ID
Field Type Description
DynamicDataTypeID 1 Integer Dynamic data type for index #1 (see Table 12 ).
DynamicDataTypeID 2 Integer Dynamic data type for index #2 (see Table 12 ).
DynamicDataTypeID 3 Integer Dynamic data type for index #3 (see Table 12 ).
DynamicDataTypeID 4 Integer Dynamic data type for index #4 (see Table 12 ).
Table 11: Dynamic data configuration fields
DYNAMIC DATA TYPE ID
ID Description
0 Automatic. Robot will automatically choose dynamic data type and change it every cycle to go through
them all. This is the easiest way for the host to receive all possible values periodically (round-robin
manner).
1 Firmware version. Values: [major version, minor version, patch version, build number]. Same as
GetFwVersion
.
2 Product type. Values: [product type (3=Meca500)]. Same as GetProductType .
3 Serial number. Values: [serial number]. Same as
GetRobotSerial
.
4 Joints offset (as calculated by mastering at production). Values: [δ θ
1
, δ θ
2
, δ θ
3
, δ θ
4
, δ θ
5
, δ θ
6
]. In degrees.
5–10 Reserved
11
Joint limits enabled state. Values: [enabled 1/0]. Same as GetJointLimitsCfg .
12 Robot model's nominal joint limits for joints 1, 2 and 3. Values: [ θ
1,min
, θ
1,max
, θ
2,min
, θ
2,max
, θ
3,min
, θ
3,max
].
Unit is degrees. Same as
GetModelJointLimits
.
13 Robot model's nominal joint limits for joints 4, 5 and 6. Values: [ θ
4,min
, θ
4,max
, θ
5,min
, θ
5,max
, θ
6,min
, θ
6,max
].
Unit is degrees. Same as GetModelJointLimits .