Mecademic Meca500 R3, Programming Manual

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70 Programming manual for Meca500 (for firmware 9.2.x)
COMMUNICATING OVER CyCLIC PROTOCOLS
DYNAMIC DATA TYPE ID
ID Description
14 Effective 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
GetJointLimits
.
15 Effective 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 GetJointLimits .
20 Motion queue's conf that will be applied to next MovePose. Values: [shoulder −1/1/NaN, elbow −1/1/NaN,
wrist −1/1/NaN, last joint turn or NaN]. Value NaN is used to indicate auto-conf or auto-conf-turn. Same as
GetConf
and
GetConfTurn
.
21 Motion queue parameters. Values: [blending ratio percent, velocity timeout in seconds]. Same as
GetBlending and GetVelTimeout .
22 Motion queue velocities and accelerations in percent. Values: [joint velocity, joint acceleration, Cartesian
linear velocity, Cartesian angular velocity, Cartesian acceleration]. Unit is percent. Same as
GetJointVel,
GetJointAcc
,
GetCartLinVel
,
GetCartAngVel
, and
GetCartAcc
.
23 Gripper parameters. Values: [gripper force, gripper velocity, fingers opening corresponding to closed state,
fingers opening corresponding to open state]. Arguments 1 and 2 are in percentage, while arguments 3
and 4 are in mm. Same as
GetGripperForce
,
GetGripperVel
, and
GetGripperRange
.
24 Torque limits configuration. Values: [severity, detection mode]. See Section 2.1.28 for corresponding
severity/mode values. Same as GetTorqueLimitsCfg .
25 Torque limits. Values: [joint 1 limit, joint 2 limit, ..., joint 6 limit]. Unit is percent. Same as GetTorqueLimits .
32 Target real-time joint velocity. Values: [ θ̇
1
, θ̇
2
, θ̇
3
, θ̇
4
, θ̇
5
, θ̇
6
]. Unit is °/s. Same as GetRtTargetJointVel .
33 Target real-time joint torque (not implemented yet). Values: [joint 1 torque, joint 2 torque, ..., joint 6
torque]. Unit is percent. Same as
GetRtTargetJointTorq
.
34 Target real-time Cartesian velocity (TRF with respect to. WRF). Values: [ ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
]. Units are mm/s
or °/s. Same as GetRtTargetCartVel .
40 Actual real-time joint position based on hardware encoders. Values: [ θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
]. Unit is degrees.
Same as
GetRtJointPos
.
41 Actual real-time end-effector pose (TRF with respect to. WRF). Values: [ x , y , z , α , β , γ ]. Units are mm or
degrees. Same as
GetRtCartPos
.
42 Actual real-time joint velocity. Values: [ θ̇
1
, θ̇
2
, θ̇
3
, θ̇
4
, θ̇
5
, θ̇
6
]. Unit is °/s. Same as
GetRtJointVel
.
43 Actual real-time joint torque. Values: [joint 1 torque, joint 2 torque, ..., joint 6 torque]. Unit is percent.
Same as GetRtJointTorq .
44 Actual real-time cartesian velocity (TRF with respect to. WRF). Values: [ ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
]. Units are mm/s
or °/s. Same as
GetRtCartVel
.
45 Actual conf that corresponds to real-time end-effector pose. Values: [shoulder −1/0/1, elbow −1/0/1, wrist
−1/0/1, last joint turn]. Same as GetRtConf and GetRtConfTurn .
46 Accelerometer reading. Values: [ a
x
, a
y
, a
z
]. Unit is 1/16,000 of G. Same as
GetRtAccelerometer
.
52 External tool status. Values: [type, homing done, error state, overheated]. Same as
GetRtExtToolStatus
.
53 EOAT status. Values if type gripper: [holding part, desired fingers opening reached, gripper closed, gripper
open, gripper force, fingers opening]. Values if pneumatic module: [valve 1 state, valve 2 state].
Table 12: List of DynamicDataTypeID values with associated values
To avoid data duplication, the dynamic data (above) do not include data that is already provided
in the explicit tables mentioned next (i.e., target joint position, target end-effector pose with
corresponding configuration, WRF and TRF).