Mecademic Meca500 R3, Programming Manual

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Programming manual for Meca500 (for firmware 9.2.x) 87
ETHERNET/IP COMMUNICATION
5.5.3 Motion control tag
This tag controls the actual robot movement. Table 44 describes the tag's bits. See Table 6 for details.
MOTION CONTROL TAGS
Bytes Data Type Bits 4–15 Bit 3 Bit 2 Bit 1 Bit 0
6–7 WORD Unused ResetPStop ClearMotion PauseMotion SetPoint
Table 44: Motion control tag
5.5.4 Motion command group of tags
This group of tags will define the type of motion command that is being sent to the robot and the
arguments of the respective command. The motion command tag (shown in the table below) contains
the ID of the motion command (see Table 8 ). The motion command argument tags contain the
arguments of the motion command ( Table 46 ).
See Section 3.3 and Section 3.4 for detailed explanations.
MOTION COMMANDS
Bytes Data Type Name Possible values
8–11 UDINT MotionCommandID 0, 1, 2, ... (see Table 7)
Table 45: Motion command tag
MOTION COMMAND TAGS
Bytes Data Type Name
12–15 Real Motion command argument 1
16–19 Real Motion command argument 2
20–23 Real Motion command argument 3
24–27 Real Motion command argument 4
28–31 Real Motion command argument 5
32–35 Real Motion command argument 6
Table 46: Motion command arguments tags
5.5.5 Host time tag
This tag controls robot's date/time (real-time-clock). See Table 9 for details.
HOST TIME TAG
Bytes Data Type Name Minimum Maximum
36–39 DINT HostTime 0 2
32
− 1
Table 47: Host time tag