Mecademic Meca500 R3, Programming Manual

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88 Programming manual for Meca500 (for firmware 9.2.x)
ETHERNET/IP COMMUNICATION
5.5.6 Brake control tag
This tag controls robot brakes (applies only when robot is deactivated). This table describes the tag's
bits. See Table 10 for detailed explanations about brakes behavior.
BRAKES CONTROL TAG
Bytes Data Type Bits 2–31 Bit 1 Bit 0
40–43 DWORD Unused EngageBrakes EnableBrakesControl
Table 48: Brakes control tag
5.5.7 dynamic data configuration tag
This tag is used to choose which dynamic data type the robot will return ( Table 49 ). See Table 11 for
details.
DYNAMIC DATA CONFIGURATION
Bytes Data Type Name Minimum Maximum
† DINT DynamicDataTypeID 0 53
† Index vary on the four available dynamic data configuration tags (see Table 41 ).
Table 49: Dynamic data configuration tag
5.6. Input tag assembly
The input tag assembly has an Instance of 100 with a size 252-byte array, as detailed in Table 50 . Please
refer to Section 3.5 for a description of the objects and their fields.
The following subsections define how these objects are mapped to EtherNet/IP input tag assembly (as
also described in the EDS file).
INPUT TAG ASSEMBLY
Bytes Data Type Data Description
0–1 WORD RobotStatus See Table 51 .
2–3 UINT ErrorCode See Table 52 .
4–7 UDINT Checkpoint See Table 53 .
8–9 UINT MoveID See Table 54 .
10–11 UINT Motion queue space See Table 55 .
12–13 WORD MotionStatus See Table 56 .
14–15 UINT OfflineProgramID See Table 57 .