Mecademic Meca500 R3, Руководство по программированию

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Programming manual for Meca500 (for firmware 9.2.x) i
CONTENTS
1. BASIC THEORY AND DEFINITIONS .................................................................................................................1
1.1. Definitions and conventions .........................................................................................................................1
1.1.1 Units .........................................................................................................................................................................1
1.1.2 Joint numbering .......................................................................................................................................................1
1.1.3 Reference frames .....................................................................................................................................................1
1.1.4 Pose and Euler angles .............................................................................................................................................2
1.1.5 Joint angles and joint 6 turn configuration .............................................................................................................3
1.1.6 Joint set and robot posture ......................................................................................................................................4
1.2. Configurations, singularities and workspace ..............................................................................................4
1.2.1 Inverse kinematic solutions and configuration parameters ...................................................................................4
1.2.2 Automatic configuration selection ...........................................................................................................................7
1.2.3 Workspace and singularities ....................................................................................................................................8
1.2.4 Crossing singularities with linear Cartesian-space movements ............................................................................9
1.3. Key concepts for Mecademic robots ..........................................................................................................11
1.3.1 Homing ...................................................................................................................................................................11
1.3.2 Recovery mode .......................................................................................................................................................12
1.3.3 Blending .................................................................................................................................................................12
1.3.4 Position and velocity modes ...................................................................................................................................13
2. TCP/IP COMMUNICATION.............................................................................................................................15
2.1. Motion commands ......................................................................................................................................15
2.1.1 Delay( t ) ...................................................................................................................................................................16
2.1.2 GripperOpen/GripperClose ....................................................................................................................................16
2.1.3 MoveGripper(
d
) .......................................................................................................................................................16
2.1.4 MoveJoints( θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
) ...................................................................................................................................17
2.1.5 MoveJointsRel(Δ θ
1
,Δ θ
2
,Δ θ
3
,Δ θ
4
,Δ θ
5
,Δ θ
6
) ................................................................................................................17
2.1.6 MoveJointsVel( θ̇
1
, θ̇
2
, θ̇
3
, θ̇
4
, θ̇
5
, θ̇
6
) ..............................................................................................................................18
2.1.7 MoveLin(
x
,
y
,
z
,
α
,
β
,
γ
) .................................................................................................................................................18
2.1.8 MoveLinRelTrf( x , y , z , α , β , γ ) .......................................................................................................................................19
2.1.9 MoveLinRelWrf( x , y , z , α , β , γ ) .....................................................................................................................................19
2.1.10 MoveLinVelTrf( ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
) .................................................................................................................................19
2.1.11 MoveLinVelWrf(
ẋ
,
ẏ
,
ż,ω
x
,
ω
y
,
ω
z
) ................................................................................................................................20
2.1.12 MovePose(
x
,
y
,
z
,
α
,
β
,
γ
) ..............................................................................................................................................20
2.1.13 SetAutoConf( e ) .......................................................................................................................................................21
2.1.14 SetAutoConfTurn( e ) ................................................................................................................................................21
2.1.15 SetBlending( p ) ........................................................................................................................................................21
2.1.16 SetCartAcc(
p
) .........................................................................................................................................................22
2.1.17 SetCartAngVel( ω ) ...................................................................................................................................................22
2.1.18 SetCartLinVel( v )......................................................................................................................................................22
2.1.19 SetCheckpoint( n ) ....................................................................................................................................................22
2.1.20 SetConf(
c
s
,
c
e
,
c
w
)......................................................................................................................................................23
2.1.21 SetConfTurn(
c
t
) .......................................................................................................................................................23
2.1.22 SetGripperForce( p ) .................................................................................................................................................24