Mecademic Meca500 R3, Руководство по программированию

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Programming manual for Meca500 (for firmware 9.2.x) 23
TCP/IP COMMUNICATION
where n is a positive integer number defined by you. If blending was activated, the checkpoint response
will be sent somewhere along the blending. If a checkpoint is the last queued command, in the absence
of blending with another command, the checkpoint response will be sent once the robot has come to a
stop (along with an EOB). Finally, note that you can use the same checkpoint number multiple times.
Using a checkpoint is the only reliable way to know whether a particular motion sequence was
completed. Do not rely on the EOM or EOB messages as they may be received well before the
completion of a motion or a motion sequence (or, of course, not at all, if these messages were not
enabled).
Arguments
• n : an integer number, ranging from 1 to 8,000.
Responses
[3030][ n ]
2.1.20 SetConf( c
s
, c
e
, c
w
)
This command sets the desired posture configuration to be observed in the
MovePose
and
MoveLin*
commands (see Section 1.2.1 and Section 1.2.2 ). When a desired posture configuration is set, a
MovePose
command will be executed only if the final robot position can be in the desired posture configuration. In
contrast, when a desired posture configuration is set, a MoveLin* command will be executed only if the
final robot position can be and the initial robot position already is in the desired posture configuration.
The posture configuration can be automatically selected, when executing a
MovePose
or
MoveLin*
command, by using the
SetAutoConf
command. Using
SetConf
automatically disables the automatic
posture configuration selection.
Arguments
• c
s
: shoulder configuration parameter, either −1 or 1.
• c
e
: elbow configuration parameter, either −1 or 1.
• c
w
: wrist configuration parameter, either −1 or 1.
default values
Automatic posture configuration selection is enabled by default (see
SetAutoConf
); when the robot
starts, there is no default desired posture configuration. Desired posture configurations must be
specified using the SetConf command (sets the current robot posture as the desired configuration)
or the
SetAutoConf
(0) command. The latter sets the desired posture configuration to the one of the
current robot posture.
2.1.21 SetConfTurn( c
t
)
This command sets the desired turn configuration for joint 6 to be observed in the
MovePose
and
MoveLin* commands (see Section 1.2.1 and Section 1.2.2 ). When a turn configuration is set, a MovePose
command is executed only if the final robot position can be in the desired turn configuration. In
contrast, when a desired turn configuration is set, a
MoveLin*
command will be executed only if the
final robot position can be and the initial robot position already is in the desired turn configuration. The
turn configuration can be automatically selected, when executing a
MovePose
or
MoveLin*
command,
by using the SetAutoConf command. Using SetConfTurn automatically disables the automatic turn
configuration selection.