Mecademic MECA500 R3 Programming Manual

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Table of Contents
Basic Theory and Definitions
Definitions and Conventions
Units
Joint Numbering
Reference Frames
Pose and Euler Angles
Joint Angles and Joint 6 Turn Configuration
Joint Set and Robot Posture
Configurations, Singularities and Workspace
Inverse Kinematic Solutions and Configuration Parameters
Automatic Configuration Selection
Workspace and Singularities
Crossing Singularities with Linear Cartesian-Space Movements
Key Concepts for Mecademic Robots
Homing
Recovery Mode
Blending
Position and Velocity Modes
Tcp/Ip Communication
Motion Commands
Delay(T)
Gripperopen/Gripperclose
Movegripper(D)
Movejoints(Θ )
Movejointsrel(Δθ )
Movejointsvel(Θ ̇ )
Movelin(X,Y,Z,Α,Β,Γ)
Movelinreltrf(X,Y,Z,Α,Β,Γ)
Movelinrelwrf(X,Y,Z,Α,Β,Γ)
Movelinveltrf(X ̇ ,Y ̇ ,Ż,Ω )
Movelinvelwrf(X ̇ ,Y ̇ ,Ż,Ω )
Movepose(X,Y,Z,Α,Β,Γ)
Setautoconf(E)
Setautoconfturn(E)
Setblending(P)
Setcartacc(P)
Setcartangvel(Ω)
Setcartlinvel(V)
Setcheckpoint(N)
Setconf(C )
Setconfturn(C )
Setgripperforce(P)
Setgripperrange(D ,D )
Setgrippervel(P)
Setjointacc(P)
Setjointvel(P)
Settorquelimits(P 2.1.28 Settorquelimitscfg(S,M)
Settorquelimits(P ,P ,P ,P ,P ,P )
Settrf(X,Y,Z,Α,Β,Γ)
Setvalvestate(V )
Setveltimeout(T)
Setwrf(X,Y,Z,Α,Β,Γ)
General Request Commands
Activaterobot
Activatesim/Deactivatesim
Clearmotion
Deactivaterobot
Brakeson/Brakesoff
Enableethernetip(E)
Enableprofinet(E)
Getexttoolfwversion
Getfwversion
Getmodeljointlimits(N)
Getproducttype
Getrobotname
Getrobotserial
Home
Logtrace(S)
Logusercommands(E )
Pausemotion
Reseterror
Resetpstop
Resumemotion
Setctrlportmonitoring(E)
Seteob(E)
Seteom(E)
Setexttoolsim(E)
Setjointlimits(N,Θ N,Min ,Θ N,Max )
Setjointlimitscfg(E)
Setmonitoringinterval(T)
Setnetworkoptions
Setofflineprogramloop(E)
Setrealtimemonitoring
Setrobotname(S)
Setrecoverymode(E)
Setrtc(T)
Startprogram(N)
Startsaving(N)
Stopsaving
Synccmdqueue(N)
Switchtoethercat
Tcpdump(N)
Tcpdumpstop
Data Request Commands
Getautoconf
Getautoconfturn
Getblending
Getcartacc
Getcartangvel
Getcartlinvel
Getcheckpoint
Getconf
Getconfturn
Getgripperforce
Getgripperrange
Getgrippervel
Getjointacc
Getjointlimits(N)
Getjointlimitscfg
Getjointvel
Getmonitoringinterval
Getnetworkoptions
Getrealtimemonitoring
Gettorquelimits
Gettorquelimitscfg
Gettrf
Getveltimeout
Getwrf
Real-Time Data Request Commands
Getcmdpendingcount
Getjoints
Getpose
Getrtaccelerometer(N)
Getrtc
Getrtcartpos
Getrtcartvel
Getrtconf
Getrtconfturn
Getrtexttoolstatus
Getrtgripperforce
Getrtgripperpos
Getrtgripperstate
Getrtgrippervel
Getrtjointpos
Getrtjointtorq
Getrtjointvel
Getrttargetcartpos
Getrttargetcartvel
Getrttargetconf
Getrttargetconfturn
Getrttargetjointpos
Getrttargetjointtorq
Getrttargetjointvel
Getrttrf
Getrtvalvestate
Getrtwrf
Getstatusgripper
Getstatusrobot
Gettorquelimitsstatus
Responses and Messages
Command Error Messages
Command Responses
Status Messages
Monitoring Port Messages
Management of Errors and Hardware Stops
Errors Detected by the Robot
P-Stop 2
E-Stop and P-Stop 1
Communicating over Cyclic Protocols
Cyclic Data
Types of Robot Commands
Status Change Commands
Triggered Actions
Motion Commands
Sending Motion Commands
Command ID
Moveid and Setpoint
Adding Non-Cyclic Motion Commands to the Motion Queue (Position Mode)
Sending Cyclic Motion Commands (Velocity Mode)
Cyclic Data that Can be Sent to the Robot
Robot Control
Motion Control
Motion Parameters
Host Time
Brake Control
Dynamic Data Configuration
Cyclic Data Received from the Robot
Ethercat Communication
Overview
Connection Types
ESI File
Enabling Ethercat
Leds
Object Dictionary
Robot Control
Motion Control
Movement
Host Time
Brake Control
Dynamic Data Configuration
Robot Status
Motion Status
Target Joint Set
Target End-Effector Pose
Target Configuration
Wrf
Trf
Robot Timestamp
Dynamic Data
Communication Mode (SDO)
PDO Mapping
Ethernet/Ip Communication
Connection Types
EDS File
Forward Open Exclusivity
Enabling Ethernet/Ip
Output Tag Assembly
Robot Control Tag
Moveid Tag
Motion Control Tag
Motion Command Group of Tags
Host Time Tag
Brake Control Tag
Dynamic Data Configuration Tag
Input Tag Assembly
Robot Status Tag
Error Code Tag
Checkpoint Tag
Moveid Tag
FIFO Space Tag
Motion Status Tag
Offline Program ID
Target Joint Set
Target End-Effector Pose
Target Configuration
Wrf
Trf
Robot Timestamp
Dynamic Data
Profinet Communication
PROFINET Conformance Class
PROFINET Limitations on the Meca500 Robot
Connection Types
Limitations When Daisy-Chaining Robots
PROFINET Protocol over Your Ethernet Network
Enabling PROFINET
Exclusivity of AR
GSDML File
Meca500 Modules and Sub-Modules
Cyclic Data
Alarms
Glossary

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MECA500 (R3 & R4)

PROGRAMMING MANUAL

For Firmware Version 9.2.x

Document Revision: 1

November 2, 2022

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Mecademic MECA500 R3 Programming Manual

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