Related Manuals for Mecademic MECA500 R4
Summarization of Contents
1. Basic Theory and Definitions
1.1. Definitions and Conventions
Defines units, joint numbering, reference frames, and pose conventions.
1.2. Configurations, Singularities and Workspace
Explains inverse kinematics, posture configurations, and workspace limitations.
1.3. Key Concepts for Mecademic Robots
Covers essential robot operations like homing, recovery mode, and blending.
2. TCP/IP Communication
2.1. Motion Commands
Details commands for robot movement: MoveJoints, MoveLin, MovePose, etc.
2.2. General Request Commands
Covers commands for robot control, activation, deactivation, and configuration.
2.3. Data Request Commands
Lists commands to retrieve robot configuration and status parameters.
2.4. Real-time Data Request Commands
Provides commands for obtaining live robot data like joint positions and velocities.
2.5. Responses and Messages
Explains command responses, error messages, and status updates from the robot.
2.6. Management of Errors and Hardware Stops
Details how the robot handles errors, P-Stop, and E-Stop conditions.
3. Communicating Over Cyclic Protocols
3.1. Cyclic Data
Introduces cyclic data exchange for robot control and monitoring via protocols.
3.2. Types of Robot Commands
Categorizes commands into status changes and triggered actions for cyclic comms.
3.3. Sending Motion Commands
Explains sending motion commands using cyclic data fields and arguments.
3.4. Cyclic Data That Can Be Sent to the Robot
Lists fields for robot control, motion, and parameters in cyclic data.
3.5. Cyclic Data Received from the Robot
Describes data fields sent by the robot: status, motion, and timestamp info.
4. EtherCAT Communication
4.1. Overview
Introduces EtherCAT, its connection types, and enabling process.
4.2. Object Dictionary
Describes objects mapped to EtherCAT Process Data Objects (PDOs).
4.3. PDO Mapping
Summarizes PDO assignments for receiving and transmitting data in EtherCAT.
5. EtherNet/IP Communication
5.1. Connection Types
Explains connection methods for EtherNet/IP, including daisy-chaining.
5.2. EDS File
Information on obtaining the Electronic Data Sheet file for EtherNet/IP.
5.3. Forward Open Exclusivity
Details connection exclusivity rules for EtherNet/IP.
5.4. Enabling Ethernet/IP
Instructions for enabling and disabling the EtherNet/IP protocol.
5.5. Output Tag Assembly
Describes the output tag assembly mapping for EtherNet/IP communication.
5.6. Input Tag Assembly
Describes the input tag assembly mapping for EtherNet/IP communication.
6. PROFINET Communication
6.1. PROFINET Conformance Class
Outlines PROFINET features supported and limitations on the Meca500.
6.2. Connection Types
Explains connection methods for PROFINET, including daisy-chaining.
6.3. Enabling PROFINET
Instructions for enabling and disabling the PROFINET protocol.
6.4. Exclusivity of AR
Details exclusivity rules for PROFINET controller connections.
6.5. GSDML File
Information on the GSDML file for PROFINET device description.
6.6. Cyclic Data
Explains cyclic data usage for PROFINET control and monitoring.
6.7. Alarms
Notes that PROFINET reports alarms via cyclic data, not dedicated alarms.
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