Mecademic MECA500 R4 Six-Axis Robot Arm Manuals

Manuals and User Guides for Mecademic MECA500 R4 Six-Axis Robot Arm. We have 1 Mecademic MECA500 R4 Six-Axis Robot Arm manual available for free PDF download: Programming Manual

Mecademic MECA500 R4 Programming Manual (110 pages)

Brand: Mecademic | Category: Robotics | Size: 4 MB

Table of Contents
3
Basic Theory and Definitions
11
Definitions and Conventions
11
Units
11
Joint Numbering
11
Reference Frames
11
Pose and Euler Angles
12
Joint Angles and Joint 6 Turn Configuration
13
Joint Set and Robot Posture
14
Configurations, Singularities and Workspace
14
Inverse Kinematic Solutions and Configuration Parameters
14
Automatic Configuration Selection
17
Workspace and Singularities
18
Crossing Singularities with Linear Cartesian-Space Movements
19
Key Concepts for Mecademic Robots
21
Homing
21
Recovery Mode
22
Blending
22
Position and Velocity Modes
23
Tcp/Ip Communication
25
Motion Commands
25
Delay(T)
26
Gripperopen/Gripperclose
26
Movegripper(D)
26
Movejoints(Θ )
27
Movejointsrel(Δθ )
27
Movejointsvel(Θ ̇ )
28
Movelin(X,Y,Z,Α,Β,Γ)
28
Movelinreltrf(X,Y,Z,Α,Β,Γ)
29
Movelinrelwrf(X,Y,Z,Α,Β,Γ)
29
Movelinveltrf(X ̇ ,Y ̇ ,Ż,Ω )
29
Movelinvelwrf(X ̇ ,Y ̇ ,Ż,Ω )
30
Movepose(X,Y,Z,Α,Β,Γ)
30
Setautoconf(E)
31
Setautoconfturn(E)
31
Setblending(P)
31
Setcartacc(P)
32
Setcartangvel(Ω)
32
Setcartlinvel(V)
32
Setcheckpoint(N)
32
Setconf(C )
33
Setconfturn(C )
33
Setgripperforce(P)
34
Setgripperrange(D ,D )
34
Setgrippervel(P)
35
Setjointacc(P)
35
Setjointvel(P)
35
Settorquelimits(P 2.1.28 Settorquelimitscfg(S,M)
36
Settorquelimits(P ,P ,P ,P ,P ,P )
36
Settrf(X,Y,Z,Α,Β,Γ)
36
Setvalvestate(V )
37
Setveltimeout(T)
37
Setwrf(X,Y,Z,Α,Β,Γ)
37
General Request Commands
38
Activaterobot
38
Activatesim/Deactivatesim
38
Clearmotion
38
Deactivaterobot
38
Brakeson/Brakesoff
39
Enableethernetip(E)
39
Enableprofinet(E)
39
Getexttoolfwversion
39
Getfwversion
39
Getmodeljointlimits(N)
40
Getproducttype
40
Getrobotname
40
Getrobotserial
40
Home
40
Logtrace(S)
41
Logusercommands(E )
41
Pausemotion
41
Reseterror
41
Resetpstop
42
Resumemotion
42
Setctrlportmonitoring(E)
42
Seteob(E)
43
Seteom(E)
43
Setexttoolsim(E)
43
Setjointlimits(N,Θ N,Min ,Θ N,Max )
44
Setjointlimitscfg(E)
44
Setmonitoringinterval(T)
44
Setnetworkoptions
45
Setofflineprogramloop(E)
45
Setrealtimemonitoring
45
Setrobotname(S)
46
Setrecoverymode(E)
47
Setrtc(T)
47
Startprogram(N)
48
Startsaving(N)
48
Stopsaving
48
Synccmdqueue(N)
49
Switchtoethercat
49
Tcpdump(N)
49
Tcpdumpstop
49
Data Request Commands
50
Getautoconf
50
Getautoconfturn
50
Getblending
50
Getcartacc
50
Getcartangvel
51
Getcartlinvel
51
Getcheckpoint
51
Getconf
51
Getconfturn
51
Getgripperforce
52
Getgripperrange
52
Getgrippervel
52
Getjointacc
52
Getjointlimits(N)
52
Getjointlimitscfg
53
Getjointvel
53
Getmonitoringinterval
53
Getnetworkoptions
53
Getrealtimemonitoring
54
Gettorquelimits
54
Gettorquelimitscfg
54
Gettrf
54
Getveltimeout
54
Getwrf
54
Real-Time Data Request Commands
55
Getcmdpendingcount
56
Getjoints
56
Getpose
56
Getrtaccelerometer(N)
56
Getrtc
57
Getrtcartpos
57
Getrtcartvel
57
Getrtconf
58
Getrtconfturn
58
Getrtexttoolstatus
58
Getrtgripperforce
59
Getrtgripperpos
59
Getrtgripperstate
59
Getrtgrippervel
60
Getrtjointpos
60
Getrtjointtorq
60
Getrtjointvel
60
Getrttargetcartpos
60
Getrttargetcartvel
61
Getrttargetconf
61
Getrttargetconfturn
61
Getrttargetjointpos
61
Getrttargetjointtorq
62
Getrttargetjointvel
62
Getrttrf
62
Getrtvalvestate
62
Getrtwrf
62
Getstatusgripper
63
Getstatusrobot
63
Gettorquelimitsstatus
63
Responses and Messages
64
Command Error Messages
64
Command Responses
66
Status Messages
69
Monitoring Port Messages
70
Management of Errors and Hardware Stops
72
Errors Detected by the Robot
72
P-Stop 2
72
E-Stop and P-Stop 1
72
Communicating over Cyclic Protocols
73
Cyclic Data
73
Types of Robot Commands
73
Status Change Commands
73
Triggered Actions
73
Motion Commands
74
Sending Motion Commands
74
Command ID
74
Moveid and Setpoint
74
Adding Non-Cyclic Motion Commands to the Motion Queue (Position Mode)
74
Sending Cyclic Motion Commands (Velocity Mode)
75
Cyclic Data that Can be Sent to the Robot
75
Robot Control
75
Motion Control
76
Motion Parameters
76
Host Time
78
Brake Control
78
Dynamic Data Configuration
79
Cyclic Data Received from the Robot
81
Ethercat Communication
83
Overview
83
Connection Types
83
ESI File
83
Enabling Ethercat
83
Leds
83
Object Dictionary
84
Robot Control
84
Motion Control
85
Movement
85
Host Time
86
Brake Control
86
Dynamic Data Configuration
86
Robot Status
87
Motion Status
88
Target Joint Set
88
Target End-Effector Pose
89
Target Configuration
89
Wrf
90
Trf
90
Robot Timestamp
91
Dynamic Data
91
Communication Mode (SDO)
93
PDO Mapping
93
Ethernet/Ip Communication
95
Connection Types
95
EDS File
95
Forward Open Exclusivity
95
Enabling Ethernet/Ip
95
Output Tag Assembly
95
Robot Control Tag
96
Moveid Tag
96
Motion Control Tag
97
Motion Command Group of Tags
97
Host Time Tag
97
Brake Control Tag
98
Dynamic Data Configuration Tag
98
Input Tag Assembly
98
Robot Status Tag
100
Error Code Tag
101
Checkpoint Tag
101
Moveid Tag
101
FIFO Space Tag
101
Motion Status Tag
102
Offline Program ID
102
Target Joint Set
102
Target End-Effector Pose
102
Target Configuration
103
Wrf
103
Trf
103
Robot Timestamp
104
Dynamic Data
104
Profinet Communication
105
PROFINET Conformance Class
105
PROFINET Limitations on the Meca500 Robot
105
Connection Types
105
Limitations When Daisy-Chaining Robots
105
PROFINET Protocol over Your Ethernet Network
105
Enabling PROFINET
106
Exclusivity of AR
106
GSDML File
107
Meca500 Modules and Sub-Modules
107
Cyclic Data
107
Alarms
107
Glossary
108

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