GetRtExtToolStatus

This instantaneous command returns the general status of the external tool connected to the I/O port of the Meca500, preceded with a timestamp. For additional status information, use the commands GetRtGripperState or GetRtValveState.

Syntax

GetRtExtToolStatus()

Responses

• [2300][t, simType, phyType, hs, es, oh]

  • t: timestamp in microseconds;

  • simType: simulated external tool type (0 for none, 10 for MEGP 25E gripper, 11 for MEGP 25LS gripper, 20 for MPM500 pneumatic module);

  • phyType: physical external tool type mounted on the Meca500 (0 for none, 10 for MEGP 25E gripper, 11 for MEGP 25LS gripper, 20 for MPM500 pneumatic module);

  • hs: homing state (0 for homing not performed, 1 for homing performed);

  • es: error state (0 for absence of error, 1 for presence of error);

  • oh: overheat (0 if there is no overheat, 1 if the gripper is in overheat).

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtExtToolStatus is represented by DynamicDataTypeID 52. See Section 4.4.6 for more details.

Cyclic protocols

This command is not available in cyclic protocols.