SetExtToolSim#

This instantaneous command enables the emulation of one of our three EOAT (two electric grippers and a pneumatic module), in the case of the Meca500. The emulation mode is also automatically enabled or disabled with the ActivateSim or DeactivateSim commands. You can emulate any of our Meca500 EOAT, even if you have another of these three already installed on the Meca500.

Syntax#

SetExtToolSim(m)

Arguments#

  • m: tool model, where:

    • 0 disables the simulation of an external tool,

    • 1 emulates the current external tool,

    • 10 emulates the MEGP 25E gripper,

    • 11 emulates the MEGP 25LS gripper,

    • 20 emulates the MPM500 pneumatic module.

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, when m = 1 (current tool type) and no tool is connected, the MEGP 25E gripper is emulated.

Responses#

  • [2047][m]

Usage restrictions#

This command can be executed in any robot state.

However, changing the simulated tool to a different type (ex: gripper vs pneumatic module) is only possible when the robot is deactivated.

Cyclic protocols#

This command is not available in cyclic protocols.