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      Known Issues

      Firmware V10.1.0.7326

      Cyclic communication for MCS500

      • Dynamic Data[73]   //To be fixed in V10.2 
        • HoldingPart and PurgingPart flags are inverted.
          Should read : [VacuumOn, HoldingPart, PurgingPart, Pressure]
          Instead : [VaccumOn, PurgingPart, HoldingPart]
        • Vacuum pressure is missing

       

      Firmware V9.3.4 - V10.1

      Robot stuck in busy state in EtherCAT

      To be fixed in v10.2

      Robot is stuck in busy state if the Activate command is send before before the power supply has been reset.

      The Status LED on the power need to be solid yellow before sending the Activate command.

      This situation is noticeable when recovering from an E-Stop / P-Stop / Reboot event.

      A work around is possible in v10.1: wait for the signal Safety_Status.VMotorOn to be true before sending the Activate command.

      Firmware V9.3.4

      Robot move to near zero position if move originate from outside limits.

      If the robot is manually moved outside the limit of it's joint, when a move is triggered, the robot will move to a near zero position be fore completing the move. 
      Tested using MoveLinRelTRF.

       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
         
      		   
       
      Meca500 - ATI Force/Torque Sensor Integration (using Python)
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
       
         
      		   
       
      Meca500 - ATI Force/Torque Sensor Integration (using Python)