From 49f60e17cda5506b2ba2492917b8e08806ebb261 Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Wed, 25 Feb 2026 11:57:56 +0100
Subject: [PATCH] Added meca command enum

---
 .../Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT  | 60 +++++++++++++++++++
 PLC/PLC.plcproj                               |  3 +
 2 files changed, 63 insertions(+)
 create mode 100644 PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT

diff --git a/PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT b/PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT
new file mode 100644
index 0000000..e306046
--- /dev/null
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_Meca_Cmds" Id="{381aaf66-29a5-4caf-9d29-3b99c7d0553f}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_Meca_Cmds :
+(
+	NO_MOVEMENT := 0,
+	MOVE_JOINTS := 1,
+	MOVE_POSE := 2,
+	MOVE_LIN := 3,
+	MOVE_LIN_REL_TRF := 4,
+	MOVE_LIN_REL_WRF := 5,
+	DELAY := 6,
+	SET_BLENDING := 7,
+	SET_JOINT_VEL := 8,
+	SET_JOINT_ACC := 9,
+	SET_CART_ANG_VEL := 10,
+	SET_CART_LIN_VEL := 11,
+	SET_CART_ACC := 12,
+	SET_TRF := 13,
+	SET_WRF := 14,
+	SET_CONF := 15,
+	SET_AUTO_CONF := 16,
+	SET_CHECKPOINT := 17,
+	GRIPPER_ACTION := 18,
+	SET_GRIPPER_VEL := 19,
+	SET_GRIPPER_FORCE := 20,
+	MOVE_JOINTS_VEL := 21,
+	MOVE_LIN_VEL_WRF := 22,
+	MOVE_LIN_VEL_TRF := 23,
+	SET_VEL_TIMEOUT := 24,
+	SET_CONF_TURN := 25,
+	SET_AUTO_CONF_TURN := 26,
+	SET_TORQUE_LIMITS := 27,
+	SET_TORQUE_LIMITS_CFG := 28,
+	MOVE_JOINTS_REL := 29,
+	SET_VALVE_STATE := 30,
+	SET_GRIPPER_RANGE := 31,
+	MOVE_GRIPPER := 32,
+	SET_JOINT_VEL_LIMIT := 33,
+	SET_MOVE_MODE := 49,
+	SET_MOVE_DURATION_CFG := 50,
+	SET_MOVE_DURATION := 51,
+	SET_PAYLOAD := 60,
+	START_PROGRAM := 100,
+	SET_JOINT_LIMITS := 150,
+	SET_JOINT_LIMITS_CFG := 151,
+	SET_WORK_ZONE_CFG := 152,
+	SET_WORK_ZONE_LIMITS := 153,
+	SET_COLLISION_CFG := 154,
+	SET_TOOL_SPHERE := 155,
+	SET_CALIBRATION_CFG := 156,
+	REBOOT_ROBOT := 200
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file
diff --git a/PLC/PLC.plcproj b/PLC/PLC.plcproj
index 87e541f..190a4b0 100644
--- a/PLC/PLC.plcproj
+++ b/PLC/PLC.plcproj
@@ -65,6 +65,9 @@
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
     </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\E_Meca_Cmds.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_JointSet.TcDUT">
       <SubType>Code</SubType>
     </Compile>