FANUC Standard Interface Commands

The FANUC Standard Interface provides the following procedures:

When programming the FANUC robot, please pay attention to the following:

  • Multiple parameters should be separated by commas.

  • All parameters should be defined as local variables in the program file.

  • Parameters can be defined as Input or Output parameters.

This Standard Interface is over the TCP/IP protocol.

Initialize Communication

MM_INIT_SKT (C_Tag,Ip_Addr,Svr_Port,Time_Out)

This procedure is used to set the host IP address, port number, and wait time for TCP/IP communication.

Parameters

  • Input Parameters

    Name

    Description

    C_Tag

    Client port number, i.e. the port number string of the robot

    Ip_Addr

    The IP address of the IPC

    Svr_Port

    Server port number; the default port number is 50000

    Time_Out

    Wait time in minutes before stopping connection attempt

Example

CALL MM_INIT_SKT ('1', '192.168.1.20', 50000, 5);

When running the example, the specified client port number is 1, the host IP address should be set to 192.168.1.20, the port number should be set to 50000, and the wait time is 5 minutes.

Start Mech-Vision Project

MM_START_VIS (Job,Pos_Num_Need,SendPos_Type)

This procedure is for applications that use Mech-Vision but not Mech-Viz.. It runs the corresponding Mech-Vision project to acquire and process data.

Parameters

  • Input Parameters

    Name

    Description

    Job

    Mech-Vision Project ID, from 1 to 99

    Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number.

    Pos_Num_Need

    Number of poses for Mech-Vision to send, from 0 to 20, where 0 means “send all”.

    SendPos_Type

    Set the image capturing pose for the robot to send, from 0 to 2

    0: Do not send image capturing pose (for Eye To Hand) 1: Send image capturing pose as joint positions 2: Send image capturing pose as robot flange pose

Example

CALL MM_START_VIS (1,1,1)

This example triggers Mech-Vision No. 1 project to run; the Mech-Vision No. 1 project is expected to send back 1 pose; and the robot will send image capturing pose as joint to Mech-Center.

Get Vision Result

MM_GET_VIS (Job,Reg_Lst_Data,Reg_Pos_Num,Reg_Status)

This procedure is for applications that use Mech-Vision but not Mech-Viz. It obtains the vision result from the corresponding Mech-Vision project.

Parameters

  • Input Parameter

    Name

    Description

    Job

    Mech-Vision Project ID, from 1 to 99

    Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number.

  • Output Parameters

    Name

    Description

    Reg_Lst_Data

    Data Register, indicating whether all vision result has been sent, 0 or 1

    0: NOT all vision result has been sent (more on the way) 1: All vision result has been sent

    Reg_Pos_Num

    Data Register for storing the number of received poses, from 1 to 20

    MM_Status

    Data Register for storing status code, refer to the Status Codes

Example

CALL MM_GET_VIS (1,50,51,52)

This example obtains the vision result from Mech-Vision project No.1. Whether all vision result has been sent is stored in register R[50], the number of poses received is stored in register R[51], and the status code is stored in register R[52].

Start Mech-Viz Project

MM_START_VIZ (SendPos_Type)

This procedure is for applications that use both Mech-Vision and Mech-Viz. It runs the corresponding Mech-Viz project (which triggers the corresponding Mech-Vision project to run), and sets the initial joint positions of the simulated robot in Mech-Viz.

Parameter

  • Input Parameter

    Name

    Description

    SendPos_Type

    The initial joint positions for the simulated robot in Mech-Viz, 0 or 1

    0: Set the initial joint positions of the simulated robot to [0,0,0,0,0,0] 1: Set the initial joint positions of the simulated robot to the current joint positions of the real robot

    Note

    When the scene contains object models that obstruct the robot to move from [0,0,0,0,0,0] to the first target point, this parameter must be set to 1.

Example

CALL MM_START_VIZ (1)

This example runs the corresponding Mech-Viz project, and sets the initial joint positions of the simulated robot to the current joint positions of the real robot.

Get Planned Path

MM_GET_VIZ (Jps_Pos,Reg_Lst_Data,Reg_Pos_Num,Reg_VPos_Num,Reg_Status)

This procedure obtains the planned path from Mech-Viz.

Parameters

  • Input Parameter

    Name

    Description

    Jps_Pos

    Whether Mech-Viz should send target points as joint positions or TCPs, 1 or 2

    1: Mech-Viz sends joint positions 2: Mech-Viz sends TCPs

  • Output Parameters

    Name

    Description

    Reg_Lst_Data

    Data Register, indicating whether all target points have been sent, 0 or 1

    0: NOT all target points have been sent (more on the way) 1: All target points have been sent

    Reg_Pos_Num

    Data Register for storing the number of received target points which range from 1-20

    Reg_VPos_Num

    Data Register for storing the position of the first visual_move target point in the path

    Example path: move-1, move-2, visual_move-3, move-3, visual_move-2 In this path, the position of the first visual_move target point is 3. If the path does not contain visual_move target point, the return value is 0.

    Reg_Status

    Data Register for storing status code, refer to the Status Codes

Example

CALL MM_GET_VIZ (2,50,51,52,53)

This example obtains the planned path from Mech-Viz in the form of TCPs. Whether all target points have been sent is stored in register R[50], the number of target points received is stored in register R[51], the position of the visual_move target point is stored in register R[52], and the status code is stored in register R[53].

Obtain Pose

MM_GET_POS (Serial, Pr_Num, Reg_Label, Reg_Speed)

This procedure stores a pose returned by Mech-Vision or a target point (as TCP) returned by Mech-Viz in the specified Position Register.

Parameters

  • Input Parameter

    Name

    Description

    Serial

    Specify the index of the pose to be stored

  • Output Parameters

    Name

    Description

    Pr_Num

    Position Register for storing the specified pose

    Label

    Data Register for storing the label corresponding to the specified pose

    Pose_Speed

    Data Register for storing the speed corresponding to the specified pose

Example

CALL MM_GET_POS (1,60,61,62)

This example stores the first received pose to register PR[60], the corresponding label to register R[61], and the corresponding speed to register R[62].

Obtain Joint Positions

MM_GET_JPS (Serial,Pr_Num,Reg_Label,Reg_Speed)

This procedure stores a set of joint positions returned by Mech-Viz in the specified Position Registers.

Note

As Mech-Vision does not output joint position data, this subprogram can only be used with Mech-Viz.

Parameters

  • Input Parameter

    Name

    Description

    Serial

    Specify the index of the set of joint positions to be stored

  • Output Parameters

    Name

    Description

    Pr_Num

    Position Register for storing the specified set of joint positions

    Reg_Label

    Data Register for storing the label corresponding to the specified set of joint positions

    Reg_Speed

    Data Register for storing the speed corresponding to the specified set of joint positions

Example

CALL MM_GET_JPS (1,60,61,62)

This example stores the first set of received joint positions to PR[60], the corresponding label to register R[61], and the corresponding speed to register R[62].

Switch Mech-Vision Recipe

MM_SET_MOD (Job,Model_Num)

This procedure specifies which parameter recipe of the Mech-Vision project to use. For more information on parameter recipe, please see Parameter Recipe Configuration.

Note

  • This procedure must be called BEFORE MM_START_VIZ.

Parameters

  • Input Parameters:

    Name

    Description

    Job

    Mech-Vision Project ID, from 1 to 99

    Can check and adjust in Mech-Center ‣ Deployment Settings ‣ Mech-Vision

    Model_Num

    The number of a parameter recipe in the Mech-Vision project, from 1 to 99

Example

CALL MM_SET_MOD (2,2)

This example switches the parameter recipe used to No. 2 in Mech-Vision project No. 2.

Select Mech-Viz Branch

MM_SET_BCH (Branch_Num,Export_Num)

This procedure is used to select along which branch the Mech-Viz project should proceed. Such branching is achieved by adding branch_by_service_message Task(s) to the project. This subprogram specifies which out port such Task(s) should take.

Note

  • MM_START_VIZ must be called BEFORE this procedure.

  • When the next Task to be executed in Mech-Viz is a branch_by_service_message Task, Mech-Viz will wait for this procedure to send the out port number it should take.

  • The name of all branch_by_service_message Tasks in the Mech-Viz project must be changed to numbers between 1 and 99, and the names should be unique among all tasks in the project.

Parameters

  • Input Parameters

    Name

    Description

    Branch_Num

    Name of the branch_by_service_message Task, from 1 to 99

    Export_Num

    The number of the out port to take, from 1 to 99

Example

CALL MM_SET_BCH (1,3)

This example tells Mech-Viz to take out port 3 for the branch_by_service_message Task named 1.

Set Move Index

MM_SET_IDX (Skill_Num,Index_Num)

This procedure sets the value for the Current Index parameter of Mech-Viz Tasks. Tasks that have this parameter include move_list, move_grid, custom_pallet_pattern, and smart_pallet_pattern.

Note

  • MM_START_VIZ must be called BEFORE this procedure.

  • The name of all Tasks with index parameters in the Mech-Viz project must be changed to numbers between 1 and 99, and the names should be unique among all tasks in the project.

Parameters

  • Input Parameters

    Name

    Description

    Skill_Num

    Name of the Task, from 1 to 99

    Index_Num

    Value for the Current Index parameter when the Task is executed

Example

CALL MM_SET_IDX (2,10)

This example sets the Current Index value to 9 for the Task named 2. When the Task is executed, the Current Index value will be added 1 and become 10.

Get Software Status

MM_GET_STAT (MM_Status:OUT)

This procedure is currently capable of checking whether Mech-Vision is ready to run projects. In the future, this procedure can be used for obtaining the execution status of Mech-Vision, Mech-Viz and Mech-Center.

Parameter

  • Output Parameter

    Name

    Description

    MM_Status

    Data Register for storing the status code, refer to the Status Codes

Example

CALL MM_GET_STAT (70)

This example obtains the status code and stores it in register R[70].

Input Object Dimensions to Mech-Vision

MM_SET_BS (Job:IN,Lenght,Width,Height)

This procedure inputs object dimensions to the Mech-Vision project.

Note

  • This procedure must be called BEFORE MM_START_VIS.

Parameters

  • Input Parameters

    Name

    Description

    Job

    Mech-Vision Project ID, from 1 to 99

    Can check and adjust in Mech-Center ‣ Deployment Settings ‣ Mech-Vision

    Lenght

    Length of object in mm

    Width

    Width of object in mm

    Height

    Height of object in mm

Example

CALL MM_SET_BS (1,11.0,12.0,13.0)

This example sets the object dimensions in the Read Object Dimensions Step in the Mech-Vision project No. 1 to 11*12*13 mm.

Get DO Signal List/ Set DO Signal List

  • Get DO Signal List

    MM_GET_DL

  • Set DO Signal Lis

    MM_SET_DL

These two procedures obtain the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper and set the DOs accordingly.

Note

  • MM_GET_VIZ must be called BEFORE this procedure.

  • Please deploy the Mech-Viz project based on the template project in Mech-Center/tool/viz_project/suction_zone, and set the suction cup configuration file in the Mech-Viz project.

Parameters

No parameters.

Example

CALL MM_GET_DL

CALL MM_SET_DL

These two examples obtain the DO signal list planned by Mech-Viz, store it in Do_Port[i], and input the values to the corresponding digital outputs.

Input TCP to Mech-Viz

MM_SET_POS (X,Y,Z,W,P,R)

This procedure inputs TCP data to the outer_move Task.

Note

  • This procedure must be called BEFORE MM_START_VIZ.

  • Please deploy the Mech-Viz project based on the template project in Mech-Centertoolviz_projectouter_move, and put the outer_move Task at a proper position in the workflow.

Parameter

  • Input parameter

Name

Description

X

Variable 1 of the pose (mm)

Y

Variable 2 of the pose (mm)

Z

Variable 3 of the pose (mm)

W

Variable 4 of the pose (arc degree)

P

Variable 5 of the pose (arc degree)

R

Variable 6 of the pose (arc degree)

Example

CALL MM_SET_POS (100.1,200.2,300.3,90.0,180.0,0.0)

This example sends the pose of TCP (100.1,200.2,300.3,90.0,180.0,0.0) to the outer_move task in the Mech-Viz project.

Calibration

MM_CALIB (Move_Type,PosJps,WaitTime,AxisNum,AxisVal,Reg_CalibPos)

This procedure is used for hand-eye calibration (camera extrinsic parameter calibration). It automates the calibration process in conjunction with the Camera Calibration function in Mech-Vision. For detailed instructions, see FANUC Calibration Program.

Parameters

  • Input Parameters

    Name

    Description

    Move_Type

    Motion type, 1 or 2

    1: Linear motion 2: Joint moton

    PosJps

    Pose as flange pose or joint positions, 1 or 2

    1: flange pose 2: Joint positions

    WaitTime

    Wait time between poses in minutes

    AxisNum

    The axis number of the robot

    AxisVal

    Data of the external 7th axis in mm (Optional; input 0 when there is no external axis)

    Reg_CalibPos

    The Position Register used in MM_AUTO_CALIB; PR[100] by default

Example

CALL MM_CALIB (2,1,5,6,0,100)

This example moves a 6-axis robot in Joint motion type, receives pose data in the form of flange pose, and sets the wait time between two poses to 5 minutes. Moreover, the robot does not have an external 7th axis. The register PR[100] is used to store the received pose data.