Kawasaki Standard Interface Commands¶
The Kawasaki Standard Interface provides the following subroutines:
When writing your own program, pay attention to the following:
Multiple parameters should be separated by commas.
All parameters should be defined as local variables.
Parameters can be defined as input or output parameters.
Input arguments can be constants, global variables or local variables; output arguments can be global variables or local variables.
This Standard Interface is over the TCP/IP protocol.
Initialize Communication¶
mm_init_skt(.ip1,.ip2,.ip3,.ip4,.port,.time_out)
This subroutine sets the IP address and port number of the IPC and wait time before the program stops trying to establish the communication.
Parameters¶
Input parameters
Name
Description
.ip1 - .ip4
IP address of the IPC
.port
Port number of the IPC, the default is 50000
.time_out
Wait time in seconds before stopping connection attempt
Example¶
CALL mm_init_skt(192,168,1,1,50000,60)
This example sets the IP address and port number of the IPC to 192.168.1.1:50000 and wait time to 60 seconds.
Start Mech-Vision Project¶
mm_start_vis(.job,.pos_num_need,.sendpos_type)
This subroutine 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
Can check and adjust in
.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 runs Mech-Vision project No. 1, and asks the project to send over 1 pose, and the robot sends its joint positions when this subroutine is called as the image capturing pose to Mech-Center.
Get Vision Result¶
mm_get_visdata(.job,.pos_num,.ret)
This subroutine 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
Can check and adjust in
Output parameters
Name
Description
.pos_num
Variable for storing the number of received poses
.ret
Variable for storing status code, refer to the Status Codes
Example¶
CALL mm_get_visdata(1,posnum,statuscode)
This example obtains the vision result from Mech-Vision project No. 1. The number of poses received is stored in posnum, and the status code is stored in statuscode.
Start Mech-Viz Project¶
mm_start_viz(.sendpos_type)
This subroutine 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_vizdata(.getpos_type,.pos_num,.vispos_num,.ret)
This subroutine obtains the planned path from Mech-Viz.
Parameters¶
Input parameter
Name
Description
.getpos_type
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
.pos_num
Variable for storing the number of received target points
.vispos_num
Variable 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.
.ret
Variable for storing status code, refer to the Status Codes
Example¶
CALL mm_get_vizdata(2,posnum,vis_index,statuscode)
This example obtains the planned path from Mech-Viz in the form of TCPs. The number of target points received is stored in posnum, the position of the visual_move target point is stored in vis_index, and the status code is stored in statuscode.
Obtain Pose¶
mm_get_pose(.index,.&targetpos,.label,.speed)
This subroutine stores a pose returned by Mech-Vision or a target point (as TCP) returned by Mech-Viz in the specified variable.
Parameters¶
Input parameter
Name
Description
.index
Specify the index of the pose to be stored
Output parameters
Name
Description
.&targetpos
Variable for storing the specified pose
Must add “&” before the variable name to indicate the variable as transformation values
.label
Variable for storing the label corresponding to the specified pose
.speed
Variable for storing the speed corresponding to the specified pose
Example¶
CALL mm_get_pose(1,.&pt[1],pt_label[1],pt_speed[1])
This example stores the first received pose to pt[1], the corresponding label to pt_label[1], and the corresponding speed to pt_speed[1].
Obtain Joint Positions¶
mm_get_jps(.index,.#targetpos,.label,.speed)
This subroutine stores a set of joint positions returned by Mech-Viz in the specified variable.
Note
As Mech-Vision does not output joint position data, this subroutine can only be used with Mech-Viz.
Parameters¶
Input parameter
Name
Description
.index
Specify the index of the set of joint positions to be stored
Output parameters
Name
Description
.#targetpos
Variable for storing the specified set of joint positions
Must add “#” before the variable name to indicate the variable as joint displacement values
.label
Variable for storing the label corresponding to the specified set of joint positions
.speed
Variable for storing the speed corresponding to the specified set of joint positions
Example¶
CALL mm_get_jps(1,.#pt[1],pt_label[1],pt_speed[1])
This example stores the first set of received joint positions to pt[1], the corresponding label to pt_label[1], and the corresponding speed to pt_speed[1].
Switch Mech-Vision Recipe¶
mm_switch_model(.job,.model_number)
This subroutine specifies which parameter recipe of the Mech-Vision project to use. For more information on parameter recipe, please see Parameter Recipe Configuration.
Note
This subroutine must be called BEFORE mm_start_vis.
The corresponding Mech-Vision project must have parameter recipes already configured and saved.
Parameters¶
Input parameters
Name
Description
.job
Mech-Vision Project ID, from 1 to 99
Can check and adjust in
.model_number
The number of a parameter recipe in the Mech-Vision project, from 1 to 99
Example¶
CALL mm_switch_model(2,2)
This example switches the parameter recipe used to No. 2 in Mech-Vision project No. 2.
Select Mech-Viz Branch¶
mm_set_branch(.branch_num,.exit_num)
This subroutine 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 subroutine specifies which out port such Task(s) should take.
Note
mm_start_viz must be called BEFORE this subroutine.
When the next Task to be executed in Mech-Viz is a branch_by_service_message Task, Mech-Viz will wait for this subroutine 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
.exit_num
The number of the out port to take, from 1 to 99
Example¶
CALL mm_set_branch(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_index(.skill_num,.index_num)
This subroutine 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 subroutine.
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_index(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_status(.ret)
This subroutine is currently capable of checking whether Mech-Vision is ready to run projects. In the future, this subroutine can be used for obtaining the execution status of Mech-Vision, Mech-Viz and Mech-Center.
Parameter¶
Output parameter
Name
Description
.ret
Variable for storing the status code, refer to the Status Codes
Example¶
CALL mm_get_status(statuscode)
This example obtains the status code and stores it in statuscode.
Input Object Dimensions to Mech-Vision¶
mm_set_boxsize(.job,.length,.width,.height)
This subroutine inputs object dimensions to the Mech-Vision project.
Note
This subroutine 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
.length
Length of object in mm
.width
Width of object in mm
.height
Height of object in mm
Example¶
CALL mm_set_boxsize(1,500,300, 200)
This example sets the object dimensions in the Read Object Dimensions Step in the Mech-Vision project No. 1 to 500*300*200 mm.
Get DO Signal List¶
mm_get_dolist()
This subroutine obtains the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper.
Note
mm_get_vizdata must be called BEFORE this subroutine.
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_dolist
This example obtains the DO signal list planned by Mech-Viz and stores it in setdo[] array. The first array element is setdo[0] and the last is setdo[io_index-1].
Input TCP to Mech-Viz¶
mm_set_pos(.&pos)
This subroutine inputs TCP data to the outer_move Task.
Note
This subroutine 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
.&pos
Variable for storing the TCP data to be sent to Mech-Viz
Must add “&” before the variable name to indicate the variable as transformation values
Example¶
call mm_set_pos(&pos)
This example sends the TCP data stored in &pos to the outer_move task in the Mech-Viz project.
Calibration¶
calibrate()
This subroutine 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 Kawasaki Calibration Program.