YASKAWA Standard Interface Commands¶
The YASKAWA Standard Interface provides the following jobs:
When writing your own program, pay attention to the following:
Multiple parameters should be separated by semi-colons.
When calling jobs: input argument is a string by default; output argument is a string by default, each element in the string corresponding to a global variable in the background.
This Standard Interface is over the TCP/IP protocol.
Initialize Communication¶
MM_INIT_SOCKET ("IP_Address;Server_Port;Time_Out")
This job sets the IP address and port number of the IPC and wait time before the program stops trying to establish the communication.
Arguments¶
Input arguments
Name
Description
IP_Address
IP address of the IPC
Server_Port
Port number of the IPC, the default is 50000
Time_Out
Wait time in minutes before stopping connection attempt
Example¶
CALL JOB:MM_INIT_SOCKET ("192.168.1.1;50000;5")
This example sets the IP address and port number of the IPC to 192.168.1.1:50000 and wait time to 5 minutes.
Start Mech-Vision Project¶
MM_START_VIS ("Job;Pos_Num_Need;SendPos_Type")
This job is for applications that use Mech-Vision but not Mech-Viz. It runs the corresponding Mech-Vision project to acquire and process data.
Arguments¶
Input arguments
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 JOB: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 job is called as the image capturing pose to Mech-Center.
Get Vision Result¶
MM_GET_VISDATA ("Job;Last_Data;Pose_Num;MM_Status")
This job is for applications that use Mech-Vision but not Mech-Viz. It obtains the vision result from the corresponding Mech-Vision project.
Arguments¶
Input argument
Name
Description
Job
Mech-Vision Project ID, from 1 to 99
Can check and adjust in
Output arguments
Name
Description
Last_Data
I variable, 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 If 0, call this JOB again until all are sent
Pose_Num
I variable for storing the number of received poses
MM_Status
I variable for storing status code, refer to the Status Codes
Example¶
CALL JOB:MM_GET_VISDATA ("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 I50, the number of poses received is stored in I51, and the status code is stored in I52.
Start Mech-Viz Project¶
MM_START_VIZ ("SendPos_Type")
This job 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.
Argument¶
Input argument
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 JOB: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;Last_Data;Pos_Num;VisPos_Num;MM_Status")
This job obtains the planned path from Mech-Viz.
Arguments¶
Input argument
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 arguments
Name
Description
Last_Data
I variable, 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 If 0, call this JOB again until all are sent
Pos_Num
I variable for storing the number of received target points
VisPos_Num
I 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.
MM_Status
I variable for storing status code, refer to the Status Codes
Example¶
CALL JOB:MM_GET_VIZDATA ("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 I50, the number of target points received is stored in I51, the position of the visual_move target point is stored in I52, and the status code is stored in I53.
Obtain Pose¶
MM_GET_POSE ("Index;PosTarget;Label;Pose_Speed")
This job stores a pose returned by Mech-Vision or a target point (as TCP) returned by Mech-Viz in the specified variable.
Arguments¶
Input argument
Name
Description
Index
Specify the index of the pose to be stored
Output arguments
Name
Description
PosTarget
P variable for storing the specified pose
Label
I variable for storing the label corresponding to the specified pose
Pose_Speed
I variable for storing the speed corresponding to the specified pose
Example¶
CALL JOB:MM_GET_POSE ("1;60;61;62")
This example stores the first received pose to P60, the corresponding label to I61, and the corresponding speed to I62.
Obtain Joint Positions¶
MM_GET_JPS ("Index;JointTarget;Label;Pose_Speed")
This job 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 job can only be used with Mech-Viz.
Arguments¶
Input argument
Name
Description
Index
Specify the index of the set of joint positions to be stored
Output arguments
Name
Description
JointTarget
P variable for storing the specified set of joint positions
Label
I variable for storing the label corresponding to the specified set of joint positions
Pose_Speed
I variable for storing the speed corresponding to the specified set of joint positions
Example¶
CALL JOB:MM_GET_JPS ("1;60;61;62")
This example stores the first set of received joint positions to P60, the corresponding label to I61, and the corresponding speed to I62.
Switch Mech-Vision Recipe¶
MM_SET_MODEL ("Job;Model_Number")
This job specifies which parameter recipe of the Mech-Vision project to use. For more information on parameter recipe, please see Parameter Recipe Configuration.
Note
This job must be called BEFORE MM_START_VIS.
The corresponding Mech-Vision project must have parameter recipes already configured and saved.
Arguments¶
Input arguments
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 JOB:MM_SET_MODEL ("1;1")
This example switches the parameter recipe used to No. 1 in Mech-Vision project No. 1.
Select Mech-Viz Branch¶
MM_SET_BRANCH ("Branch_Num;Exit_Num")
This job 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 job specifies which out port such Task(s) should take.
Note
MM_START_VIZ must be called BEFORE this job.
When the next Task to be executed in Mech-Viz is a branch_by_service_message Task, Mech-Viz will wait for this job 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.
Arguments¶
Input arguments
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 job 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 job.
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.
Arguments¶
Input arguments
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 JOB: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 ("Status")
This job is currently capable of checking whether Mech-Vision is ready to run projects. In the future, this job can be used for obtaining the execution status of Mech-Vision, Mech-Viz and Mech-Center.
Argument¶
Output argument
Name
Description
Status
I variable for storing the status code, refer to the Status Codes
Input Object Dimensions to Mech-Vision¶
MM_SET_BOXSIZE("Job;Length;Width;Height")
This job inputs object dimensions to the Mech-Vision project.
Note
This job must be called BEFORE MM_START_VIS.
Arguments¶
Input arguments
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 JOB: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 job obtains the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper.
Note
MM_GET_VIZDATA must be called BEFORE this job.
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.
Arguments¶
No parameters.
Example¶
CALL JOB:MM_GET_DOLIST
This example obtains the DO signal list planned by Mech-Viz and writes the values in OT1 – OT16.
Input TCP to Mech-Viz¶
MM_SET_POSE ("Pos")
This job inputs TCP data to the outer_move Task.
Note
This job 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.
Argument¶
Input argument
Name
Description
Pos
P variable for storing the TCP data to be sent to Mech-Viz
Example¶
CALL JOB:MM_SET_POSE ("10")
This example sends the TCP data stored in P10 to the outer_move task in the Mech-Viz project.
Calibration¶
MM_CALIB ("Move_Type;Pos_Jps;Wait_Time;Rnum;Ext;Pos")
This job 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 KUKA Calibration Program.
Arguments¶
Input arguments
Name
Description
Move_Type
Motion type, 1 or 2
1: MOVL 2: MOVJ
Pos_Jps
Pose as flange pose or joint positions, 1 or 2
1: flange pose 2: Joint positions
Wait_Time
Wait time before stopping communication attempt in minutes
Rnum
Number of robot axes
Ext
Data of the external 7th axis in mm, optional
Pos
Start point for the calibration, P99 by default
Example¶
CALL JOB:MM_CALIB ("2;1;5;6;0;99")
This example moves the robot with MOVJ, receives pose data in the form of flange pose, and sets the wait time to 5 minutes. This robot has 6 axes and does not have an external axis installed. The start point for the calibration is stored in P99.