FANUC CRX Interface Commands¶

Mech-System SocketInit
Mech-Eye Calibration
Mech-Vision Trigger
Mech-Vision GetData
Mech-Vision SwitchConfig
Mech-Vision SetBoxSize
Mech-Viz Trigger
Mech-Viz GetData
Mech-Viz SetBranch
Mech-Viz SetIndex
Mech-System GetPose
Mech-System GetPoseJPS

Mech-System SocketInit ¶

This command is used to set the IP address of IPC, port number of IPC, and wait time for TCP/IP communication.

Parameters

Parameter	Description
Port of Controller	ID of the Ethernet port of the controller used to communicate with the IPC
IP Address of IPC	The IP address of the IPC
Port of IPC	The port number of the IPC configured in Mech-Center
Timeout	Wait time in minutes before stopping connection attempt

Attention

You only need to configure the communication settings once if the network environment and IP addresses on both sides remain unchanged.

Mech-Eye Calibration ¶

This command is used for camera extrinsic parameter calibration. It automates the calibration process in conjunction with the Camera Calibration function in Mech-Vision.

Parameters

Parameter	Description
Motion Type	The robot’s motion type (MoveJ or MoveL) during the automatic calibration process
Data Type	The pose type (Coordinate or JPS) sent by the robot
Wait Time	The time the robot waits to avoid shaking after it moves to the calibration point; the recommended value is 1~5 (s)
Robot Axis Number	The axis number of the robot; the default value is 6; set the value to 7 if there is an external 7th axis
External Axis Data	Position data of the external 7th axis during calibration (Optional; input 0 when there is no external axis)
PR Index	The index of the Position Register where the the start point of the calibration is stored

Mech-Vision Trigger ¶

This command triggers the Mech-Vision project to run.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project to be triggered
Project Number	Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number
Index of Position	Number of poses you expect Mech-Vision to send 0: Sends all vision points, up to 20 vision points Integers between 1 to 20: If the total number of vision points Mech-Vision gets is larger than the expected value, only the expected number of vision points will be sent
Position Type	JPS: Sends the current joint positions of the robot to Mech-Vision Flange: Sends the current flange pose of the robot to Mech-Vision

Mech-Vision GetData ¶

This command is used to obtain the vision result from the corresponding Mech-Vision project. It should be used after Mech-Vision Trigger.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project
Project Number	Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number
R Register Index 1	Data Register, indicating whether all vision points have been sent, 0 or 1
R Register Index 1	1: All vision points have been sent 0: NOT all vision points have been sent, and you can use Mech-Vision GetData again to receive the rest result
R Register Index 2	Data Register for storing the number of vision points
R Register Index 3	Data Register for storing status code

This command is used to switch the parameter recipe used in the Mech-Vision project. If you need to switch the parameter recipe for the the Mech-Vision project, configure and save the parameter recipe in Mech-Vision in advance, and connect this command before Mech-Vision Trigger.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project
Project Number	Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number
Recipe Index	The number of a parameter recipe in the Mech-Vision project

Mech-Vision SetBoxSize ¶

This command is used to input object dimensions to the Read Object Dimensions Step in the Mech-Vision project.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project
Project Number	Please go to Deployment Settings ‣ Mech-Vision to check and adjust the number
Length	Length of object in mm
Width	Width of object in mm
Height	Height of object in mm

Mech-Viz Trigger ¶

This command triggers the Mech-Viz project to run.

Parameters

Parameter	Description
Position Type	JPS: Sends the current joint positions of the robot to Mech-Viz to synchronize the robot motion Empty: Not send the current pose of the robot

Mech-Viz GetData ¶

This command obtains the planned path from Mech-Viz. It should be used after Mech-Viz Trigger.

Parameters

Parameter	Description
Return Value Type	Whether Mech-Viz should send waypoints as joint positions or TCPs
Return Value Type	1: Mech-Viz sends joint positions 2: Mech-Viz sends TCPs
R Register Index 1	Data Register, indicating whether all waypoints have been sent
R Register Index 1	0: NOT all waypoints have been sent, and you can use Mech-Viz GetData again to receive the rest waypoints 1: All waypoints have been sent
R Register Index 2	Data Register for storing the number of received waypoints
R Register Index 3	Data Register for storing the picking waypoint in the path
R Register Index 4	Data Register for storing status code

Mech-Viz SetBranch ¶

This command is used to select the branch along which the Mech-Viz project should proceed.

Parameters

Parameter	Description
Branch Name	Name of the branch_by_msg Task
Branch Output	The number of the exit port to take, which ranges from 1 to 99

Mech-Viz SetIndex ¶

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

Parameters

Parameter	Description
Move Skill Name	Task ID of the Task with the index parameter
Index	The index parameter of the specified Task will be set to this value, and the parameter’s value should be the current index value in Mech-Viz plus 1

Mech-System GetPose ¶

This command stores a vision point returned by Mech-Vision or a waypoint (such as a TCP) in the path returned by Mech-Viz in the specified Position Register. If you want to get multiple vision points or waypoints, you can use this command for several times and modify their Position Index respectively.

Parameters

Parameter	Description
Position Index	Specify the index of the pose to be stored
PR Index	Position Register for storing the specified pose
R Register Index 1	Data Register for storing the label corresponding to the specified pose
R Register Index 2	Data Register for storing the speed corresponding to the specified pose; the value remains to be 0

Mech-System GetPoseJPS ¶

This command stores a set of joint positions returned by Mech-Viz in the specified Position Registers. If you want to get multiple sets of joint positions of the waypoint, you can use this command for several times and modify their Position Index respectively.

Parameters

Parameter	Description
Position Index	Specify the index of the set of joint positions to be stored
PR Index	Position Register for storing the specified set of joint positions
R Register Index 1	Data Register for storing the label corresponding to the specified set of joint positions
R Register Index 2	Data Register for storing the speed corresponding to the specified set of joint positions