ELITE Interface Commands

The Standard Interface communication for Elite is realized through the following global variables.

Variable

Description

B097

Stores the received command number. Refer to TCP/IP for details.

B098

Stores the received status code.

B099

Executes the commands. Each value corresponds to a different command.

0: After a command is executed, the value of this variable resets to 0. 1: Start the Mech-Vision project. 2: Obtain vision targets from Mech-Vision. 3: Switch Mech-Vision parameter recipe. 4: Start the Mech-Viz project. 5: Select Mech-Viz branch. 6: Set move index. 7: Obtain the planned path from Mech-Viz. 8: Store the vision poses obtained from Mech-Vision in variables V101 to V120. 9: Store the waypoint poses obtained from Mech-Vision or Mech-Viz in variables V101 to V120 (if TCP) or P101 to P120 (if JPs). 10: Calibration. 11: Obtain the planned path from Mech-Vision.

B100–B103

The IP address of the IPC.

B104

The port number of the IPC.

B105

The project ID of the Mech-Vision project to be executed.

B106

The number of vision points for Mech-Vision to send, from 0 to 20, where 0 means “send all”.

B107

The robot pose to send to Mech-Vision, from 0 to 3.

0: Do not send pose to Mech-Vision 1: Send current JPs and flange pose 2: Send current flange pose 3: Send current JPs

B108

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

B109

The robot pose to send to Mech-Viz, from 0 to 2.

0: Do not send pose to Mech-Viz 1: Send current JPs and flange pose 2: Send current JPs

B110

The Step ID of the “Branch by Msg” Step, can be viewed in Mech-Viz.

B111

The number of the exit port of the “Branch by Msg” Step to take + 1, from 1 to 99.

B112

The Step ID of the Step with the Current Index parameter.

B113

The value for the Current Index parameter in the above Step.

B114

Whether Mech-Viz/Mech-Vision should send waypoint poses as JPs or TCPs, 1 or 2.

1: Mech-Viz/Mech-Vision sends JPs 2: Mech-Viz/Mech-Vision sends TCPs

B201–B220

Stores the labels corresponding to the poses.

Variable

Description

V101–V120

Stores the TCPs obtained from Mech-Vision or Mech-Viz.

V099

Stores the calibration point (as TCP).

P101–P120

Stores the JPs obtained from Mech-Vision or Mech-Viz.

P099

Stores the calibration point (as JPs)