Communication and I/O Control

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This chapter describes interaction methods among external devices (such as PLCs), Mech-MSR, and laser profilers or cameras in 3D measurement and inspection applications.

Overview

External devices (such as PLCs) can interact with Mech-MSR in the following ways:

  • Protocol-based communication

    This refers to interaction between external devices and Mech-MSR based on standard or custom industrial communication protocols.

    Mech-MSR supports multiple communication protocols, such as TCP ASCII, PROFINET, Mitsubishi MELSEC (MC), EtherNet/IP, Modbus TCP, and Siemens S7. For more information, see Protocol-based Communication.

  • I/O control

    This refers to interaction between external devices and Mech-MSR through the general digital input/output (DI/DO) terminals on a laser profiler. It is suitable for production scenarios that require fast response or fixed takt timing. For more information, see I/O Control.

Typical Interaction Methods (Laser Profiler Scenarios)

In laser profiler scenarios, Mech-MSR needs to obtain data (surface data or point clouds) from the profiler. The signals that trigger the profiler to acquire data can be divided into two types:

By combining the trigger method for running a Mech-MSR project and the trigger method for laser profiler data acquisition, 3D measurement and inspection applications support the following typical interaction methods:

Method Method for triggering Mech-MSR project execution Trigger source for laser profiler data acquisition Method for external devices to obtain results

Method 1

Communication command

Software trigger

Communication command

Method 2

Run upon image update

External trigger

TCP ASCII protocol or DO signal

Method 3

DI signal

External trigger

TCP ASCII protocol or DO signal

Method 4

Communication command

External trigger

Communication command

Method 5

DI signal

Software trigger

DO signal

Method 1: Protocol Communication + Software Trigger

In this method, communication between external devices and Mech-MSR is protocol-based, and the laser profiler is triggered by Mech-MSR to acquire data.

Advantages

You can conveniently switch laser profiler parameter groups in Mech-MSR.

Disadvantages

Both communication trigger and software trigger introduce latency, and the delay is unstable. Because the trigger chain contains multiple non-real-time links, overall timing is difficult to control precisely. Therefore, this method is not suitable for scenarios that require synchronization with a motion platform or fixed-frequency acquisition.
method 1

The interaction flow among external devices, Mech-MSR, and the laser profiler is as follows:

  1. An external device sends a command to trigger a Mech-MSR project.

  2. The Mech-MSR project starts and triggers the laser profiler to acquire data.

  3. After Mech-MSR receives the data acquired by the profiler, it continues running the project until completion.

  4. Mech-MSR returns corresponding results to the external device based on received commands.

Method 2: Run Upon Image Update + External Trigger

In this method, an external device triggers the laser profiler to acquire data. After receiving the acquired data, Mech-MSR runs the project (that is, Run upon image update is enabled), and sends project results to the external device through the TCP ASCII protocol or DO signals.

Advantages

External triggering has no delay and provides fast response.

Disadvantages

Laser profiler parameter groups cannot be switched. Therefore, this method is not suitable for scenarios where multiple Mech-MSR projects use the same laser profiler and require different parameter groups.
method 2

The interaction flow among external devices, Mech-MSR, and the laser profiler is as follows:

  1. An external device triggers the laser profiler to acquire data.

  2. In Mech-MSR, projects that use this profiler enable Run upon image update. After receiving data from the profiler, the project starts automatically.

  3. Mech-MSR sends project results to the external device based on the configuration.

    External devices can obtain project results in two ways:

    • Through the Auto Push Result function supported by the TCP ASCII protocol to promptly obtain all results.

    • Through the general DO terminals on the laser profiler based on DO configuration in Mech-MSR, to obtain the overall quality judgment result (OK or NG) of the Mech-MSR project.

Method 3: DI Trigger + External Trigger

In this method, an external device triggers the laser profiler to acquire data, triggers Mech-MSR project execution through general DI terminals, and obtains project results through the TCP ASCII protocol or DO signals.

Advantages

External triggering has no delay and provides fast response.

Disadvantages

Laser profiler parameter groups cannot be switched. Therefore, this method is not suitable for scenarios where multiple Mech-MSR projects use the same laser profiler and require different parameter groups.
method 3

The interaction flow among external devices, Mech-MSR, and the laser profiler is as follows:

  1. An external device triggers the laser profiler to acquire data.

  2. Based on DI configuration in Mech-MSR, the external device triggers the corresponding Mech-MSR project through the general DI terminals on the profiler.

  3. Mech-MSR sends project results to the external device based on the configuration.

    External devices can obtain project results in two ways:

    • Through the Auto Push Result function supported by the TCP ASCII protocol to promptly obtain all results.

    • Through the general DO terminals on the laser profiler based on DO configuration in Mech-MSR, to obtain the overall quality judgment result (OK or NG) of the Mech-MSR project.

Method 4: Protocol Communication + External Trigger

In this method, an external device triggers the laser profiler to acquire data while communicating with Mech-MSR through a protocol.

Advantages

External triggering has no delay and provides fast response.

Disadvantages

Laser profiler parameter groups cannot be switched. Therefore, this method is not suitable for scenarios where multiple Mech-MSR projects use the same laser profiler and require different parameter groups.
method 4

The interaction flow among external devices, Mech-MSR, and the laser profiler is as follows:

  1. An external device triggers the laser profiler to acquire data.

  2. The external device sends a command to trigger a Mech-MSR project.

  3. Mech-MSR returns corresponding results to the external device based on received commands.

Method 5: DI Trigger + Software Trigger

In this method, an external device triggers Mech-MSR project execution through the general DI terminals on the laser profiler, and obtains project results through DO signals. The laser profiler is triggered by Mech-MSR for data acquisition.

Advantages

Pure hardware connection, no programming required.

Disadvantages

External devices can only obtain the overall quality judgment result (OK or NG) of the project, but cannot obtain measurement values or their judgment results.
method 5

The interaction flow among external devices, Mech-MSR, and the laser profiler is as follows:

  1. Based on DI configuration in Mech-MSR, an external device triggers the corresponding Mech-MSR project through the general DI terminals on the laser profiler.

  2. The Mech-MSR project starts and triggers the laser profiler to acquire data.

  3. Based on DO configuration in Mech-MSR, the external device obtains the overall quality judgment result of the Mech-MSR project through the general DO terminals on the profiler.

Typical Interaction Method (2D/3D Camera Scenarios)

In 3D measurement and inspection applications using 2D/3D cameras, the interaction flow among external devices, Mech-MSR, and the camera is as follows:

  1. An external device sends a command to trigger a Mech-MSR project.

  2. The Mech-MSR project starts and triggers the camera to capture images.

  3. After Mech-MSR receives images captured by the camera, it continues running the project until completion.

  4. Mech-MSR returns corresponding results to the external device based on received commands.

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