FANUC Standard Interface Commands

This section introduces the standard interface commands used in TCP communications between a FANUC robot and Mech-Mind Inline Measurement System. The robot (the client) sends commands to Mech-Mind Inline Measurement System (the server), and Mech-Mind Inline Measurement System returns the processed data to the robot.

Command Overview

Command name Required Description

Initialize the communication

Yes

This command sets the IP address of the IPC, port number, and timeout period for robot communication.

Switch Project

No

The robot informs Mech-Metrics to begin switching projects.

Set Custom Info

Yes

Before starting the measurement task, the robot sets custom information for the start measurement command.

Start Measurement Task

Yes

The robot informs Mech-Metrics to start measuring the new part, and sends the part name, part SN, and other part information to Mech-Metrics.

Run Feature Measurement

Yes

This command triggers the Mech-MSR project that corresponds to the feature to be measured to run. If you need to perform multiple measurements, call this command multiple times.

Stop Measurement Task

Yes

The robot informs Mech-Metrics that the measurement ends and requests the measurement result of the part.

Input Part SN During Measurement

No

In some scenarios, the SN code of the part cannot be obtained at the beginning of measurement. For example, it needs to be scanned during measurement. This command is used to input the part SN during the measurement.

Query Part Historical Data

No

Input the SN of the part to switch the main interface of Mech-Metrics to the data view of the part.

Calibration

Yes (automatic calibration program)

Hand-eye calibration (extrinsic parameter calibration)

Notes

Please note the following before starting:

  • Notes on calling FANUC robot commands:

    • Parameters in the parameter list of the program are automatically separated by commas.

    • Each parameter can be directly inserted with values of the corresponding type.

    • Values can be obtained indirectly through the R register and the SR register.

    • For FANUC robots, commands other than Initialize Communication already contain logic for establishing and disconnecting the TCP communication, which will automatically establish and disconnect before and after execution.

  • Data units in commands:

    • The unit of joint positions is degree (°).

    • The robot flange pose or tool pose consists of position and orientation. The position (XYZ coordinates) is measured in millimeters (mm), and the orientation is represented by Euler angles in degrees (°).

Initialize the Communication

This command sets the IP address of the IPC, port number, and timeout period for robot communication.

Invocation Timing

After using this command, the user needs to call Establish TCP Communication to establish TCP communication between the robot and the inline measurement system. Initialization only needs to be performed once.

Command Format

MSR_INIT_SKT(C_Tag,Ip_Addr,Svr_Port,Time_Out)

Input Parameters

C_Tag
Ip_Addr

This parameter specifies the IP address of the IPC. The data type is string.

Svr_Port

This parameter indicates the port number used to establish communication between the IPC and the robot. This parameter value must be consistent with the host port number set in the TCP ASCII service communication configuration (Standard Interface communication mode) of Mech-MSR. The data type is num.

If the robot system version is V10, the value range for Svr_Port is 1 to 32767.

 
Time_Out

This parameter indicates the communication timeout period, in minutes.

Example

CALL MSR_INIT_SKT ('1', '192.168.1.20', 30000, 5)

In this example, robot port 1 connects to the IPC at IP address 192.168.1.20 with port number 30000 and a timeout of 5 minutes.

Switch Project

The robot informs Mech-Metrics to start switching projects.

Invocation Timing

Before switching the project.

Command Format

MSR_SW_PROJ(RobotID, Job,MSR_Status)

Input Parameters

RobotID

This parameter indicates the part ID. The part ID is an integer between 1 and 99. The specified part ID must have been configured in the Configure Part ID window. The data type is num.

Job

This parameter indicates the project ID. The specified project ID must have been configured through project switching rules. The data type is num.

Output Parameters

MSR_Status

This parameter stores the R register ID of the command status code.

8105: The command is executed successfully.

-99: Robot communication error.

Example

CALL MSR_SW_PROJ(1, 2, 53)

In this example, the system switches to the project with part ID 1 and project ID 2, and saves the command status code in numeric register R[53].

Set Custom Info

This command sets custom information for the start measurement command.

Timing of calling

This command must be called before starting the measurement task to set the custom information for the measurement.

Command format

MSR_MEAS_PARM(CustomData[0]; CustomData[1]; CustomData[2]; CustomData[3]; CustomData[4]; CustomData[5]; CustomData[6]; CustomData[7])

Input parameters

CustomData[0]-CustomData[7]

This parameter indicates the custom information of the part. Custom parameters are used only when more part information needs to be provided to Mech-Metrics. This command supports up to 8 custom parameters. The value of each custom parameter is an integer between 0 and 8. 0 indicates that the custom parameter is not needed.

To use a custom parameter:

  1. In the upper ribbon of the Mech-Metrics configuration interface, select Communication  Configure Communication Command to configure the meaning for values (1 to 8) of the custom parameter (such as custom parameter 1).

  2. Set the specified custom parameter in this command.

Example

CALL MSR_MEAS_PARM(1,1,1,1,1,1,1,1)

In this example, 8 custom values of the part are set in advance, and the custom values are all integers 1.

Start Measurement Task

The robot informs Mech-Metrics to start measuring the new part, and sends the part name, part SN, and other part information to Mech-Metrics.

Timing of calling

This command is sent when the measurement of a new part begins.

Command format

MSR_ST_MEAS(RobotID, SReg_Num1, SReg_Num2, Qc_Mode, Reg_Num, MSR_Status)

Input parameters

RobotID

This parameter indicates the part ID. The part ID is an integer between 1 and 99.

SReg_Num1

This parameter indicates the ID of the string register that stores the name of the part to be measured (Piece_Name). The part name can contain letters and digits and cannot exceed 20 characters in length.

SReg_Num2

This parameter indicates the ID of the string register that stores the part SN (Piece_Sn). The part SN, also known as the part serial number, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

Qc_Mode

This parameter indicates the quality inspection mode of the part. QC is called Quality Control. The meanings of each parameter value are as follows:

  • 1: Full inspection.

  • 2: Partial inspection.

  • Others: Use existing settings.

Reg_Num

This parameter indicates the ID of the numeric register for storing whether the operation mode returned by the software is continuous execution or single execution.

0: Single execution.

1: Continuous execution.

If single execution is specified, the robot executes the following commands in sequence: Start Measurement Task→Run Feature Measurement→Stop Measurement Task. To measure multiple features, use the run feature measurement command multiple times. For example, to measure two features, the robot executes the following commands in sequence during single execution: program starts→Start Measurement Task→Run Feature Measurement→Run Feature Measurement→Stop Measurement Task→program stops.

If continuous execution is specified, the robot executes one round of commands and then returns to Start Measurement Task to repeat the execution. If a Start Measurement Task command in a round returns single execution, the robot program stops after that round of commands is executed.

  • By default, Mech-Metrics returns 0 to the robot, indicating that the current execution is single execution.

  • In semi-dynamic repeatability testing, Mech-Metrics returns 1 to the robot, indicating that the current execution is continuous execution. Since manual movement of the robot or manual clamping of the part is not required during semi-dynamic repeatability testing, the robot can continuously execute multiple rounds of commands.

 
MSR_Status

ID of the R register for storing the command status code.

8100: Successfully executed.

-99: Abnormal Communication with the Robot.

Example

CALL MSR_ST_MEAS(1,1,2,1,10,53)

In this example, the robot informs Mech-Metrics to start measuring a new part, sends the part ID 1, the part name in string register 1, the part SN in string register 2, and the quality inspection mode 1 (full inspection) to the software. Meanwhile, the current operation mode of Mech-Metrics is stored in numeric register 10, and the status code is stored in numeric register R[53].

Run Feature Measurement

This command triggers the execution of the corresponding Mech-MSR project for the measurement feature.

Invocation Timing

The robot reaches the feature’s image-taking position.

Command Format

MSR_MEAS_FEA(RobotID, Measure_Index,MSR_Status)

Input Parameters

RobotID

This parameter indicates the part ID. The part ID is an integer between 1 and 99. The specified part ID must have been configured in the Configure Part ID window. The data type is num.

Measure_Index

This parameter specifies the ID of the feature to be measured. The data type is num. The ID uniquely identifies the feature. The feature ID is an integer between 1 to 999.

Output Parameters

MSR_Status

This parameter stores the R register ID of the command status code.

8101: The command is executed successfully.

-99: Robot communication error.

Example

CALL MSR_MEAS_FEAT(1, 3, 53)

In this example, the robot triggers the Mech-MSR project to run, with part ID 1 and feature ID 3. The status code is stored in numeric register R[53].

Stop Measurement Task

The robot informs Mech-Metrics that the measurement ends and requests the measurement result of the part.

Invocation Timing

This command is sent after the last measurement feature has been photographed and the part measurement is complete.

Command Format

MSR_END_MEAS(RobotID,Reg_Judge,Reg_Num1,Reg_Num2,Reg_Num3,MSR_Status)

Input Parameters

RobotID

This parameter indicates the part ID. The part ID is an integer between 1 and 99. The specified part ID must have been configured in the Configure Part ID window. The data type is num.

Output Parameters

Reg_Judge

This parameter indicates the ID of the numeric register for storing the judgment result of the part. 1 stands for OK, and 0 for NG.

Reg_Num1, Reg_Num2, Reg_Num3

This parameter indicates the ID of the numeric register for storing the number of measurement items of the part. The data type is num. The details are as follows:

  • Reg_Num1 Stores the number of measurement items that exceed tolerance 1.

  • Reg_Num2 Stores the number of measurement items that exceed tolerance 2.

  • Reg_Num3 Stores the number of measurement items that exceed tolerance 3.

MSR_Status

This parameter stores the R register ID of the command status code.

8102: The command is executed successfully.

-99: Robot communication error.

Example

CALL MSR_END_MEAS(1,11,12,13,14,53)

In this example, the robot informs Mech-Metrics to end the measurement (with part ID 1), and Mech-Metrics returns the measurement results. The part judgment result is stored in numeric register 11. The numbers of measurement items exceeding tolerance 1, tolerance 2, and tolerance 3 are stored in numeric registers 12, 13, and 14, respectively. The status code is saved in numeric register R[53].

Input Part SN During Measurement

In some scenarios, the part SN cannot be obtained at the beginning of measurement. For example, it needs to be scanned during measurement. This command is used to input the part SN during the measurement.

Invocation Timing

The command can be sent at any point during the current part measurement process.

Command Format

MSR_SET_WP(RobotID, SReg_Num2, MSR_Status)

Input Parameters

RobotID

This parameter indicates the part ID. The part ID is an integer between 1 and 99. The specified part ID must have been configured in the Configure Part ID window. The data type is num.

PieceSN

This parameter indicates the string register ID that stores the part SN. The part SN, also known as the part serial number, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

Output Parameters

MSR_Status

This parameter stores the R register ID of the command status code.

8103: The command is executed successfully.

-99: Robot communication error.

Example

CALL MSR_SET_WP(1, 2, 53)

In this example, the robot sends the part SN stored in string register 2 to Mech-Metrics (with part ID 1), and stores the status code in numeric register R[53].

Query Part Historical Data

This command accepts part SN and switches the main interface of Mech-Metrics to the data view of the corresponding part.

Invocation Timing

The command can be sent at any point when no measurement is in progress.

Command Format

MSR_VIEW_WP(RobotID, SReg_Num2, MSR_Status)

Input Parameters

RobotId

This parameter indicates the part ID. The part ID is an integer between 1 and 99. The data type is num.

PieceSn

This parameter indicates the ID of the string register that stores the part SN. The part SN, also known as the part serial number, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

Output Parameters

MSR_Status

This parameter stores the R register ID of the command status code.

8104: The command is executed successfully.

-99: Robot communication error.

Example

CALL MSR_VIEW_WP(1, 2, 53)

In this example, when no measurement is in progress, the robot sends the part SN stored in string register 2 to Mech-Metrics (with part ID 1), switches the main interface to the corresponding part view, and stores the status code in numeric register R[53].

Calibration

This command is used for hand-eye calibration (extrinsic calibration). This command needs to be used in conjunction with the 3D Camera Calibration tool in the Camera menu bar of Mech-MSR.

Calling Sequence

This command is called for hand-eye calibration before the actual measurement.

Command Format

MSR_CALIB(Move_Type,PosJps,WaitTime,AxisNum,AxisVal,Reg_CalibPos,Reg_CalibMov)

Input Parameters

{Move_Type}

This parameter specifies the motion type of the robot. Valid values: 1 and 2.

  • 1: Linear motion (MOVEL).

  • 2: Joint motion (MOVEJ).

{Pos_Jps}

This parameter specifies the type of calibration point poses to be obtained. Valid values: 1 and 2.

  • 1: Tool pose.

  • 2: Joint angles.

{Wait_time}

This parameter specifies the waiting time after the robot moves to the calibration point (to prevent robot vibration). The unit is seconds, and the default value is 2 seconds. The data type is num.

AxisNum

This parameter specifies the number of the robot axes.

{Ext}

This parameter specifies the external axis data, in millimeters. If a 7th axis exists and is controlled by the robot on site, this parameter must be set to the specific external axis data. Otherwise, this parameter must be set to 0.

The robot’s external axis type must be configured as Auxiliary Linear Axis. This command is currently not applicable to other types of external axes.

Reg_CalibPos

This parameter specifies the position register ID used for the calibration start point in MSR_AUTO_CALIB.

Reg_CalibMov

This parameter specifies the position register ID used by Mech-MSR to calculate the pose of the calibration point. This parameter is only used within the MSR_CALIB command for MSR_MOVEJ and MSR_MOVEL.

Output Parameters

TOP_Status

This parameter stores the command status code.

Example

CALL MSR_CALIB (2,1,2,6,0,100,99)

In this example, the pose of the calibration point is specified as a tool pose. The robot moves to the calibration point in joint motion mode and then waits for 2 seconds. No external axes exist. The calibration start point is stored in register PR[100].

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