Project Configuration and Deployment

Correct project configuration and deployment are essential for the Mech-Mind inline measurement system to perform measurement and data analysis properly. This section introduces project configuration and deployment for the inline measurement system.

Phase Goal

The goal of this phase is to complete configuration on the robot, Mech-MSR, and Mech-Metrics sides, and enable stable execution of measurement tasks through joint debugging.

Entry Criteria

Before starting this phase, it is recommended that the following conditions have been met:

On-site hardware installation, network connection, and basic image acquisition are completed.
Required items in pre-deployment checks are confirmed as passed.
Measurement targets, part ID rules, feature requirements, and project acceptance requirements are defined.

Core Task Overview

Project configuration and deployment mainly includes four parts:

Robot-side configuration: robot communication configuration, tool and load settings, inline measurement robot program writing, and point teaching.
Mech-MSR-side configuration: hand-eye calibration, project/solution configuration, communication output configuration, and system thermal drift compensation configuration.
Mech-Metrics-side configuration: Mech-Metrics project configuration, part and feature configuration, reference frame setup, and part/feature ID configuration.
Joint debugging and verification: joint debugging of robot, Mech-MSR, and Mech-Metrics, to verify that end-to-end system behavior meets expectations.

It is recommended to proceed in the following order to reduce rework during joint debugging:

Complete robot communication and verify basic motion capability.
Complete hand-eye calibration and measurement solution configuration in Mech-MSR.
Complete Mech-Metrics project, part, and feature configuration.
Complete three-side joint debugging and verify cycle time and stability.

Robot-Side Configuration

The following tasks must be completed on the robot side:

Task	Description	Reference
Robot communication configuration	Robot communication configuration usually requires importing communication programs and configuration files provided by Mech-Mind into the robot system, then completing the corresponding communication settings.	ABB standard interface communication configuration FANUC standard interface communication configuration KUKA standard interface communication configuration YASKAWA standard interface communication configuration
Motion and process parameter configuration	Configure tool coordinates, load parameters, base coordinates, and speed/acceleration strategies according to measurement requirements to ensure repeatability and stability of measurement poses.	Refer to operation manuals of each robot brand.
Inline measurement robot program writing	Write inline measurement robot programs with reference to sample programs and standard interface command documents provided by Mech-Mind.	ABB Inline Measurement Example Program FANUC Inline Measurement Example Program KUKA Inline Measurement Example Program YASKAWA Inline Measurement Example Program
Point teaching and path optimization	Complete measurement point teaching, avoid singular poses, collision risks, and unreachable poses, and add transition points when necessary.	Refer to operation manuals of each robot brand.

Task

Description

Reference

Robot communication configuration

Robot communication configuration usually requires importing communication programs and configuration files provided by Mech-Mind into the robot system, then completing the corresponding communication settings.

Motion and process parameter configuration

Configure tool coordinates, load parameters, base coordinates, and speed/acceleration strategies according to measurement requirements to ensure repeatability and stability of measurement poses.

Refer to operation manuals of each robot brand.

Inline measurement robot program writing

Write inline measurement robot programs with reference to sample programs and standard interface command documents provided by Mech-Mind.

Point teaching and path optimization

Complete measurement point teaching, avoid singular poses, collision risks, and unreachable poses, and add transition points when necessary.

Refer to operation manuals of each robot brand.

After robot-side configuration is completed, the robot should be able to independently complete basic communication, execute measurement-related motions, and stably reach all target poses.

Mech-MSR-Side Configuration

The following tasks must be completed on the Mech-MSR side:

Task	Description	Reference
Hand-eye calibration	Complete extrinsic calibration and verify calibration quality to ensure accurate transformation between robot and vision coordinates.	3D camera hand-eye calibration guide
Measurement project and solution configuration	Configure measurement items, tolerances, judgment logic, and output fields so that results can be used for production-line judgment.	Mech-MSR solution operation guide Mech-MSR project operation guide
Communication and output configuration	Configure TCP ASCII communication and communication output.	Mech-MSR TCP ASCII communication configuration Mech-MSR communication output configuration
Thermal drift compensation configuration (optional)	Optionally deploy system thermal drift compensation according to on-site temperature fluctuation conditions to reduce long-term drift impact.	N/A

Task

Description

Reference

Hand-eye calibration

Complete extrinsic calibration and verify calibration quality to ensure accurate transformation between robot and vision coordinates.

3D camera hand-eye calibration guide

Measurement project and solution configuration

Configure measurement items, tolerances, judgment logic, and output fields so that results can be used for production-line judgment.

Communication and output configuration

Configure TCP ASCII communication and communication output.

Thermal drift compensation configuration (optional)

Optionally deploy system thermal drift compensation according to on-site temperature fluctuation conditions to reduce long-term drift impact.

N/A

After Mech-MSR-side configuration is completed, the system should be able to stably output measurement results that can be used for judgment and communication.

Mech-Metrics-Side Configuration

The following tasks must be completed on the Mech-Metrics side:

Task	Description	Reference
Mech-Metrics project configuration	Create and configure basic project information and associate it with the Mech-MSR solution.	Project operation guide
Part and feature configuration	Create part models, measurement features, and judgment rules, and keep them consistent with the Mech-MSR project.	Part operation guide Feature operation guide
Reference frame setup	Create and verify relationships among the part reference frame, measurement reference frame, and robot reference frame.	Alignment operation guide
Configure part IDs and feature IDs	Configure part IDs and feature IDs for parameter calls in robot program commands.	Configure part IDs Configure feature IDs

Task

Description

Reference

Mech-Metrics project configuration

Create and configure basic project information and associate it with the Mech-MSR solution.

Project operation guide

Part and feature configuration

Create part models, measurement features, and judgment rules, and keep them consistent with the Mech-MSR project.

Reference frame setup

Create and verify relationships among the part reference frame, measurement reference frame, and robot reference frame.

Alignment operation guide

Configure part IDs and feature IDs

Configure part IDs and feature IDs for parameter calls in robot program commands.

After Mech-Metrics-side configuration is completed, parts, features, IDs, and judgment rules should match project requirements and stay consistent with robot-side and Mech-MSR-side configuration.

Joint Debugging Recommendations

To improve joint debugging efficiency, it is recommended to adopt a "single point first, full chain later" strategy:

Single-command verification: verify initialization, start measurement, feature measurement, end measurement, and query commands one by one.
Single-part verification: fix one part ID, run the complete chain, and record status codes.
Multi-part verification: switch among multiple part IDs to verify configuration consistency and data isolation.
Exception verification: verify system behavior in exception scenarios such as timeout and invalid IDs.

Different robot brands may differ in command names, parameter order, variable types, and register formats. This is a normal design difference. During joint debugging, focus on "parameter semantic consistency" and "status code handling consistency".

Completion Criteria

After this phase is completed, the following conditions should be met:

Single-command chain verification has passed.
At least one part ID has completed the full measurement workflow.
System output results, status codes, and judgment logic match expectations.
The system is ready to enter the repeatability validation phase.

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