ABB Standard Interface Commands

This section introduces the standard interface commands used in TCP communications between a ABB 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.
Establish TCP Communication	Yes	This command establishes the TCP communication between the robot and the inline measurement system.
Close TCP Communication	Yes	This command closes the TCP communication between the robot and the inline measurement system.
Switch Project	No	The robot informs Mech-Metrics to begin switching projects.
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)

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.

Establish TCP Communication

Yes

This command establishes the TCP communication between the robot and the inline measurement system.

Close TCP Communication

Yes

This command closes the TCP communication between the robot and the inline measurement system.

Switch Project

The robot informs Mech-Metrics to begin switching projects.

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

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

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 ABB robot commands:
- Parameters in the parameter list of a command must be separated by commas (,).
- Each parameter of a command is defined as a local variable and takes effect only within the command.
- The parameter list of commands supports input and output parameters.
- The commands for establishing and closing the communication are two individual commands (Establish TCP Communication and Close TCP Communication), preventing frequent disconnections and reconnections between the robot and the vision system.
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_Socket(string IP_Address,num Server_Port,num Time_Out)

Input Parameters

IP_Address

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

Server_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.

Time_Out

This parameter specifies the communication timeout period, in seconds. The data type is num.

Example

MSR_Init_Socket "192.168.1.20", 50000, 300;

In this example, the robot connects to the IPC at IP address 192.168.1.20 with port number 50000 and a timeout of 300 seconds.

Establish TCP Communication

This command establishes the TCP communication between the robot and the inline measurement system.

Invocation Timing

This command must be called immediately after initializing communication.

Command Format

MSR_Open_Socket(num MSR_Status)

Output Parameters

MSR_Status

This parameter stores the command status code.

-99: Robot communication error.

Close TCP Communication

This command is used to disconnect the TCP communication between the robot and the inline measurement system.

Calling Sequence

After receiving the result from the Mech-MSR project, the user can call this command to close the connection and then store the result in the specified variable. If the connection remains open for a long time, the robot program may trigger an abnormal connection closure error.

Command Format

MSR_Close_Socket

Switch Project

The robot informs Mech-Metrics to start switching projects.

Invocation Timing

Before switching the project.

Command Format

MSR_SW_PROJ(num Robot_Id,num Job,INOUT num MSR_Status)

Input Parameters

Robot_Id

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 command status code.

8105: The command is executed successfully.

-99: Robot communication error.

Example

MSR_SW_PROJ 1,1,MSR_Status;

In this example, the system switches to the project with part ID 1 and project ID 1, and saves the command status code in MSR_Status.

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.

Invocation Timing

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

Command Format

MSR_Start_Measure(num RobotId,string PieceName,string PieceSn,num QcMode,num CustomValue1,num CustomValue2,num CustomValue3,num CustomValue4,num CustomValue5,num CustomValue6,num CustomValue7,num CustomValue8,INOUT num ContinuousMode,INOUT num 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.

PieceName

This parameter indicates the name of the part to be measured. The part name can contain letters and digits and cannot exceed 20 characters in length. The data type is string.

PieceSn

This parameter indicates 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. The data type is string.

Qc_Mode

This parameter indicates the quality inspection mode of the part. The data type is num. The meaning of each parameter value is as follows:

1: Full inspection.
2: Partial inspection.
Others: Use existing settings.

CustomValue1-CustomValue8

This parameter is optional and provides custom information about the part. The data type is num. 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 1 and 8.

To use a custom parameter:

In the ribbon at the top of the Mech-Metrics configuration interface, select Communication Configure Communication Command to configure the meanings of the values (1 to 8) for the specified custom parameter (such as custom parameter 1).
Set the specified custom parameter in the command.

Output Parameters

ContinuousMode

This parameter indicates whether the current run is continuous execution or single execution. The data type is num.

0: Single execution.

1: Continuous execution.

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

If continuous execution is specified, after the robot executes one round of commands, it returns to Start Measurement Task and repeats. If Start Measurement Task in a round returns single execution, the robot program stops after that round is completed.

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 clamping of the part is not required during semi-dynamic repeatability testing, the robot can continuously execute multiple rounds of commands.

MSR_Status

This parameter stores the command status code.

8100: The command is executed successfully.

-99: Robot communication error.

Example

MSR_Start_Measure 1,"Piece01","ABC",2,1,2,3,4,5,6,7,8,outvalue,MSR_Status;

In this example, the system starts measuring the part with part ID 1, part name Piece01, and part SN ABC, sets the inspection mode to partial inspection (2), specifies 8 custom parameters (1, 2, 3, 4, 5, 6, 7, 8), stores the output value in outvalue, and saves the command status code in MSR_Status.

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_Measure_Feature(num RobotId,num Measure_Index,INOUT num 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 command status code.

8101: The command is executed successfully.

-99: Robot communication error.

Example

MSR_Measure_Feature 1,1,MSR_Status;

In this example, the robot triggers the Mech-MSR project to run, with part ID 1 and feature ID 1. The status code is stored in MSR_Status.

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_Measure(num RobotId, INOUT num MeasureResult, INOUT num FailedCount{*},INOUT num 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

MeasureResult

This parameter indicates the result of the part. 1 stands for OK, and 0 for NG. The data type is num.

FailedCount{pass:[*]}

This parameter stores the number of measurement items of the part. The data type is num. The details are as follows:

FailedCount1 Stores the number of measurement items that exceed tolerance 1.
FailedCount2 Stores the number of measurement items that exceed tolerance 2.
FailedCount3 Stores the number of measurement items that exceed tolerance 3.

MSR_Status

This parameter stores the command status code.

8102: The command is executed successfully.

-99: Robot communication error.

Example

MSR_End_Measure 1,measure_result,FailedCount;

In this example, the robot informs Mech-Metrics to end the measurement (with part ID 1). The judgment result of the part is stored in measure_result, the number of measurement items is stored in FailedCount, and the command status code is stored in MSR_Status.

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_Piece_Info(num RobotId, string PieceSn,INOUT num 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

Output Parameters

MSR_Status

This parameter stores the command status code.

8103: The command is executed successfully.

-99: Robot communication error.

Example

MSR_Set_Piece_Info 1,"ABC",MSR_Status;

In this example, the robot sends the part with part SN ABC to Mech-Metrics, and stores the command status code in MSR_Status.

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_Piece_Data(num RobotId, string PieceSn,INOUT num 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

Output Parameters

MSR_Status

This parameter stores the command status code.

8104: The command is executed successfully.

-99: Robot communication error.

Example

MSR_View_Piece_Data 1,"ABC",MSR_Status;

In this example, the robot sends the part SN (ABC) to Mech-Metrics, switches the main interface to the corresponding part view, and stores the command status code in MSR_Status.

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,Pos_Jps,Wait_time\Ext;

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.

{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 needs to be set.

Output Parameters

TOP_Status

This parameter stores the command status code.

Example

Example 1:
```
MSR_Calib 2,1,2;
```
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.
Example 2:
```
MSR_Calib 2,1,2\EXT:=Axis7;
```
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. The 7th-axis value is Axis7.

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