Overview
Protocols
Standard Interface communication supports the following 7 protocols. Please select the protocol according to the actual requirement.
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TCP Server
Mech-Center provides a TCP Server as an external service interface that supports the transfer of ASCII and HEX data.
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Siemens PLC Client
To communicate with Siemens S7 series PLC, Mech-Center provides a PLC Client based on Snap7 protocol as a communication interface.
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PROFINET
Mech-Center can be used as a PROFINET slave station to connect to the PROFINET industrial network. For communication using the PROFINET industrial bus, the conditions that need to be met include:
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The industrial computer or host supports the installation of standard PCIe interface.
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HMS INpact 40 PIR Slave PCIe interface and Ixxat VCI driver software have been installed.
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Mech-Center 1.5.0 or above has been installed. Use the PROFINET General Station Description (GSD) file provided by Mech-Center.
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PROFINET communication is in the standard big-endian data format. The data contains 32-bit DINT pose data, and the PROFINET master station (especially the robot controller) needs to support 32-bit integer sending and receiving.
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EtherNet/IP
Mech-Center can be used as an EtherNet/IP slave station to connect to the EtherNet/IP industrial network. To communicate using the EtherNet/IP industrial bus, the conditions include:
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The industrial computer or host supports the installation of standard PCIe interface.
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HMS INpact 40 EIP Slave PCIe interface and Ixxat VCI driver software have been installed.
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Mech-Center 1.5.1 or above has been installed. Use the EDS file provided by Mech-Center.
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EtherNet/IP communication is in the standard big-endian data format. The data contains 32-bit DINT pose data, and the EtherNet/IP master station (especially the robot controller) needs to support 32-bit integer sending and receiving.
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Modbus TCP Slave
Mech-Center can be used as a slave device software, providing the Standard Interface option Modbus TCP Slave for data communication with the master device. This function requires installing Mech-Center 1.6.1 or above.
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Mitsubishi MC Client
Mech-Center can be used as a slave device software, providing the Standard Interface option Mitsubishi MC Client to establish MC (MELSEC communication) protocol communication with the master device. This option requires Mech-Center 1.7.2 or above to be installed.
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UDP Server
Mech-Center can be used as the server, providing the Standard Interface option UDP Server to establish UDP protocol communication with the client. This option requires Mech-Center 1.7.2 or above to be installed.
Introduction to Commands
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Unified data units are required for communication:
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Mech-Vision
- 101: Start Mech-Vision Project
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In scenarios where only Mech-Vision is used, this command starts the Mech-Vision project that executes image capturing and performs vision recognition.
- 102: Get Vision Target(s)
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In scenarios where only Mech-Vision is used, this command reads the vision recognition results, i.e., target object pick points.
- 103: Switch Mech-Vision Recipe
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This command switches between the saved parameter recipes in Mech-Vision project when recognizing different target objects. Parameters involved include recognition models, deep learning model files, etc.
- 105: Get Result of Step “Path Planning” in Mech-Vision
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This command gets the collision-free path planning result of the “Path Planning” Step in Mech-Vision.
- 110: Get custom output data from Mech-Vision
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This command receives data from Step “Procedure Out” when Port Type is set to Custom in Mech-Vision. Executing this command once only fetches one pose and its corresponding labels, scores, etc. (if any) from the vision result. If expecting to receive multiple poses, please execute this command multiple times.
Mech-Viz
- 201: Start Mech-Viz Project
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In scenarios where both Mech-Vision and Mech-Viz are used, this command starts the Mech-Viz project with the corresponding Mech-Vision project to plan the robot motion path.
- 202: Stop Mech-Viz Project
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This command manually terminates the Mech-Viz project.
- 203: Select Mech-Viz Branch
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This command lets the Mech-Viz project run along the specified exit port by specifying the “Branch by Msg” step.
- 204: Set Move Index
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Set the index parameter of the move-type Steps in the Mech-Viz project. The move-type Steps that contain index parameters include Move by List, Move by Grid, Custom Pallet Pattern, and Predefined Pallet Pattern.
- 205: Get Planned Path
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This command obtains the robot path planned by the Mech-Viz project.
- 206: Get DO Signal List
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This command gets the DO list calculated by Mech-Viz when multiple suction cup sections are used to pick multiple objects at a time.
- 207: Get Mech-Viz Step Parameter
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This command reads the values of specified parameters of specified Steps. Please specify which parameters of which Steps to read in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Mech-Center.
- 208: Set Mech-Viz Step Parameter
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This command sets the values of specified parameters of specified Steps. Please specify what values and which parameters of which Steps to set in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Mech-Center.
- 210: Get Waypoint with Vision Planning Result
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This command gets a single planned waypoint from Mech-Viz. The waypoint may be for a Vision Move Step, or for one of the other move-type Steps. A waypoint may contain pose, velocity, gripper info, object info, etc.
Dynamic Data Input
- 501: Input Object Dimensions to Mech-Vision
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This command inputs object dimensions, i.e. length, width, and height, to the Mech-Vision project through Step “Read Object Dimensions”.
- 502: Input TCP to Mech-Viz
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This command sets a dynamically changing waypoint in the Mech-Viz project through the “External Move” Step in the project.
Customized notification
- 601: Notify
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This command does not need to be initiated by the user. It will be executed when the Mech-Viz / Mech-Vision project raises a notification message by the “Notify” Step.