Status Codes and Troubleshooting

Overview

When using the Mech-Mind standard interface service, the return information of the command includes the execution status (status code) of the command. The status code indicates whether the command was executed successfully or if an exception or alarm occurred. Users can perform error handling based on the status code.

Mech-Vision:

  • 1001–1099: Mech-Vision error codes

  • 1100–1199: Mech-Vision normal status codes

Mech-Viz:

  • 2001–2099: Mech-Viz error codes

  • 2100–2199: Mech-Viz normal status codes

Mech-Center:

  • 3001–3099: Mech-Center error codes

  • 3100–3199: Mech-Center normal status codes

Robot:

  • 4001–4099: Robot error codes

  • 4100–4199: Robot normal status codes

Hand-eye calibration:

  • 7001–7099: Hand-eye calibration error codes

  • 7100–7199: Hand-eye calibration normal status codes

Mech-Vision

Mech-Vision Error Codes

Code Description

1001

Mech-Vision: Project not registered or project autoload not set

1002

Mech-Vision: No vision result

1003

Mech-Vision: No point cloud in ROI

1006

Mech-Vision: Invalid pose data

1007

Mech-Vision: Computing

1009

Mech-Vision: Number of poses and number of motion parameters do not match

1010

Mech-Vision: Number of poses and number of labels do not match

1011

Mech-Vision: Project number does not exist

1012

Mech-Vision: Parameter recipe number out of range

1013

Mech-Vision: Parameter recipe does not exist

1014

Mech-Vision: Failed to set parameter recipe

1015

Mech-Vision: Project runtime error

1017

Mech-Vision: Invalid label mapping

1018

Mech-Vision: Wrong number of vision points

1019

Mech-Vision: Execution timed out

1020

Mech-Vision: Not executed

1021

Mech-Vision: Failed to set box dimensions; please confirm if Step Read Object Dimensions is in the project

1022

Mech-Vision: Invalid setting values of object dimensions

1024

Mech-Vision: Number of poses and number of custom data items do not match

1026

Mech-Vision: Invalid pose type

1028

Mech-Vision: Path planning failed

1031

Mech-Vision: Failed to calculate robot joint position

1033

Mech-Vision: Motion singularity error|

1034

Mech-Vision: Failed to plan linear motion

1035

Mech-Vision: Invalid pick point

1036

Mech-Vision: Robot self-collision detected

1037

Mech-Vision: Robot-object collision detected

1038

Mech-Vision: Collision detected as point cloud collision point count is over threshold

1039

Mech-Vision: Collision detected as point cloud collision area is over threshold

1040

Mech-Vision: Collision detected as point cloud collision volume is over threshold

1044

Mech-Vision: No vision point for Step “Vision Move”

1047

Mech-Vision: Timed out waiting for capture completion

Mech-Vision Normal Status Codes

Code Description

1100

Mech-Vision: Successfully obtained vision points

1101

Mech-Vision: Ready

1102

Mech-Vision: Successfully triggered project

1103

Mech-Vision: Successfully obtained planned path

1107

Mech-Vision: Successfully switched parameter recipe

1108

Mech-Vision: Successfully set object dimensions

Mech-Viz

Mech-Viz Error Codes

Code Description

2001

Mech-Viz: Software not registered

2002

Mech-Viz: Project is running

2003

Mech-Viz: Vision result from Mech-Vision not received

2005

Mech-Viz: Failed to calculate robot JPs

2007

Mech-Viz: Path planning failed

2008

Mech-Viz: Project runtime error

2010

Mech-Viz: Path not reachable

2011

Mech-Viz: DO list not provided

2012

Mech-Viz: Invalid pose type

2013

Mech-Viz: Invalid pose data

2014

Mech-Viz: Project not set

2015

Error code not currently in use

2016

Mech-Viz: Parameter setting failed

2017

Mech-Viz: Failed to stop execution

2018

Mech-Viz: Invalid Branch by Msg Step exit number

2020

Mech-Viz: Motion error — singularity

2021

Mech-Viz: MoveL planning failed

2022

Mech-Viz: Not executed

2024

Mech-Viz: Invalid Branch by Msg Step ID

2025

Mech-Viz: Execution timed out

2026

Mech-Viz: Invalid ID of Step with index parameter

2027

Mech-Viz: Invalid index value

2028

Mech-Viz: Index setting failed; please check whether the Step with index parameter exists in the project

2030

Mech-Viz: Invalid pick point

2031

Mech-Viz: Robot self-collision detected

2032

Mech-Viz: Collision between robot and scene object detected

2033

Mech-Viz: Collision detected as point cloud collision point count exceeds threshold

2034

Mech-Viz: Collision detected as point cloud collision area exceeds threshold

2035

Mech-Viz: Collision detected as point cloud collision volume is over threshold

2036

Mech-Viz: Vision service did not capture image

2037

Mech-Viz: No vision result from vision service

2038

Mech-Viz: No point cloud in ROI in vision result

2039

Mech-Viz: No vision point for planning

2041

Mech-Viz: Failed to get Step parameter

2042

Mech-Viz: Failed to obtain planning result of External Move

2043

Mech-Viz: Failed to get custom data in vision result

2044

Mech-Viz: Vision service not registered

Mech-Viz Normal Status Codes

Code Description

2100

Mech-Viz: Successfully executed

2102

Mech-Viz: Successfully sent DO list

2103

Mech-Viz: Successfully started

2104

Mech-Viz: Successfully stopped

2105

Mech-Viz: Branch successfully set

2106

Mech-Viz: Index successfully set

2107

Mech-Viz: Waypoint of External Move Step successfully set

2108

Mech-Viz: Successfully set the Mech-Viz Step parameter

2109

Mech-Viz: Successfully read the Mech-Viz Step parameter

Mech-Center

Mech-Center Error Codes

Code Description

3001

Mech-Center: Illegal command

3002

Mech-Center: Interface command length or format error

3003

Mech-Center: Client disconnected

3004

Mech-Center: Server disconnected

3005

Mech-Center: Calling Mech-Vision timed out

3006

Mech-Center: Unknown error

3007

Mech-Center: Data acknowledge signal timed out

3008

Mech-Center: Config ID does not exist; failed to read/set Step parameter

Mech-Center Normal Status Codes

Code Description

3100

Mech-Center: Client connection normal

3101

Mech-Center: Server connection normal

3102

Mech-Center: Waiting for client to connect

3103

Mech-Center: Data cache cleared successfully

Robot

Robot Error Codes

Code Description

4002

Robot: Robot Euler angle type not supported

4005

Robot: Failed to connect to robot. Please check the robot IP address and network configuration

Robot Normal Status Codes

Code Description

4101

Robot: Successfully connected to the robot

4102

Robot: Robot disconnected

4103

Robot: User closed robot service

Hand-Eye Calibration

Hand-Eye Calibration Error Codes

Code Description

Calibration: Parameter error

Calibration: No calibration flange pose provided from Mech-Vision

Calibration: No calibration joint positions provided from Mech-Vision

Calibration: Robot failed to reach calibration point

Hand-Eye Calibration Normal Status Codes

Code Description

7100

Calibration: Robot successfully reached calibration point

7101

Calibration: Mech-Vision normally output calibration point

Mech-Vision Troubleshooting

1001

Mech-Vision: Project not registered or not set to autoload

Cause:

  • Mech-Vision is not started, or the project is not open

  • Autoload Project has not been set for the project.

  • Internal communication error, or another project with the same name exists, leading to failed registration of the Mech-Vision project.

Solution:

  • Make sure that Mech-Vision is started and that the project is open.

  • Make sure that Autoload Project has been set for the project.

  • Make sure that no projects with the same name exist, and try to restart Mech-Vision.

1002

Mech-Vision: No vision result

Cause:

  • The Mech-Vision project called has been successfully executed, but the “poses” port has empty output. Possible reasons include exceedingly high confidence threshold for instance segmentation, no matched object in the scene, improper ROI settings, low point cloud quality, improper filtering settings, etc.

  • The “Procedure Out” Step of the Mech-Vision project does not contain the “poses” port. The possible cause is that the Port Type parameter is set to “Custom”, but the “poses” key is not included.

Solution:

  • Check the data flow of the Mech-Vision project by going up from the “poses” port of Step “Procedure Out”.

  • Check the Port Type parameter and the included keys of the “Procedure Out” Step.

1003

Mech-Vision: No point cloud in ROI

Cause:

  • The Mech-Vision project called has been successfully executed, but there is no point cloud in the 3D ROI.

Solution:

  • Please check the ROI settings in the Step that sets the 3D ROI on the point cloud. For some projects, this error code can be used to determine whether the bin has been emptied or whether the bin has not been moved to a proper position. So, this error is not necessarily a project execution error.

1006

Mech-Vision: Invalid pose data

Cause:

  • The pose data sent by command 101 does not consist of 6 numbers. The robot pose is a 6-axis robot pose by default. If the robot is a 4-axis or a 5-axis robot, please fill the remaining fields with 0.

Solution:

  • Check the client interface program. The robot pose data sent by command 101 should consist of 6 numbers.

1007

Mech-Vision: Computing

Cause:

  • When the Mech-Vision project is still running, the client interface program calls command 101 again to try to trigger the same Mech-Vision project.

  • Mech-Vision allows concurrent running of multiple projects, but one Mech-Vision project cannot be started again when it is still running.

Solution:

  • Check the client interface program and make sure the Mech-Vision project number is correct.

  • Check the client interface program and see if the program triggers the same Mech-Vision project twice in a short time.

1009

Mech-Vision: Number of poses and number of motion parameters do not match

Cause:

  • This error usually occurs in projects in which the Mech-Vision result forms a robot motion path (such as gluing applications).

Solution:

Not available yet

1010

Mech-Vision: Number of poses and number of labels do not match

Cause:

  • The number of poses and number of labels output from the preceding Steps of Step “Procedure Out” do not match.

Solution:

  • Check the poses and labels in the data flow of the Mech-Vision project. Troubleshoot the reasons for the inconsistency between the number of poses and labels.

1011

Mech-Vision: Project number does not exist

Cause:

  • The project number set in the parameter of command 101 does not exist in the project list of Mech-Vision.

    • For example, when there is only one project in the project list, if command 101 calls for project No. 2, the error will be raised.

Solution:

  • Check if the corresponding Mech-Vision projects all have Autoload Project checked.

  • Check the client interface program and make sure command 101 has the correct project number in its parameter.

1012

Mech-Vision: Parameter recipe number out of range

Cause:

  • The parameter recipe number in command 103 does not have the corresponding recipe set in the Mech-Vision project.

    • For example, when there are only two parameter recipes in the Mech-Vision project, if command 103 is to set parameter recipe No. 3, this error will be raised.

Solution:

  • Check if the Mech-Vision project has the parameter recipe to be set.

  • Check if the client interface program correctly calls command 103.

1013

Mech-Vision: Parameter recipe not set

Cause:

  • The client interface program calls command 103 to set the parameter recipe, but there is no parameter recipe set in the Mech-Vision project.

Solution:

  • Check the parameter recipe settings in the Mech-Vision project, and ensure the parameter recipes and their numbers are correct.

  • If the project does not require switching parameter recipes, please do not call command 103.

1014

Mech-Vision: Failed to set parameter recipe

Cause:

  • The connection between Mech-Center and Mech-Vision is not established.

Solution:

  • Please check Mech-Vision’s log for relevant error messages.

1015

Mech-Vision: Project runtime error

Cause:

  • The Mech-Vision project has a runtime error with Mech-Vision error code CV-Exxxx or has other errors for which Mech-Center does not have analyses. When such an error occurs, the Mech-Vision project is terminated without finishing execution.

Solution:

  • Check the error message in Mech-Vision and modify the Mech-Vision project if necessary.

1017

Mech-Vision: Invalid label mapping

Cause:

  • The label(s) in the vision result from Mech-Vision is not INT data. When using the standard interface, string labels should be mapped to integer labels using Step “Label Mapping”, otherwise this error will occur.

Solution:

  • Check the data flow in Mech-Vision, if the labels input to Step “Procedure Out” are not integers, please map the labels to positive integers using Step “Label Mapping”.

1018

Mech-Vision: Wrong number of vision points

Cause:

  • The client interface program calls command 101 to trigger the Mech-Vision project. In the command’s parameter, the number of the expected vision points output exceeds the data length of the interface.

Solution:

  • The data length can be set in Toolkit ‣ Robot and Interface Configuration in Mech-Vision. Please set the max number of poses sent each time under Advanced Settings. Range: [1, 30].

  • Make sure the parameter expected number of vision points is smaller than the setting above.

1019

Mech-Vision: Execution timed out

Cause:

  • After calling command 102 to obtain the Mech-Vision result and the timing has started, the Mech-Vision project did not finish execution within the specified time.

  • The timeout period can be set under Advanced Settings of Robot and Interface Configuration in the deployment settings of Mech-Vision. The default timeout period is 10 seconds.

Solution:

  • Check the client interface program. A delay operation can be added before calling command 102.

  • For a Mech-Vision project that takes a long time to execute, the timeout period can be set longer in the deployment settings.

1020

Mech-Vision: Not executed

Cause:

  • The client interface program did not call command 101 to start the Mech-Vision project but went on to call command 102 to try to get the vision result.

    • For example, if two Mech-Vision projects are registered in Mech-Center, if the client interface program starts project 1, but then tries to get the vision result of project 2, this error will occur.

  • Command 102 has already been called to obtain all the vision targets and the cache is cleared, but command 102 is called again.

Solution:

  • Check the client interface program and make sure the project number specified by command 102 is correct.

  • Check the client interface program. If the parameter value is 1, then all vision targets are transmitted. Keep calling command 102 will lead to this error.

1021

Mech-Vision: Failed to set object dimensions; please confirm if Step Read Object Dimensions is in the project

Cause:

  • The client interface program calls command 501 to try to input object dimensions to the Mech-Vision project, but the Mech-Vision project does not have a “Read Object Dimensions” Step.

Solution:

  • Check the Mech-Vision project and make sure it has a “Read Object Dimensions” Step.

1022

Mech-Vision: Invalid setting values of object dimensions

Cause:

  • The client interface program calls command 501 to try to input object dimensions to the Mech-Vision project, but the dimension values are invalid (zero or negative values).

Solution:

  • Check the client interface program and make sure command 501 passes valid dimension values (positive real numbers).

1024

Mech-Vision: Number of poses and number of custom data items do not match

Cause:

  • After the client interface program calls command 110, in the returned data, the number of poses and number of items of a custom data type do not match. A custom data type refers to data input to a port other than PoseList and LabelList of Step “Procedure Out” in the Mech-Vision project. Possible cases include:

    • Empty data at the custom data port

    • List length at the custom data port does not equal the pose list length.

  • Suppose the number of poses input to Step “Procedure Out” is N. It is required that any custom data port (data other than poses and labels) either has 1 item or N item. Otherwise, this error will be raised.

    • For example, if the custom port data is the number of objects obtained by instance segmentation, only 1 data item is required, and each time the command is executed, the same value will be returned; if the custom data is the box dimensions, N data items are required, and each time the command is executed, the “box dimensions” data corresponding to the pose will be returned.

Solution:

  • Please check the data flow in the Mech-Vision project.

1026

Mech-Vision: Invalid pose type

Cause:

  • When the client calls command 105 to obtain the result of the Mech-Vision “Path Planning” Step, the waypoint type parameter in command 105 has a wrong value. This parameter can only be set to 1 or 2.

Solution:

  • Check the client interface program. The value of the waypoint type parameter in command 105 should be 1 or 2.

1028

Mech-Vision: Path planning failed

Cause:

  • The path planning tool in Mech-Vision failed to plan a path for any of the vision points in the vision result, and not all reasons for plan failures of the vision points are the same. (If the planning failed on the vision points for the same reason, the corresponding error code for such a reason will be raised)

    • For example, if there are 40 vision points in the vision result, for 20 of which the planning failed because the robot cannot reach the vision point, and for 20 of which the planning failed because collisions were detected, this error will be raised.

Solution:

  • In the corresponding Mech-Vision project, open the path planning tool in the “Path Planning” Step, and check the plan history for the specific reasons for plan failures.

1031

Mech-Vision: Failed to calculate robot joint position

Cause:

  • The path planning tool failed to calculate robot JPs for a waypoint.

Solution:

Not available yet.

1033

Mech-Vision: Motion singularity error|

Cause:

  • When the path planning tool is planning the robot path, a robot singularity is encountered.

Solution:

  • Check where the singularity is in the path planning tool and modify the corresponding poses or parameters.

1034

Mech-Vision: Failed to plan linear motion

Cause:

  • The path planning tool found that the robot cannot reach a waypoint by linear motion.

Solution:

  • Modify the waypoint in the path planning tool or add intermediate points.

  • Change the motion type to joint motion.

1035

Mech-Vision: Invalid pick point

Cause:

  • In Mech-Viz, “Scene objects” is set to the “Bin” model, and “Set effective range for pose” is selected.

  • When the above configuration is used, if the vision point returned by Mech-Vision is outside the bin model, Mech-Viz will assume that the robot cannot pick up an object according to this vision point, and the path planning tool will report an error. This status code corresponds with internal error code MP-E0010.

Solution:

  • Check if the bin is away from the original position. If so, move the bin back.

  • Check if the workobjects are in a small number and close to the bin walls. If so, move the workobjects away from the bin walls.

  • Check the size and pose of the “Bin” model in Mech-Viz. If they are different from the size of pose of the bin in use, change the parameter values according to those of the bin in use.

1036

Mech-Vision: Robot self-collision detected

Cause:

  • The path planning tool detected robot self-collision and the path planning failed.

Solution:

  • Check the corresponding waypoint in the path planning tool.

1037

Mech-Vision: Robot-object collision detected

Cause:

  • The path planning tool in Mech-Vision detected a collision between the robot and scene object model(s) and the path planning failed.

Solution:

  • Check the corresponding waypoint and scene object(s) in the path planning tool.

1038

Mech-Vision: Collision detected as point cloud collision point count is over threshold.

Cause:

  • The path planning tool detected a collision between the robot and workobject. The number of point cloud points involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the path planning tool.

  • Check the setting of the collision point count threshold and modify it if necessary.

1039

Mech-Vision: Collision detected as point cloud collision area is over threshold.

Cause:

  • The path planning tool detected collision between the robot and workobject. The surface area involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the path planning tool.

  • Check the setting of the collision area threshold and modify it if necessary.

1040

Mech-Vision: Collision detected as point cloud collision volume is over threshold.

Cause:

  • The path planning tool detected collision between the robot and workobject. The volume involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the path planning tool.

  • Check the setting of the collision volume threshold and modify it if necessary.

1044

Mech-Vision: No vision point for Step “Vision Move”.

Cause:

  • “Vision Move” in the Path Planning Step failed to receive any pose.

Solution:

  • Check the dataflow before the Path Planning Step in the Mech-Vision project.

1047

Mech-Vision: Timed out waiting for capture completion

Cause:

  • The “Capture Images from Camera” Step did not complete execution within the timeout period set by “Timeout waiting for capture completion(s)”.

Solution:

  • Select “Robot Communication Configuration” on the toolbar. Click “Next” and then click “Advanced Settings”. Check the value of “Timeout waiting for capture completion(s)”, which is visible only after “Return ‘1102: Successfully triggered’ after the capture” is selected.

  • Compare the value of “Timeout waiting for capture completion(s)” and the execution time of the “Capture Images from Camera” Step. If the value of “Timeout waiting for capture completion(s)” is smaller than the execution time of the “Capture Images from Camera” Step, adjust the value of “Timeout waiting for capture completion(s)”.

Mech-Viz Troubleshooting

2001

Mech-Viz: Software not registered

Cause:

  • Mech-Viz is not started.

  • Multiple Mech-Viz windows are opened under the developer mode.

Solution:

  • Make sure Mech-Viz is started.

  • Uncheck Developer mode in Settings ‣ Options and restart Mech-Viz.

2002

Mech-Viz: Project is running

Cause:

  • When a Mech-Viz project is still running, command 201 is called to trigger the Mech-Viz project.

Solution:

  • Make sure the client interface program does not call twice command 201 to trigger the same Mech-Viz project within a short time.

2003

Mech-Viz: Vision result from Mech-Vision not received

Cause:

  • Step “check_look” does not find any vision result and takes the 2nd exit (“no result”). And the project ends.

Solution:

  • If necessary, add additional Steps to the “no result” exit of Step “check_look”.

  • Check if the workobjects have all been picked away.

  • Check the Mech-Vision project to see if settings such as ROI settings, instance segmentation confidence threshold, etc. are proper.

2005

Mech-Viz: Failed to calculate robot JPs

Cause:

  • Mech-Viz failed to calculate robot JPs for a waypoint.

Solution:

Not available yet

2007

Mech-Viz: Path planning failed

Cause:

  • Mech-Viz failed to plan a path for any of the vision points in the vision result, and not all reasons for plan failures of the vision points are the same. (If the planning failed on the vision points for the same reason, the corresponding error code for such a reason will be raised)

    • For example, if there are 40 vision points in the vision result, for 20 of which the planning failed because the robot cannot reach the vision point, and for 20 of which the planning failed because collisions were detected, this error will be raised.

Solution:

  • Check the plan history in Mech-Viz.

2008

Mech-Viz: Project runtime error

Cause:

  • The error may be reported by a Mech-Viz error code MP-Exxxx or may not yet have an analysis by Mech-Center. An error occurred when the Mech-Viz project was running and the project has been terminated.

Solution:

  • Check the pop-up window or logs of Mech-Viz.

2010

Mech-Viz: Path not reachable

Cause:

  • An error with Mech-Viz error code MP-E0007 occurred when running the Mech-Viz project.

Solution:

Not available yet

2011

Mech-Viz: DO list not provided

Cause:

  • The client program calls command 206 to obtain the DO signal list that controls the tool (sectioned suction cups, array gripper, etc.), but in the Mech-Viz project, no DO signal list has been configured.

Solution:

  • Check whether there is a Set DO List Step that follows the Vision Move Step. In the parameters of the Set DO List Step, under “Receiver”, “Standard Interface” should be checked.

2012

Mech-Viz: Invalid pose type

Cause:

  • The client interface program calls command 205 to obtain the planned path, the value of the parameter waypoint type is illegal.

Solution:

  • Check the command sent by the client interface program. The value of the parameter waypoint type in command 205 should be 1 or 2.

2013

Mech-Viz: Invalid pose data

Cause:

  • The client interface program calls command 201 to trigger the Mech-Viz project, the robot pose data sent is not in the format of 6 numbers. The Mech-Viz robot pose is a 6-axis robot pose by default. If the robot is a 4-axis or a 5-axis robot, please fill the remaining fields with 0.

Solution:

  • Check the robot pose data in command 201 sent by the client interface program. If the Mech-Viz project does not require inputting robot pose data, please set the parameter robot pose type to 0.

2014

Mech-Viz: Project not set

Cause:

  • The project is not open in Mech-Viz.

  • The Mech-Viz project does not have Autoload checked.

Solution:

  • Make sure the project is open in Mech-Viz and has Autoload checked.

2015

Error code not in use

2016

Mech-Viz: Parameter setting failed

Cause:

  • An error occurred when the client interface program called command 208 to set a parameter of a Step in the Mech-Viz project.

Solution:

  • Check if the Step ID and parameter key name in the configuration file are correct.

  • The configuration file (Property Config) can be found under menu:Deployment Settings[Mech-Interface> Advanced Settings] in Mech-Center.

2017

Mech-Viz: Failed to stop execution

Cause:

  • The client interface program calls command 202 to stop the running of the Mech-Viz project, but the project does not stop within 5 seconds.

Solution:

Not available yet

2018

Mech-Viz: Invalid Branch by Msg Step exit number

Cause:

  • The client interface program calls command 203 to set the exit of the branching Step in the Mech-Viz project. In the command, the exit number is less than or equal to 0 or is greater than the total number of exits of the Step.

Solution:

  • Check the exits of the branching Step in the Mech-Viz project.

  • Check the exit number set in command 203.

2020

Mech-Viz: Motion error — singularity

Cause:

  • When Mech-Viz is planning the robot path, a robot singularity is encountered.

Solution:

  • Check where the singularity is in the Mech-Viz project and modify the corresponding waypoints.

2021

Mech-Viz: MoveL planning failed

Cause:

  • Mech-Viz found that the robot cannot reach a waypoint by linear motion.

Solution:

  • Modify the waypoint or add intermediate points in Mech-Viz.

  • Change the motion type to joint motion.

2022

Mech-Viz: Not executed

Cause:

  • The client interface program calls command 203 to set branch, but the Mech-Viz project is not running.

  • The client interface program calls command 205 to get the planned path but the Mech-Viz project has not been executed.

  • The client interface program calls command 205 to get the planned path but the Mech-Viz project does not have an output.

  • Command 205 has already been called to obtain all the waypoints and the cache is cleared, but command 205 is called again.

Solution:

  • Check the client interface program to make sure that the Mech-Viz project is running when setting the branch.

  • Check the client interface program to make sure that the Mech-Viz project is executed before getting the planned path.

  • Check the client interface program for the transmission completion status parameter in the returned data of command 205. If the parameter value is 1, then all waypoints are transmitted. Keep calling command 205 will lead to this error.

2024

Mech-Viz: Invalid Branch by Msg Step ID

Cause:

  • The client interface program calls command 203 and sets a Step ID that is not a positive integer.

Solution:

  • Make sure the parameter “branching Step ID” of command 203 is a positive integer.

  • The ID of a Step in Mech-Viz can be found and set in the Step’s parameters. Range: [1, 99].

2025

Mech-Viz: Execution timed out

Cause:

  • The client interface program calls command 205 to get the planned path from Mech-Viz, but the project execution does not finish within the specified time (10 seconds by default). Timeout error occurred during execution.

Solution:

  • Check the normal project execution time cost of the Mech-Viz project. If the time cost is longer than 10 seconds, please adjust the settings under menu:deployment settings[Mech-Interface> Advanced Settings] in Mech-Center.

  • In the client interface program, a delay can be inserted in the client interface program before calling command 205.

2026

Mech-Viz: Invalid ID of Step with index parameter

Cause:

  • The client interface program calls command 204 to set the index parameter of a Step with index parameter, and the Step ID is not a positive integer.

    • 204 Command Format: 204, step ID with index parameter, index parameter.

Solution:

  • Check the client interface program and make sure that the Step ID set in command 204 is a positive integer.

  • The ID of a Step in Mech-Viz can be found and set in the Step’s parameters. Range: [1, 99].

2027

Mech-Viz: Invalid index value

Cause:

  • The client interface program calls command 204 to set the Mech-Viz index parameter of a Step with an index parameter, and the index value is not a positive integer.

Solution:

  • Check the client interface program and make sure that the Mech-Viz index value set in command 204 is a positive integer.

2028

Mech-Viz: Index setting failed; please check whether the Step with index parameter exists in the project

Cause:

  • The client interface program calls command 204 to set the index parameter of a Step with index parameter, and the Step ID is not a positive integer. If the Step ID does not have a corresponding Step in the Mech-Viz project, an error will be reported.

Solution:

  • Check the client interface program and make sure the Step ID set in command 204 has a corresponding Step in the project.

  • Check the Step ID in the Mech-Viz project.

  • The ID of a Step in Mech-Viz can be found and set in the Step’s parameters. Range: [1, 99].

2030

Mech-Viz: Invalid pick point

Cause:

  • In Mech-Viz, “Scene objects” is set to the “Bin” model, and “Set effective range for pose” is selected.

  • When the above configuration is used, if the vision point returned by Mech-Vision is outside the bin model, Mech-Viz will assume that the robot cannot pick up an object according to this vision point, and the path planning tool will report an error. This status code corresponds with internal error code MP-E0010.

Solution:

  • Check if the bin is away from the original position. If so, move the bin back.

  • Check if the workobjects are in a small number and close to the bin walls. If so, move the workobjects away from the bin walls.

  • Check the size and pose of the “Bin” model in Mech-Viz. If they are different from the size of pose of the bin in use, change the parameter values according to those of the bin in use.

2031

Mech-Viz: Robot self-collision detected

Cause:

  • Mech-Viz detected robot self-collision and the path planning failed.

Solution:

  • Check the corresponding waypoint in the Mech-Viz project.

2032

Mech-Viz: Collision between robot and scene object detected

Cause:

  • Mech-Viz detected collision between the robot and scene object model(s) and the path planning failed.

Solution:

  • Check the corresponding waypoint and scene object(s) in the Mech-Viz project.

2033

Mech-Viz: Collision detected as point cloud collision point count exceeds threshold

Cause:

  • Mech-Viz detected collision between the robot and workobject. The number of point cloud points involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the Mech-Viz project.

  • Check the setting of the collision point count threshold and modify it if necessary.

2034

Mech-Viz: Collision detected as point cloud collision area exceeds threshold

Cause:

  • Mech-Viz detected collision between the robot and workobject. The surface area involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the Mech-Viz project.

  • Check the setting of the collision area threshold and modify it if necessary.

2035

Mech-Viz: Collision detected as point cloud collision volume is over threshold

Cause:

  • Mech-Viz detected collision between the robot and workobject. The volume involved in the collision is above the threshold. The path planning failed.

Solution:

  • Check the corresponding waypoint in the Mech-Viz project.

  • Check the setting of the collision volume threshold and modify it if necessary.

2036

Mech-Viz: Vision service did not capture image

Cause:

  • In the Mech-Viz project, the “Check Look” Step takes the 4th exit (“vision service not called”), and the exit is not connected to any further Steps. The Mech-Viz project terminates.

Solution:

  • Check the workflow in Mech-Viz and confirm if the following two parameter values are the same. If not, modify the values to the same according to actual practice.

    • The “Vision Name” parameter of the “Check Look” Step

    • The “Vision Name” parameter of the “Vision Look” Step that connects with the above Step

  • Check if the “not called” exit port is connected to a Step. If not, configure the next Step for the port.

2037

Mech-Viz: No vision result from vision service

Cause:

  • In the Mech-Viz project, the “check_look” Step takes the 2nd exit (“no result”), and the exit is not connected to any further Steps. The Mech-Viz project terminates. The corresponding Mech-Vision project does not have a vision result output.

Solution:

  • Please see the solution of 1002.

2038

Mech-Viz: No point cloud in ROI in vision result

Cause:

  • In the Mech-Viz project, the “check_look” Step takes the 5th exit (“no point cloud in ROI”), and the exit is not connected to any further Steps. The Mech-Viz project terminates. The corresponding Mech-Vision project does not have a vision result output.

Solution:

  • Please see the solution of 1003.

2039

Mech-Viz: No vision point for planning

Cause:

  • In the Mech-Viz project, the Step Vision Move does not have any vision point for planning. If in the Mech-Viz project there is no “check_look” Step or the “check_look” Step takes the 2nd exit (“no result”) and the exit is not connected to any further Steps, this error will occur.

Solution:

  • Please see the solution of 1002.

  • Check if the “check_look” Step is used correctly in the Mech-Viz project.

2041

Mech-Viz: Failed to get Step parameter

Cause:

  • The client interface program calls command 207 to read the parameter value of a Step in Mech-Viz but encounters an error.

Solution:

  • Check if the content of the configuration file is correct. The configuration file (Property Config) can be found under menu:Deployment Settings[Mech-Interface> Advanced Settings] in Mech-Center.

    • In particular, check if the Step ID and parameter key name are correct.

2042

Mech-Viz: Failed to obtain planning result of External Move

Cause:

  • The client interface program calls command 210 to get the planning result of Vision Move from Mech-Viz but encounters an error.

Solution:

Not available yet

2043

Mech-Viz: Failed to get custom data in vision result

Cause:

  • The client interface program calls command 210 to get the planning result of Vision Move and custom data in the vision result from Mech-Viz but encounters an error in getting the custom data part.

Solution:

  • Please see the solution of 1024.

2044

Mech-Viz: Vision service not registered

Cause:

  • In the Mech-Viz project, the “visual_look” Step does not have a vision service selected.

Solution:

  • Please select a correct vision service in the “visual_look” Step.

Mech-Center Troubleshooting

3001

Mech-Center: Illegal command

Cause:

  • The format of the command sent by the client interface program is not supported.

Solution:

  • Please check the client interface program.

3002

Mech-Center: Interface command length or format error

Cause:

  • The length of the command sent by the client interface program is illegal. For example, the robot pose data sent in the command does not consist of six numbers.

  • The format of the command sent by the client interface program is illegal. For example, commas are used as separators.

Solution:

  • Please check the client interface program.

3003

Mech-Center: Client disconnected

3004

Mech-Center: Server disconnected

3005

Mech-Center: Calling Mech-Vision timed out

3006

Mech-Center: Unknown error

3007

Mech-Center: Data acknowledge signal timed out

Cause:

When using PROFINET/EthernetIP:

  • When sending the pose data to the port, Mech-Center needs to check that the signal “data_acknowledge” is 0. If in the specified time, the client interface program does not reset the signal “data_acknowledge” to 0, this error will be raised.

  • After sending the pose data to the port, Mech-Center needs to check that the signal “data_acknowledge” is 1, indicating that the data has been read. If in the specified time, the client interface program does not set the signal “data_acknowledge” to 1, this error will be raised.

Solution:

  • Check the client interface program and make sure that the signal “data_acknowledge” is 0 before calling command 102 or command 205.

  • Check the client interface program and make sure that the signal “data_acknowledge” is set to 1 immediately after reading the data.

3008

Mech-Center: Config ID does not exist; failed to read/set Step parameter

Cause:

  • The client interface program calls command 207 to read a Step parameter value or command 208 to set a Step parameter value, but the corresponding content is not found in the configuration file.

  • The configuration file (Property Config) can be found under menu:Deployment Settings[Mech-Interface> Advanced Settings] in Mech-Center.

Solution:

  • Check the configuration file and make sure the config ID is a positive integer, and the content is correct.

  • Check if the config ID and content of the configuration file exist.

Hand-Eye Calibration Troubleshooting

7001

Calibration: Parameter error

Cause:

  • The client interface program sends the robot pose while performing calibration, but the robot pose does not consist of six numbers. The robot pose is a 6-axis robot pose by default. If the robot is a 4-axis or a 5-axis robot, please fill the remaining fields with 0.

Solution:

  • Check the robot pose data sent by the client interface program.

7002

Calibration: No calibration flange pose provided from Mech-Vision

Cause:

  • During calibration, Mech-Vision does not sent the flange pose of the next calibration point to the robot.

Solution:

Not available yet

7003

Calibration: No calibration joint positions provided from Mech-Vision

Cause:

  • During calibration, Mech-Vision does not sent the joint positions of the next calibration point to the robot.

Solution:

Not available yet

7004

Calibration: Robot failed to reach calibration point

Cause:

  • During Mech-Vision calibration, the robot fails to reach the previous calibration point. In this circumstance, the “Calibration status” parameter value in Command 701 sent by the robot to Mech-Vision is 2. Mech-Vision does not return any data to the robot. Mech-Vision records a log containing 7004 error code under the Console tab on the log panel.

Solution:

Not available yet