Status Codes and Troubleshooting

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.

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.

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.

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.

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

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.

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.

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

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.

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.

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

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

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.

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

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.

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

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

Check if the client interface program correctly calls command 103.

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

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.

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

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

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.

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

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.

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”.

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.

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.

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.

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.

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.

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

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.

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.

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

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).

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

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:

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.

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

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.

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

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)

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.

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

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

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

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

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

Change the motion type to joint motion.

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.

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.

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

Check the corresponding waypoint in the path planning tool.

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

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

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.

Check the corresponding waypoint in the path planning tool.

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

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.

Check the corresponding waypoint in the path planning tool.

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

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.

Check the corresponding waypoint in the path planning tool.

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

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

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

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

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 is not started.

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

Make sure Mech-Viz is started.

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

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

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

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

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.

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

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)

Check the plan history in Mech-Viz.

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.

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

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

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.

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.

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

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

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.

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.

The project is not open in Mech-Viz.

The Mech-Viz project does not have Autoload checked.

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

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

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.

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.

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.

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

Check the exit number set in command 203.

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

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

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

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

Change the motion type to joint motion.

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.

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.

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

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].

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.

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.

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.

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].

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.

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

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.

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].

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.

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.

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

Check the corresponding waypoint in the Mech-Viz project.

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

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

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.

Check the corresponding waypoint in the Mech-Viz project.

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

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

Check the corresponding waypoint in the Mech-Viz project.

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

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

Check the corresponding waypoint in the Mech-Viz project.

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

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.

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.

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

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.

Please see the solution of 1002.

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.

Please see the solution of 1003.

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.

Please see the solution of 1002.

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

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

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.

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

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.

Please see the solution of 1024.

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

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

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

Please check the client interface program.

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.

Please check the client interface program.

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.

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.

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.

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.

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.

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

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

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

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.