FANUC CRX Interface Commands

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Mech-System SocketInit

This command is used to set the IP address of the IPC, port number of IPC, and wait time for TCP/IP communication.

Parameters

Parameter	Description
Port of Controller	The ID of the Ethernet port of the controller used to communicate with the IPC
IP Address of IPC	The IP address of the IPC
Port of IPC	The port number of the IPC configured in Mech-Vision
Timeout	Wait time in minutes before stopping connection attempt

Parameter

Description

Port of Controller

The ID of the Ethernet port of the controller used to communicate with the IPC

IP Address of IPC

The IP address of the IPC

Port of IPC

The port number of the IPC configured in Mech-Vision

Timeout

Wait time in minutes before stopping connection attempt

You only need to configure the communication settings once if the network environment and IP addresses on both sides remain unchanged.

Mech-Eye Calibration

This command is used for camera extrinsic parameter calibration. It automates the calibration process in conjunction with the Camera Calibration function in Mech-Vision.

Parameters

Parameter	Description
Motion Type	The robot’s motion type (MoveJ or MoveL) during the automatic calibration process
Data Type	The pose type (Coordinate or JPS) sent by the robot
Wait Time	The time the robot waits to avoid shaking after it moves to the calibration point; the recommended value is 1–5 (s)
Robot Axis Number	The axis number of the robot; the default value is 6; set the value to 7 if there is an external 7th axis
External Axis Data	Position data of the external 7th axis during calibration (Optional; input 0 when there is no external axis)
PR Index	The index of the Position Register where the start point of the calibration is stored

Parameter

Description

Motion Type

The robot’s motion type (MoveJ or MoveL) during the automatic calibration process

Data Type

The pose type (Coordinate or JPS) sent by the robot

Wait Time

The time the robot waits to avoid shaking after it moves to the calibration point; the recommended value is 1–5 (s)

Robot Axis Number

The axis number of the robot; the default value is 6; set the value to 7 if there is an external 7th axis

External Axis Data

Position data of the external 7th axis during calibration (Optional; input 0 when there is no external axis)

PR Index

The index of the Position Register where the start point of the calibration is stored

Mech-Vision Trigger

This command triggers the Mech-Vision project to run.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision
Index of Position	Number of poses you expect Mech-Vision to send 0: Sends all vision points, up to 20 vision points Integers between 1 to 20: If the total number of vision points Mech-Vision gets is larger than the expected value, only the expected number of vision points will be sent
Position Type	JPS: Sends the current joint positions of the robot to Mech-Vision Flange: Sends the current flange pose of the robot to Mech-Vision

Parameter

Description

Project Number

The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision

Index of Position

Number of poses you expect Mech-Vision to send
0: Sends all vision points, up to 20 vision points
Integers between 1 to 20: If the total number of vision points Mech-Vision gets is larger than the expected value, only the expected number of vision points will be sent

Position Type

JPS: Sends the current joint positions of the robot to Mech-Vision
Flange: Sends the current flange pose of the robot to Mech-Vision

Mech-Vision GetData

This command is used to obtain the vision result from the corresponding Mech-Vision project. It should be used after Mech-Vision Trigger.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision
R Register 1	1: All waypoints have been sent 0: NOT all waypoints have been sent, and you can use Mech-Vision GetData again to receive the rest waypoints
R Register 2	Data Register for storing the number of vision points
R Register 3	Data Register for storing status code

Parameter

Description

Project Number

The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision

R Register 1

1: All waypoints have been sent
0: NOT all waypoints have been sent, and you can use Mech-Vision GetData again to receive the rest waypoints

R Register 2

Data Register for storing the number of vision points

R Register 3

Data Register for storing status code

Mech-Vision SwitchConfig

This command is used to switch the parameter recipe used in the Mech-Vision project. If you need to switch the parameter recipe for the Mech-Vision project, configure and save the parameter recipe in Mech-Vision in advance, and connect this command before Mech-Vision Trigger.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision
Recipe Index	The number of a parameter recipe in the Mech-Vision project

Parameter

Description

Project Number

The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision

Recipe Index

The number of a parameter recipe in the Mech-Vision project

Mech-Vision SetBoxSize

This command is used to input object dimensions to the Read Object Dimensions Step in the Mech-Vision project.

Parameters

Parameter	Description
Project Number	The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision
Length	Length of object in mm
Width	Width of object in mm
Height	Height of object in mm

Parameter

Description

Project Number

The Project ID of the Mech-Vision project to be triggered; you can check the project ID before the project name in the Project List panel in Mech-Vision

Length

Length of object in mm

Width

Width of object in mm

Height

Height of object in mm

Mech-Viz Trigger

This command triggers the Mech-Viz project to run.

Parameters

Parameter	Description
Position Type	JPS: Sends the current joint positions of the robot to Mech-Viz to synchronize the robot motion Empty: Not send the current pose of the robot

Parameter

Description

Position Type

JPS: Sends the current joint positions of the robot to Mech-Viz to synchronize the robot motion
Empty: Not send the current pose of the robot

Mech-Viz GetData

This command obtains the planned path from Mech-Viz. It should be used after Mech-Viz Trigger.

Parameters

Parameter	Description
Return Value Type	1: sends joint positions 2: sends TCPs
R Register 1	1: All waypoints have been sent 0: NOT all waypoints have been sent, and you can use Mech-Viz GetData again to receive the rest waypoints
R Register 2	Data Register for storing the number of received waypoints
R Register 3	Data Register for storing the picking waypoint number in the path
R Register 4	Data Register for storing status code

Parameter

Description

Return Value Type

1: sends joint positions
2: sends TCPs

R Register 1

1: All waypoints have been sent
0: NOT all waypoints have been sent, and you can use Mech-Viz GetData again to receive the rest waypoints

R Register 2

Data Register for storing the number of received waypoints

R Register 3

Data Register for storing the picking waypoint number in the path

R Register 4

Data Register for storing status code

Mech-Viz SetBranch

This command is used to select the branch along which the Mech-Viz project should proceed.

Parameters

Parameter	Description
Branch Name	Step ID of the “Branch by Msg” Step in
Branch Output	The number of the exit port to take + 1, from 1 to 99 Example: To select exit port 0 in Mech-Viz, set the value of this parameter to 1.

Parameter

Description

Branch Name

Step ID of the “Branch by Msg” Step in

Branch Output

The number of the exit port to take + 1, from 1 to 99
Example: To select exit port 0 in Mech-Viz, set the value of this parameter to 1.

Mech-Viz SetIndex

This command sets the value for the Current Index parameter of a Mech-Viz Step. Steps that have this parameter include Move by List, Move by Grid, Custom Pallet Pattern, and Predefined Pallet Pattern.

Parameters

Parameter	Description
Move Skill Name	Step ID of the Step with the index parameter
Index	The index parameter of the specified Step will be set to this value, and the parameter’s value should be the current index value in Mech-Viz plus 1

Parameter

Description

Move Skill Name

Step ID of the Step with the index parameter

Index

The index parameter of the specified Step will be set to this value, and the parameter’s value should be the current index value in Mech-Viz plus 1

Mech-System GetPose

This command stores a vision point returned by Mech-Vision or a waypoint (such as a TCP) in the path returned by Mech-Viz in the specified Position Register. If you want to get multiple vision points or waypoints, you can use this command several times and modify their Position Index respectively.

Parameters

Parameter	Description
Position Index	Specify the index of the pose to be stored
PR Index	Position Register for storing the specified pose
R Register 1	Data Register for storing the label corresponding to the specified pose
R Register 2	Data Register for storing the velocity corresponding to the specified pose; the value remains 0

Parameter

Description

Position Index

Specify the index of the pose to be stored

PR Index

Position Register for storing the specified pose

R Register 1

Data Register for storing the label corresponding to the specified pose

R Register 2

Data Register for storing the velocity corresponding to the specified pose; the value remains 0

Mech-System GetPoseJPS

This command stores a set of joint positions returned by Mech-Viz in the specified Position Registers. If you want to get multiple sets of joint positions of the waypoint, you can use this command several times and modify their Position Index respectively.

Parameters

Parameter	Description
Position Index	Specify the index of the set of joint positions to be stored
PR Index	Position Register for storing the specified set of joint positions
R Register 1	Data Register for storing the label corresponding to the specified set of joint positions
R Register 2	Data Register for storing the velocity corresponding to the specified set of joint positions

Parameter

Description

Position Index

Specify the index of the set of joint positions to be stored

PR Index

Position Register for storing the specified set of joint positions

R Register 1

Data Register for storing the label corresponding to the specified set of joint positions

R Register 2

Data Register for storing the velocity corresponding to the specified set of joint positions

FANUC CRX Interface Commands

Mech-System SocketInit

Mech-Eye Calibration

Mech-Vision Trigger

Mech-Vision GetData

Mech-Vision SwitchConfig

Mech-Vision SetBoxSize

Mech-Viz Trigger

Mech-Viz GetData

Mech-Viz SetBranch

Mech-Viz SetIndex

Mech-System GetPose

Mech-System GetPoseJPS

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