HYUNDAI Standard Interface Commands

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For the HYUNDAI robot, each JOB file in the table represents a standard interface command. The corresponding commands can be called when the program number is set correctly. For example, for the file 9801_COM101.JOB, the program number is 9801, and the statement can be written as CALL 9801_MMH_VIStrig. MMH_VIStrig can be replaced by other strings, and the statement still calls the program corresponding to the 9801_COM101.JOB file.

JOB file	Function
9801_COM101	Trigger Mech-Vision project to run
9802_COM102	Get vision targets
9803_COM103	Switch Mech-Vision recipe
9804_COM201	Trigger Mech-Viz project to run
9805_COM202	Stop Mech-Viz project
9806_COM203	Switch Mech-Viz branch
9807_COM204	Set index
9808_COM205	Get planned path from Mech-Viz

JOB file

Function

9801_COM101

Trigger Mech-Vision project to run

9802_COM102

Get vision targets

9803_COM103

Switch Mech-Vision recipe

9804_COM201

Trigger Mech-Viz project to run

9805_COM202

Stop Mech-Viz project

9806_COM203

Switch Mech-Viz branch

9807_COM204

Set index

9808_COM205

Get planned path from Mech-Viz

The following table shows the status code and description in the standard interface commands.

Name	Description
V500!	X-value (the X-value of the first vision point is stored in V500!, and that of the second vision point is stored in V514!, and so on)
V501!	Y-value (the Y-value of the first vision point is stored in V501!, and that of the second vision point is stored in V515!, and so on)
V502!	Z-value (the Z-value of the first vision point is stored in V502!, and that of the second vision point is stored in V516!, and so on)
V503!	RX-value (the RX-value of the first vision point is stored in V503!, and that of the second vision point is stored in V517!, and so on)
V504!	RY-value (the RY-value of the first vision point is stored in V504!, and that of the second vision point is stored in V518!, and so on)
V505!	RZ-value (the RZ-value of the first vision point is stored in V505!, and that of the second vision point is stored in V519!, and so on)
V506!	LABEL value (the LABEL value of the first vision point is stored in V506!, and that of the second vision point is stored in V520!, and so on)
V507!	SPEED value (the SPEED value of the first vision point is stored in V507!, and that of the second vision point is stored in V521!, and so on)
V508!	J1 value (the J1 value of the first vision point is stored in V508!, and that of the second vision point is stored in V522!, and so on)
V509!	J2 value (the J2 value of the first vision point is stored in V509!, and that of the second vision point is stored in V523!, and so on)
V510!	J3 value (the J3 value of the first vision point is stored in V510!, and that of the second vision point is stored in V524!, and so on)
V511!	J4 value (the J4 value of the first vision point is stored in V511!, and that of the second vision point is stored in V525!, and so on)
V512!	J5 value (the J5 value of the first vision point is stored in V512!, and that of the second vision point is stored in V526!, and so on)
V513!	J6 value (the J6 value of the first vision point is stored in V513!, and that of the second vision point is stored in V527!, and so on)
P500	Get the current pose
P501	The pose at the next calibration point during the calibration
V490%	Step ID of the Branch by Msg Step (for the Branch by Msg Step in Mech-Viz)
V491%	The number of the exit port to take (for the Branch by Msg Step in Mech-Viz)
V492%	ID of the Step with the Index parameters (for Mech-Viz Steps with the Index parameters)
V493%	Value for the Starting Index parameter (for Mech-Viz Steps with the Index parameters)
V500$	IP address of the IPC
V501$	String sent to the IPC
V502$	String received from the IPC
V503$	Strings received from the IPC are separated into multiple substrings by commas (,). The first substring is stored in V503$, and the second is stored in V504$, and so on
V500%	Port number of the IPC
V501%	Channel number, the default number is 1
V502%	Idle
V503%	Mech-Vision project ID
V504%	The number of vision points to be received with the range of 0 to 4. 0 indicates that all vision points will be received
V505%	Pose type (1 represents JPs, and 2 represents TCP)
V506%	Mech-Vision recipe ID
V507%	Initial index of register P
V508%	Calibration status

Name

Description

V500!

X-value (the X-value of the first vision point is stored in V500!, and that of the second vision point is stored in V514!, and so on)

V501!

Y-value (the Y-value of the first vision point is stored in V501!, and that of the second vision point is stored in V515!, and so on)

V502!

Z-value (the Z-value of the first vision point is stored in V502!, and that of the second vision point is stored in V516!, and so on)

V503!

RX-value (the RX-value of the first vision point is stored in V503!, and that of the second vision point is stored in V517!, and so on)

V504!

RY-value (the RY-value of the first vision point is stored in V504!, and that of the second vision point is stored in V518!, and so on)

V505!

RZ-value (the RZ-value of the first vision point is stored in V505!, and that of the second vision point is stored in V519!, and so on)

V506!

LABEL value (the LABEL value of the first vision point is stored in V506!, and that of the second vision point is stored in V520!, and so on)

V507!

SPEED value (the SPEED value of the first vision point is stored in V507!, and that of the second vision point is stored in V521!, and so on)

V508!

J1 value (the J1 value of the first vision point is stored in V508!, and that of the second vision point is stored in V522!, and so on)

V509!

J2 value (the J2 value of the first vision point is stored in V509!, and that of the second vision point is stored in V523!, and so on)

V510!

J3 value (the J3 value of the first vision point is stored in V510!, and that of the second vision point is stored in V524!, and so on)

V511!

J4 value (the J4 value of the first vision point is stored in V511!, and that of the second vision point is stored in V525!, and so on)

V512!

J5 value (the J5 value of the first vision point is stored in V512!, and that of the second vision point is stored in V526!, and so on)

V513!

J6 value (the J6 value of the first vision point is stored in V513!, and that of the second vision point is stored in V527!, and so on)

P500

Get the current pose

P501

The pose at the next calibration point during the calibration

V490%

Step ID of the Branch by Msg Step (for the Branch by Msg Step in Mech-Viz)

V491%

The number of the exit port to take (for the Branch by Msg Step in Mech-Viz)

V492%

ID of the Step with the Index parameters (for Mech-Viz Steps with the Index parameters)

V493%

Value for the Starting Index parameter (for Mech-Viz Steps with the Index parameters)

V500$

IP address of the IPC

V501$

String sent to the IPC

V502$

String received from the IPC

V503$

Strings received from the IPC are separated into multiple substrings by commas (,). The first substring is stored in V503$, and the second is stored in V504$, and so on

V500%

Port number of the IPC

V501%

Channel number, the default number is 1

V502%

Idle

V503%

Mech-Vision project ID

V504%

The number of vision points to be received with the range of 0 to 4. 0 indicates that all vision points will be received

V505%

Pose type (1 represents JPs, and 2 represents TCP)

V506%

Mech-Vision recipe ID

V507%

Initial index of register P

V508%

Calibration status

HYUNDAI Standard Interface Commands

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