Features in Master-Control

Communication

Auto reconnect

Mech-Viz will automatically attempt to reconnect to the robot if the communication with the robot is disconnected due to network issues.

Without this feature, the Master-Control communication will be terminated when the network is disconnected.

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Turn on servo remotely

Mech-Viz can turn on the robot servo remotely after an emergency stop of the robot.

Without this feature, the robot should be powered on by using the teach pendant after an emergency stop or servo power off.

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Reset alarm remotely

Mech-Viz can reset the alarm on the teach pendant remotely.

Without this feature, the alarm should be reset by using the teach pendant.

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Get robot status

Mech-Viz can obtain the system statuses of the robot, including emergency stop, power on, alarm, execution, and auto.

Without this feature, no prompt will appear in Mech-Viz after an emergency stop or an alarm is raised on the robot side.

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Transfer Control

Mech-Viz enables the robot to jump out of the Master-Control program and execute other programs. After the execution, the robot can jump back to the Master-Control program.

Without this feature, the robot will be controlled by Mech-Viz solely.

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Robot Motion

Stop immediately

Clicking Stop in Mech-Viz can stop the robot immediately.

Without this feature, the robot will only stop after all received move commands are executed.

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Pause

Mech-Viz can pause and continue the motion of the robot.

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Stop the current move

The digital input (DI) can be used as a logical condition for Mech-Viz to stop the robot from executing the current move and skip to the subsequent move.

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Move along dense waypoints

The robot can move along the path containing dense waypoints smoothly.

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Configure blend radius

The robot blend radius can be configured in Mech-Viz.

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Data Transmission

Get move ID from robot

The robot will return a move ID to Mech-Viz after each movement is completed.

Without this feature, if there are the identical positions in multiple consecutive movements, the digital output (DO) or image-capturing might be triggered prematurely.

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Get TCP pose from robot

The Update TCP button in the Robot functional panel can obtain the current TCP from the robot.

Without this feature, clicking the button will prompt an error.

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Get flange pose from robot

Mech-Viz can obtain the flange pose from the robot.

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Get tool parameters from robot

The Update TCP from robot button in the Tool Configuration window can obtain the configuration parameters of the end tool from the robot.

Without this feature, clicking the button will prompt an error.

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Robot only receives TCP pose

The robot can only receive TCP pose.

With this requirement, Mech-Viz can send poses only in TCP format to the robot. The actual postures of robot axes may differ from those in the 3D simulation space of Mech-Viz.

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Robot uses TCP in linear motion

The robot can only use the TCP pose for linear motion.

With this requirement, Mech-Viz can send only TCP poses to the robot for linear motion. The actual postures of robot axes may differ from those in the 3D simulation space of Mech-Viz.

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Robot Settings

Set tool

Mech-Viz can be used to set the tool of the robot.

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Set payload

Mech-Viz can be used to set the robot payload parameters.

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DI/DO

DI default range

The valid range of the robot’s default DIs.

Without this feature, Mech-Viz cannot monitor the DIs of the robot.

The default range is 0 to 15, and the available range of 0 to 63. To change the DI range, modify the EIO.cfg file in the folder containing the loaded files.

DO default range

The valid range of the robot’s default DOs.

Without this feature, Mech-Viz cannot be used to set the robot DOs.

The default range is 0 to 15, and the available range of 0 to 63. To change the DI range, modify the EIO.cfg file in the folder containing the loaded files.

Set DO with move

Mech-Viz will send the DO together with the move command to the robot.

Without this feature, the DO can be set only after the robot moves to the target waypoint, which affects the smoothness of the movement.

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Set DO with delay

Mech-Viz supports setting a delay while configuring the DO.

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