Status Codes and Troubleshooting

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Overview

Status codes in the Standard Interface commands returned by the vision system in are 4-digit numbers that represent the status of command execution. Status codes are divided into normal status codes and error codes. Normal status codes indicate that the command is executed successfully, while error codes indicate that an error occurs during command execution. Users may address errors by referring the error code descriptions in this guide. The following table classifies status codes into different categories.

Status code Description

1001-1099

Mech-Vision error codes

1100-1199

Mech-Vision normal status codes

2001-2099

Mech-Viz error codes

2100-2199

Mech-Viz normal status codes

3001-3099

Mech-Center error codes

3100-3199

Mech-Center normal status codes

4001-4099

Robot error codes

4100-4199

Robot normal status codes

7001-7099

Calibration error codes

7100-7199

Calibration normal status codes

Mech-Vision

Mech-Vision error codes

Error code Description

1001

Mech-Vision: Unregistered project existed in the solution

1002

Mech-Vision: No vision result

1003

Mech-Vision: No point cloud in ROI

1005

Mech-Vision: Invalid command parameter to start Mech-Vision project

1006

Mech-Vision: Invalid pose data

1007

Mech-Vision: Project is running

1008

Mech-Vision: Digital output signal list not provided

1010

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

1011

Mech-Vision: Project ID does not exist

1012

Mech-Vision: Parameter recipe ID does not exist

1013

Mech-Vision: Parameter recipe not configured

1014

Mech-Vision: Failed to switch parameter recipe

1015

Mech-Vision: Project execution error

1017

Mech-Vision: Failed to map the string of label to numbers

1018

Mech-Vision: Invalid pose number input

1019

Mech-Vision: Execution timeout

1020

Mech-Vision: Project not started

1021

Mech-Vision: Failed to set object dimensions

1022

Mech-Vision: Invalid object dimension settings

1023

Mech-Vision: Failed to connect to camera

1024

Mech-Vision: Number of poses and list size of custom port data do not match

1026

Mech-Vision: Invalid pose type

1027

Mech-Vision: Runtime error at “Path Planning” Step

1028

Mech-Vision: Path planning failed

1030

Mech-Vision: Robot cannot reach the waypoint

1033

Mech-Vision: Motion singularity error

1036

Mech-Vision: Robot collision detected

1044

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

1046

Mech-Vision: Invalid tool

1047

Mech-Vision: Timeout occurs when waiting for the capture completion

1048

Mech-Vision: Box mask recognition error

1049

Mech-Vision: Check box dimensions error

Mech-Vision normal status codes

Normal status code Description

1100

Mech-Vision: Get vision result successfully

1101

Mech-Vision: Ready to run

1102

Mech-Vision: Project get triggered successfully

1103

Mech-Vision: Obtained planned path successfully

1106

Mech-Vision: Obtain DO signal list successfully

1107

Mech-Vision: Parameter recipe switched successfully

1108

Mech-Vision: Input workobject dimensions to the project successfully

Mech-Viz

Mech-Viz error codes

Error code Description

2001

Mech-Viz: App not registered

2002

Mech-Viz: Project is running

2004

Mech-Viz: Robot cannot reach the waypoint

2006

Mech-Viz: Invalid command parameter to start Mech-Viz

2007

Mech-Viz: Path planning failed

2008

Mech-Viz: Runtime error

2011

Mech-Viz: Digital output signal list not provided

2012

Mech-Viz: Invalid pose type

2013

Mech-Viz: Invalid pose data

2014

Mech-Viz: No project set to autoload

2016

Mech-Viz: Failed to set Step parameter value

2017

Mech-Viz: Failed to stop execution

2018

Mech-Viz: Invalid branch exit port number

2019

Mech-Viz: Failed to set branch

2020

Mech-Viz: Motion singularity error

2022

Mech-Viz: The project has not been executed or has no results after execution

2024

Mech-Viz: Invalid Branch Step ID

2025

Mech-Viz: Execution timeout

2026

Mech-Viz: Invalid Step ID of index-type Steps

2027

Mech-Viz: Invalid Current Index value

2028

Mech-Viz: Failed to set index

2031

Mech-Viz: Robot collision detected

2036

Mech-Viz: “Vision Look” Step not called

2037

Mech-Viz: No vision result received from vision service

2038

Mech-Viz: No point cloud in ROI

2039

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

2041

Mech-Viz: Failed to get Step parameter

2042

Mech-Viz: Failed to get planning result in “Vision Move”

2043

Mech-Viz: Failed to get custom vision result

2044

Mech-Viz: Vision service not registered

2045

Mech-Viz: Invalid tool

2047

Mech-Viz: Check box dimensions error

Mech-Viz normal status codes

Normal status code Description

2100

Mech-Viz: Execution completed successfully

2102

Mech-Viz: Obtain DO signal list successfully

2103

Mech-Viz: Started successfully

2104

Mech-Viz: Stop successfully

2105

Mech-Viz: Set branch successfully

2106

Mech-Viz: Set index successfully

2107

Mech-Viz: Set move point for “External Move” Step successfully

2108

Mech-Viz: Set Step parameter value successfully

2109

Mech-Viz: Get Step parameter value successfully

Mech-Center

Mech-Center error codes

Error code Description

3001

Mech-Center: Invalid command

3002

Mech-Center: Invalid command argument data length or format

3005

Mech-Center: Calling Mech-Vision timed out

3006

Mech-Center: Unknown error

3007

Mech-Center: Data acknowledge signal from client timed out

3008

Mech-Center: The Config ID does not exist

Mech-Center normal status codes

Normal status code Description

3103

Mech-Center: Modbus TCP data cleared successfully

Robot

Robot error codes

Error code Description

4002

Robot: Euler angle type not supported

Calibration

Calibration error codes

Error code Description

Calibration: Parameter error

Calibration: No calibration flange pose provided from Mech-Vision

Calibration: No calibration joint angles provided from Mech-Vision

Calibration: Robot failed to reach the calibration point

Calibration normal status codes

Normal status code Description

7100

Calibration: Robot moved to the calibration point successfully

7101

Calibration: Pose received from Mech-Vision successfully

Mech-Vision Troubleshooting

1001

Mech-Vision: Unregistered project existed in the solution

Cause:

  • Mech-Vision was not started.

  • Autoload Project was not selected.

  • The Mech-Vision project did not have a “Procedure Out” Step.

Solution:

  • Ensure that the Mech-Vision software is started.

  • Ensure that Autoload Project is selected.

  • Ensure that the Mech-Vision project contains a “Procedure Out” Step.

1002

Mech-Vision: No vision result

Cause:

  • The Mech-Vision project was successfully executed, but the “poses” port of the “Procedure Out” Step failed to output data. 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 in the Mech-Vision project did not have a “poses” port. For example, it is possible that users set the port type of the “Procedure Out” Step to “custom” but did not create a port named “poses”.

  • The Mech-Vision project had a “Path Planning” Step, but the “Procedure Out” Step did not have a “moves” port or the “moves” port did not output data.

Solution:

  • Ensure that the “Port Type” parameter and the included keys of the “Procedure Out” Step are correct.

  • Check the data flow of the Mech-Vision project to ensure that data is passed to the “poses” port of “Procedure Out” Step.

1003

Mech-Vision: No point cloud in ROI

Cause:

  • There was no point cloud in the 3D ROI.

This error can be a signal that the bin is empty or out of position. Thus it’s not necessarily a project execution error that needs to be fixed.

Solution:

  • Check the ROI setting in the project and ensure the setting is proper.

1005

Mech-Vision: Invalid command parameter to start Mech-Vision project

Cause:

  • In the command sent by the robot side to trigger the Mech-Vision project, the value of the “robot pose type” parameter was invalid. The value range of “robot pose type” is 0 to 3.

  • In the command sent by the robot side to trigger the Mech-Vision project and obtain results, the value of the “returned data format” parameter was invalid. The value range of “returned data format” is 1 to 4.

Solution:

  • Ensure the parameter values in the command sent by the robot side are within the valid range.

1006

Mech-Vision: Invalid pose data

Cause:

  • In the command sent by the robot side to trigger the Mech-Vision project, the value of the “robot pose” parameter was invalid. Possible scenarios are as follows:

    • The value of the joint positions were less than 6 fields.

    • The value of the flange pose were less than 6 fields.

    • The value of the flange pose was all 0.

By default, a 6-axis robot is used and thus the value of the “robot pose” parameter occupies six fields. If a 4-axis or 5-axis robot is used, fill in the empty fields with 0.

Solution:

  • Ensure the “robot pose” parameter value is appropriate.

1007

Mech-Vision: Project is running

Cause:

  • While the Mech-Vision project was running, the robot side sent the command to start it again.

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

Solution:

  • Ensure that the Mech-Vision project ID set in the robot program is correct.

  • Ensure that the robot program does not contain codes that trigger the same Mech-Vision project in a short period of time.

1008

Mech-Vision: Digital output signal list not provided

Cause:

  • The DO signal list for the vacuum gripper obtained from Mech-Vision was empty.

Solution:

  • Ensure that the “tool type” in the path planning tool is “depalletizing vacuum gripper” and DO signals are configured correctly in the vacuum gripper configuration interface.

1010

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

Cause:

  • In the “Procedure Out” Step of the Mech-Vision project, the number of poses output by the “poses” port was not equal to the number of labels output by the “labels” port.

Solution:

  • Check the data flow of the Mech-Vision project to ensure the number of poses and labels are the same.

1011

Mech-Vision: Project ID does not exist

Cause:

  • The project ID specified in the command sent by the robot side did not exist in the project list of Mech-Vision. For example, when there is only a project with an ID of 1 in the project list, and the project ID specified in the command is 2, this error will prompt.

Solution:

  • Ensure that Autoload Project is selected.

  • Ensure that the project ID specified in the command sent by the robot side exists in the project list of Mech-Vision.

1012

Mech-Vision: Parameter recipe ID does not exist

Cause:

  • The parameter recipe ID specified in the command sent by the robot side did not exist in the Parameter Recipe Editor. For example, when there is only a parameter recipe with an ID of 1 in the Parameter Recipe Editor, and the parameter recipe ID specified in the command is 2, this error will occur.

Solution:

  • Ensure that the parameter recipe ID specified in the command sent by the robot side exists in the Parameter Recipe Editor.

1013

Mech-Vision: Parameter recipe not configured

Cause:

  • The robot side sent the command to switch the parameter recipe of Mech-Vision, but the Mech-Vision project did not have any parameter recipe.

Solution:

  • Check the parameter recipe setting in the Mech-Vision project and ensure that the parameter recipe and its ID are correct.

  • The robot does not necessarily need to send the parameter switching command if not needed by Mech-Vision.

1014

Mech-Vision: Failed to switch parameter recipe

Cause:

  • Mech-Vision had exhibited abnormal behavior in Standard Interface communication, which resulted in the failure of parameter recipe switch.

Solution:

  • Contact Mech-Mind Technical Support.

1015

Mech-Vision: Project execution error

Cause:

  • A runtime error occurred in the Mech-Vision project.

This status code only indicates that an error has occurred when the Mech-Vision project was operating. Specific reasons for the error was not provided.

Solution:

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

1017

Mech-Vision: Failed to map the string of label to numbers

Cause:

  • The data output by the “labels” port of the “Procedure Out” Step in Mech-Vision was not a string of numbers.

Solution:

  • Check the data output by the “labels” port of the “Procedure Out” Step. If the data is not in the format of numbers, add a “Label Mapping” Step before the “Procedure Out” Step to transform the output of the “labels” port to a string of numbers.

1018

Mech-Vision: Invalid pose number input

Cause:

  • In the command sent by the robot side to trigger the Mech-Vision project, the value of the “expected number of vision points or waypoints” parameter exceeded the maximum number of poses that could be sent each time.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings . Modify the value of max num of poses to send per time. The limit is 30.

Solution:

  • Ensure that the “expected number of vision points or waypoints” parameter value is no greater than maximum number of poses that could be sent each time.

1019

Mech-Vision: Execution timeout

Cause:

  • Since the robot side sent the command to get vision results, the Mech-Vision project had not finished execution within the timeout period. The default timeout period is 10s.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings . Modify the value of Timeout for getting Mech-Vision data(s) to change the timeout setting.

Solution:

  • Users can add a delay function in the robot program before the function that obtains the vision results.

  • For Mech-Vision projects that takes a relatively long time to finish running, users may modify the timeout period according to needs.

1020

Mech-Vision: Project not started

Cause:

  • The robot side sent the command to obtain vision results before sending the command to trigger the Mech-Vision project. For example, there are two projects with IDs 1 and 2 on the project list of Mech-Vision. If the robot side triggers project 1 but requires obtaining vision results from object 2, this error will occur.

  • The robot side had obtained all vision results but was still sending the command to obtain more vision results.

Solution:

  • Check the robot program and ensure that the Mech-Vision project ID in the command sent by the robot side to obtain vision results is correct.

  • When the “status of transmitting vision points” parameter in the returned data is set to 1, it indicates that all vision points have been obtained. In this case, robot should stop sending the command that obtains vision results.

1021

Mech-Vision: Failed to set object dimensions

Cause:

  • The Mech-Vision project did not contain a “Read Object Dimensions” Step.

Solution:

  • Ensure that there is a “Read Object Dimensions” Step in the Mech-Vision project.

1022

Mech-Vision: Invalid object dimension settings

Cause:

  • The object dimensions sent to the Mech-Vision project had 0 or a negative value.

Solution:

  • Ensure that the object dimensions (length, width, height) are all positive integers.

1023

Mech-Vision: Failed to connect to camera

Cause:

  • The “Capture Images from Camera” Step in the Mech-Vision project failed to connect to a camera.

Solution:

  • Check the camera power supply and network settings to ensure that both the camera power and network are properly connected.

  • Ensure that the IP address and port set in the “Capture Images from Camera” Step are correct.

1024

Mech-Vision: Number of poses and list size of custom port data do not match

Cause:

  • The list length of the “poses” port and list length of the custom port of the “Procedure Out” Step of the Mech-Vision project did not match. For example, consider the pose list as \[[1,1,1,0,1,0,0],[1,1,1,0,0,0,0]]. If the data list output by the custom port is \[[1,1]] or [], the lengths of the two lists are not equal; while if the data list output by the custom port is [1,1], the lengths of the two lists are the same.

Solution:

  • Check the poses and the custom port data in the data flow of the Mech-Vision project to ensure the lengths of the two lists match.

1026

Mech-Vision: Invalid pose type

Cause:

  • In the command sent by the robot side to obtain planned path from Mech-Vision, the value of the “waypoint pose type” parameter was invalid. The value of the “waypoint pose type” parameter can only be 1 or 2.

Solution:

  • Ensure the parameter values in the command sent by the robot side are within the valid range.

1027

Mech-Vision: Runtime error at “Path Planning” Step

Cause:

  • An error occurred when the Mech-Vision project was executing the “Path Planning” Step.

This status code only indicates that an error has occurred in the “Path Planning” Step. Specific reasons for the error are not yet provided.

Solution:

  • Open the path planning tool and check the log to identify the root cause.

1028

Mech-Vision: Path planning failed

Cause:

  • If there was a bin in the project, the possible cause was that there was no vision point in the bin.

  • If it was a mixed-case palletizing project, the possible cause was that the Path Planning Tool failed to calculate the position to put the workobject.

  • The path planning tool might have malfunctioned.

Solution:

  • Contact Mech-Mind Technical Support.

1030

Mech-Vision: Robot cannot reach the waypoint

The “Path Planning” Step prompted the error. Possible causes are as follows:

  • The waypoint was out of reach for the robot.

  • Robot inverse kinematic solution failed.

Solution:

  • Open the path planning tool and check the plan history to identify the root cause.

1033

Mech-Vision: Motion singularity error

The “Path Planning” Step prompted the error. Possible causes are as follows:

  • The robot detected an singularity error during path planning. The joint velocity or joint acceleration of the real robot exceeded the threshold values of detecting singularity set in the software.

  • The robot could not reach the point by moving in the planned straight line.

Solution:

  • If the singularity detection threshold is too strict, users may consider reducing the values of “Max velocity” or “Reduction ratio”. To change the threshold of singularity detection, contact Mech-Mind Technical Support.

  • If the robot cannot reach the point by moving in a straight line, users may consider changing the motion type to joint motion or adding intermediate waypoints.

1036

Mech-Vision: Robot collision detected

The “Path Planning” Step prompted the error. Possible causes are as follows:

  • The robot was at risk of colliding with scene objects.

  • The robot was at risk of colliding with the point cloud of the object.

Solution:

  • If the robot is at risk of colliding with scene objects, users may consider adding intermediate waypoints for the robot to avoid these objects.

  • If the robot is at risk of colliding with the point cloud of the object, users may consider adjusting the threshold of detecting collision with the point cloud.

  • If an error occurs in the home position of the planned path, users may consider setting the HOME position.

1044

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

The “Path Planning” Step prompted the error. Possible causes are as follows:

  • The input port of the “Path Planning” Step did not receive pose data of vision points.

Solution:

  • Check the “Vision Points” port of the “Path Planning” Step, and ensure that the port has received poses.

1046

Mech-Vision: Invalid tool

The “Path Planning” Step prompted the error. Possible causes are as follows:

  • The tool was invalid.

Solution:

  • In the path planning tool interface, check and ensure that the tool settings and the “Global Configuration” settings are correct.

1047

Mech-Vision: Timeout occurs when waiting for the 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)”.

1048

Mech-Vision: Box mask recognition error

Cause:

  • The Mech-Vision project validated the masks of the box objects with the “Validate Box Object Masks” Step. However, the validation failed because the box objects did not meet the criteria set in the Step Parameters panel, including of All Boxes Must Be Same Dimension, All Boxes Must Be Detected and Rectangularity Validation.

Solution:

  • Check the “Validate Box Object Masks” Step and ensure that the input data and parameter values are correct.

1049

Mech-Vision: Check box dimensions error

Cause:

  • The Mech-Vision project validated the masks of the box objects with the “Validate Box Dimensions” Step. However, the validation failed because the dimensions calculated from the masks did not match the data set in the Box Dimension Information in the Step Parameters panel.

Solution:

  • Check the “Validate Box Dimensions” Step and ensure that the input data and parameter values are correct.

Mech-Viz Troubleshooting

2001

Mech-Viz: App not registered

Cause:

  • Mech-Viz was not started.

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

Solution:

  • Ensure that the Mech-Viz software is started.

  • Exit the developer mode and restart Mech-Viz.

2002

Mech-Viz: Project is running

Cause:

  • While the Mech-Viz project was running, the robot side sent the command to start it again.

Solution:

  • Ensure that the robot program does not contain codes that trigger the same Mech-Viz project in a short period of time.

2004

Mech-Viz: Robot cannot reach the waypoint

Cause:

  • The waypoint was out of reach for the robot.

  • Robot inverse kinematic solution failed.

Solution:

  • Open Mech-Viz and check the plan history to identify the root cause.

2006

Mech-Viz: Invalid command parameter to start Mech-Viz

Cause:

  • In the command sent by the robot side to trigger the Mech-Viz project, the value of the “robot pose type” parameter was invalid. The value range of “robot pose type” is 0 to 2.

Solution:

  • Ensure the parameter values in the command sent by the robot side are within the valid range.

2007

Mech-Viz: Path planning failed

Cause:

  • If there was a bin in the project, the possible cause was that there was no vision point in the bin.

  • If it was a mixed-case palletizing project, the possible cause was that the Path Planning Tool failed to calculate the position to put the workobject.

  • The path planning tool might have malfunctioned.

Solution:

  • Contact Mech-Mind Technical Support.

2008

Mech-Viz: Runtime error

Cause:

  • An error occurred when the Mech-Viz project was running.

Solution:

  • Open Mech-Viz and check the log to identify the root cause.

2011

Mech-Viz: Digital output signal list not provided

  • The DO signal list for the vacuum gripper obtained from Mech-Vision was empty.

Solution:

  • Ensure that there is a “Set DO” Step following the “Vision Move” Step, and that “Receiver” is set to “Standard Interface” on the Step parameters panel of the “Set DO” Step.

  • Ensure that the “tool type” is set to “depalletizing vacuum gripper” and DO signals are configured correctly in the vacuum gripper configuration interface.

2012

Mech-Viz: Invalid pose type

Cause:

  • In the command sent by the robot side to obtain planned path from Mech-Viz, the value of the “waypoint pose type” parameter was invalid. The value of the “waypoint pose type” parameter can only be 1 or 2.

Solution:

  • Ensure the parameter values in the command sent by the robot side are within the valid range.

2013

Mech-Viz: Invalid pose data

Cause:

  • In the command sent by the robot side to trigger the Mech-Viz project, the value of the “robot pose” parameter was invalid. Possible scenarios are as follows:

    • The value of the joint positions were less than 6 fields.

    • The value of the flange pose were less than 6 fields.

    • The value of the flange pose was all 0.

By default, a 6-axis robot is used and thus the value of the “robot pose” parameter occupies six fields. If a 4-axis or 5-axis robot is used, fill in the empty fields with 0.

Solution:

  • Ensure the “robot pose” parameter value is appropriate.

2014

Mech-Viz: No project set to autoload

Cause:

  • The Mech-Viz project was not running.

  • The Mech-Viz project was not set to autoload.

Solution:

  • Ensure the project used by the robot side is open in Mech-Viz and has the Autoload Project option checked.

2016

Mech-Viz: Failed to set Step parameter value

Cause:

  • An error occurred when the robot side sent the command to set Mech-Viz Step parameter value.

Solution:

  • Ensure that the Step ID and parameter key name in the “property_config” file are correct.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings. Click Property Configuration to open the “property_config” file.

2017

Mech-Viz: Failed to stop execution

Cause:

  • Since the robot side sent the command to stop the Mech-Viz project, the project had not stopped running in 5s.

Solution:

  • Contact Mech-Mind Technical Support.

2018

Mech-Viz: Invalid branch exit port number

Cause:

  • In the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz, the “exit port” parameter value was equal to or smaller than 0, or the value was larger than the number of the ports of the Branch by Msg Step.

Solution:

  • Ensure that the “Branch by Msg” Step has an exit port corresponding to the “exit port” parameter value in the command sent by the robot side.

2019

Mech-Viz: Failed to set branch

Cause:

  • The “Step ID” parameter in the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz did not have a corresponding “Branch by Msg” Step in the Mech-Viz project.

Solution:

  • Ensure that the Step ID in the command sent by the robot side has a corresponding Step in the Mech-Viz project.

2020

Mech-Viz: Motion singularity error

Cause:

  • The robot detected an singularity error during path planning. The joint velocity or joint acceleration of the real robot exceeded the threshold values of detecting singularity set in Mech-Viz.

  • The robot could not reach the point by moving in the planned straight line.

Solution:

  • If the singularity detection threshold is too strict, users may consider to reduce the values of “Max velocity” or “Reduction ratio” in Mech-Viz. To change the threshold of singularity detection, contact Mech-Mind Technical Support.

  • If the robot cannot reach the point by moving in a straight line, users may consider changing the motion type to joint motion or adding intermediate waypoints.

2022

Mech-Viz: The project has not been executed or has no results after execution

Cause:

  • When the robot side sent the command to set the exit port for the Branch by Msg Step in Mech-Viz, the Mech-Viz project was not running.

  • Before sending the command to obtain the planned path, the robot side did not send the command to trigger the Mech-Viz project.

  • When the robot side sent the command to obtain the planned path from Mech-Viz, Mech-Viz had not output the planned result.

  • The robot side had obtained all waypoints but was still sending the command to obtain the planned path from Mech-Viz.

Solution:

  • Ensure that the Mech-Viz project is running when the robot side sends the command to set the exit port for the Branch by Msg Step.

  • Ensure that the robot side sends the command to trigger the Mech-Viz project BEFORE sending the command to obtain the planned path.

  • When the “status of transmitting waypoints” parameter in the returned data is set to 1, it indicates that all waypoints have been obtained. In this case, the robot side should stop sending the command to obtain the planned path from Mech-Viz.

2024

Mech-Viz: Invalid Branch Step ID

Cause:

  • In the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz, the “Step ID” parameter value was not a positive integer.

Solution:

  • Ensure that the Step ID in the command sent by the robot side is a positive integer.

2025

Mech-Viz: Execution timeout

Cause:

  • Since the robot side sent the command to get the planned path, the Mech-Viz project had not finished execution within the timeout period. The default timeout period is 10s.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings . Modify the value of Timeout for getting Mech-Viz data(s) to change the timeout setting.

Solution:

  • Users can add a delay function in the robot program before the function that obtains the planned path from Mech-Viz.

  • For Mech-Viz projects that takes a relatively long time to finish running, users may modify the timeout period according to needs.

2026

Mech-Viz: Invalid Step ID of index-type Steps

Cause:

  • In the command sent by the robot side to set the Current Index for Mech-Viz, the “Step ID” parameter value was not a positive integer.

Solution:

  • Ensure that the Step ID in the command sent by the robot side is a positive integer.

2027

Mech-Viz: Invalid Current Index value

Cause:

  • In the command sent by the robot side to set the Current Index for Mech-Viz, the “Current Index” parameter value was not a positive integer.

Solution:

  • Ensure that the “Current Index” parameter value in the command sent by the robot is a positive integer.

2028

Mech-Viz: Failed to set index

Cause:

  • The “Step ID” parameter in the command sent by the robot side to set the Current Index for Mech-Viz did not have a corresponding index-type Step in the Mech-Viz project.

Solution:

  • Ensure that the Step ID in the command sent by the robot side has a corresponding Step in the Mech-Viz project.

2031

Mech-Viz: Robot collision detected

Cause:

  • The robot was at risk of colliding with scene objects.

  • The robot was at risk of colliding with the point cloud of the object.

Solution:

  • If the robot is at risk of colliding with scene objects, users may consider adding intermediate waypoints for the robot to avoid these objects.

  • If the robot is at risk of colliding with the point cloud of the object, users may consider adjusting the threshold of detecting collision with the point cloud.

  • If an error occurs in the home position of the planned path, the robot side should send the robot’s JPs at the starting position to the Mech-Viz project.

2036

Mech-Viz: “Vision Look” Step not called

Cause:

  • The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter was not successfully called. On the other hand, the Mech-Viz project was supposed to exit from the “Not called” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Solution:

  • Check the workflow of the Mech-Viz project, and ensure that the “Vision Move” Step before the “Check Look” Step is successfully called.

2037

Mech-Viz: No vision result received from vision service

Cause:

  • The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter did not output any vision result. On the other hand, the Mech-Viz project was supposed to exit from the “No result” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Solution:

  • Refer to 1002 for troubleshooting.

2038

Mech-Viz: No point cloud in ROI

Cause:

  • The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter did not output any vision result. On the other hand, the Mech-Viz project was supposed to exit from the “No CloudInRoi” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Solution:

  • Refer to 1003 for troubleshooting.

2039

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

Cause:

  • Possible causes concerning the “Vision Move” Step are as follows:

    • The vision service did not provide vision results.

    • All poses in vision results are used up in path planning.

Solution:

  • Refer to 1002 for troubleshooting.

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

2041

Mech-Viz: Failed to get Step parameter

Cause:

  • An error occurred when the robot side sent the command to read the Mech-Viz Step parameter value.

Solution:

  • Ensure that the Step ID and parameter key name in the “property_config” file are correct.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings. Click Property Configuration to open the “property_config” file.

2042

Mech-Viz: Failed to get planning result in “Vision Move”

Cause:

  • An error occurred when the robot side sent the command to obtain Vision Move data or custom output data from Mech-Viz.

Solution:

  • Contact Mech-Mind Technical Support.

2043

Mech-Viz: Failed to get custom vision result

Cause:

  • An error occurred when the robot side sent the command to obtain Vision Move data or custom output data from Mech-Viz.

Solution:

  • Refer to 1024 for troubleshooting.

2044

Mech-Viz: Vision service not registered

Cause:

  • Users did not set a proper value for the “Vision Service Name” parameter of the “Vision Look” Step in the Mech-Viz project.

Solution:

  • Ensure that the vision service set for the “Vision Look” Step is correct.

2045

Mech-Viz: Invalid tool

Cause:

  • The “Check Tool” Step or the “Change Tool” Step failed to find the tool to check or change.

Solution:

  • Ensure that the “Tool” parameter set for the “Check Tool” Step or the “Change Tool” Step is valid.

2047

Mech-Viz: Check box dimensions error

  • The Mech-Vision project validated the masks of the box objects with the “Validate Box Dimensions” Step. However, the validation failed because the dimensions calculated from the masks did not match the data set in the Box Dimension Information in the Step Parameters panel.

Solution:

  • Check the “Validate Box Dimensions” Step and ensure that the input data and parameter values are correct.

Mech-Center Troubleshooting

3001

Mech-Center: Invalid command

Cause:

  • The vision system did not support the command sent by the robot side.

Solution:

  • Check the robot program to ensure that the sent commands are correct.

3002

Mech-Center: Invalid command argument data length or format

Cause:

  • In the command sent by the robot side, the data length was abnormal. For example, the robot pose occupied less than 6 fields.

  • In the command sent by the robot side, the data format was abnormal. For example, the Chinese comma was used as the delimiter.

Solution:

  • Check the robot program to ensure that the sent commands are correct.

3005

Mech-Center: Calling Mech-Vision timed out

Cause:

  • The vision system timed out when calling the gRPC service.

Solution:

  • Try to restart Mech-Vision.

3006

Mech-Center: Unknown error

Cause:

  • Unknown error occurred in the vision system.

Solution:

  • Contact Mech-Mind Technical Support.

3007

Mech-Center: Data acknowledge signal from client timed out

When the communication protocol is PROFINET or Ethernet/IP, the error might prompt in the following scenarios:

  • Before the vision system sent new pose data to the robot side, the robot side did not reset the “Data_Acknowledge” signal value to 0 within the timeout period (the value is 10s by default).

  • After the vision system sent new pose data to the robot side, the robot side did not reset the “Data_Acknowledge” signal value to 1 within the timeout period (the value is 10s by default).

Solution:

  • Check the robot program and ensure that the “Data_Acknowledge” signal value is set to 0 before the robot side sends the command to obtain vision results or obtain planned path from Mech-Viz.

  • Check the robot program and ensure that the “Data_Acknowledge” signal is set to 1 immediately after the program reads the pose data sent by the vision system.

3008

Mech-Center: The Config ID does not exist

Cause:

  • In the “property_config” file, the Config ID or parameter key name, which was used in the command sent by the robot side to read or set Mech-Viz Step parameter value, had an error.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings. Click Property Configuration to open the “property_config” file.

Solution:

  • Ensure that the Config ID and parameter key name in the “property_config” file are correct.

Calibration Troubleshooting

7001

Calibration: Parameter error

Cause:

  • Error occurred in the robot pose data in the command sent by the robot side to the vision system during calibration. Possible scenarios are as follows:

    • The value of the joint positions were less than 6 fields.

    • The value of the flange pose were less than 6 fields.

    • The value of the flange pose was all 0.

By default, a 6-axis robot is used and thus the value of the “robot pose” parameter occupies six fields. If a 4-axis or 5-axis robot is used, fill in the empty fields with 0.

Solution:

  • Ensure that the robot pose data sent by the robot side is correct.

7002

Calibration: No calibration flange pose provided from Mech-Vision

Cause:

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

Solution:

  • Contact Mech-Mind Technical Support.

7003

Calibration: No calibration joint angles provided from Mech-Vision

Cause:

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

Solution:

  • Contact Mech-Mind Technical Support.

7004

Calibration: Robot failed to reach the calibration point

Cause:

  • During calibration, the robot failed to reach the previous calibration point. Consequently, the “status code” parameter value in the calibration command sent by the robot side to the vision system was 2. And the vision system did not return any data to the robot side.

Solution:

  • Contact Mech-Mind Technical Support.

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