ABB Standard Interface Commands

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This section describes standard interface commands used in TCP communications between a ABB robot and Mech-Mind Vision System. The robot (the client) sends commands to Mech-Mind Vision System (the server), and Mech-Mind Vision System returns the processed data to the robot.

Before you call the commands, take note of the following items:

When programming an ABB robot, pay attention to the following items:
- Parameters in the parameter list of a command must be separated by commas.
- Variable-type parameters of a command should use local variables. Local variables take effect only in the command.
- Input and output parameters can be customized in commands.
- Arguments in a command: The input arguments can be constants, global variables, or local variables. The output arguments can be global variables or local variables.
- In Mech-Vision & Mech-Viz versions earlier than 1.8.0, each command encapsulates codes that establish and close the communication.
- In Mech-Vision & Mech-Viz 1.8.0 and later versions, two individual commands are developed to establish and close the communication, preventing frequent disconnections and reconnections between the robot and the vision system.
Unit of data:
- The unit of joint positions is degree (°).
- A robot’s flange pose or TCP consists of the position and pose. The position is represented in XYZ coordinates and is measured in millimeters (mm); the pose is represented in Euler angles and is measured in degrees (°).
Vision point and waypoint:
- Vision point: An object recognized by Mech-Vision. A vision point has information including the object pose, label, velocity, dimensions, and custom port output data.
- Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, motion type, and velocity. Waypoints can be divided into two categories:
  - Vision Move waypoints, which refer to the waypoints corresponding to the Vision Move Step.
  - Non-Vision Move waypoints, which refer to the waypoints corresponding to Move-type Steps other than the Vision Move Step.

Initialize Communication

Command

This command sets the IP address of the IPC, port number, and wait time for robot communication.

Calling Sequence

To establish the communication between the robot and the vision system, call Establish TCP Communication after this command.

Command Format

MM_Init_Socket IP_Address,Server_Port,Time_Out;

Input Parameters

IP_Address

This parameter specifies the IP address of the IPC. The data type is string.

Server_Port

This parameter specifies the port number used by the IPC to establish the communication between the IPC and the robot. This port number must be consistent with the host port number that is specified for robot communication in the toolbar of Mech-Vision. The data type is num.

Time_Out

This parameter specifies the communication timeout period. Unit: seconds. The data type is num.

Example

MM_Init_Socket "192.168.1.20",50000,60;

In the preceding example, the IP address of the IPC that you want to connect to the robot is 192.168.1.20, the port number is 50000, and the timeout period is 60 seconds.

Establish TCP Communication

This command establishes the TCP communication between the robot and the vision system.

Calling Sequence

This command should be called after Initialize Communication.

Command Format

MM_Open_Socket;

Close TCP Communication

This command closes the TCP communication between the robot and the vision system.

Calling Sequence

After you receive the result of the Mech-Vision or Mech-Viz project, you can call this command to close the communication and store the result in variables. If the communication is not closed for a long time, an error that indicates that communication was abnormally closed may be returned for robot programs.

Command Format

MM_Close_Socket;

Run Mech-Vision Project

Command

This command triggers the Mech-Vision project to run. When the Mech-Vision project is running, the vision system triggers the camera to capture images and then process the returned images with algorithms to produce a series of vision points or waypoints.

Vision point: An object recognized by Mech-Vision. A vision point has information including the object pose, label, velocity, dimensions, and custom port output data.
Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, motion type, and velocity.

Calling Sequence

You should set Step parameters before starting a Mech-Vision project. Therefore, call Switch Mech-Vision parameter recipe or Input Object Dimensions to Mech-Vision Project before calling Run Mech-Vision Project.
Vision system gets vision points and waypoints only when a Mech-Vision project is running. Therefore, call Run Mech-Vision Project before calling Get Vision Result, Get Planned Path in Mech-Vision, or Get Mech-Vision Custom Output Data.

Command Format

MM_Start_Vis Job,Pos_Num_Need,SendPos_Type,MM_J;

Input Parameters

Job

This parameter specifies the Mech-Vision project ID. The data type is num. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

Pos_Num_Need

This parameter specifies the expected number of vision points or waypoints to be obtained from the Mech-Vision project. The data type is num. Value range: 0 to the largest positive integer.

If the Mech-Vision project has a Path Planning Step, this parameter specifies the expected number of waypoints. Otherwise, it specifies the expected number of vision points.

0: Obtain all vision points or waypoints from the Mech-Vision project.
A positive integer: Obtain the specific number of vision points or waypoints from the Mech-Vision project.
- If the total amount of vision points or waypoints output by the Mech-Vision project is smaller than the parameter value, this command will obtain the number of all vision points or waypoints.
- If the total amount of vision points or waypoints output by the Mech-Vision project is larger than or equal to the parameter value, this command will obtain the number of vision points or waypoints as specified by this parameter.

Vision points or waypoints will not be returned after Run Mech-Vision Project is called. To obtain vision points, call Get Vision Result or Get Mech-Vision Custom Output Data. To obtain waypoints, call Get Planned Path in Mech-Vision.
The default maximum number of vision points or waypoints that the vision system sends at a time is 20. To modify the default maximum number of poses to obtain each time as needed, go to Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision. The upper limit is 30.

SendPos_Type

This parameter specifies the way in which the real robot pose is sent to the Mech-Vision project. The data type is num. Valid values: 0, 1, 2, and 3. The following table describes the details.

SendPos_Type	Description	Applicable scenario
0	The command does not send the robot pose data to the Mech-Vision project.	This setting is recommended when the camera is mounted in the Eye To Hand method. If the Path Planning Step is used in the Mech-Vision project, the starting point of the planned path will be the Home point set in the path planning tool.
1	The robot joint positions and flange pose must be input to the Mech-Vision project.	This setting is recommended when the camera is mounted in the Eye In Hand method. Applicable for most robot types except gantry robots.
2	The robot flange pose must be input to the Mech-Vision project.	This setting is recommended when the camera is mounted in the Eye In Hand method. The robot has the flange pose but no joint positions, such as a gantry robot.
3	This command sends custom joint positions to the Mech-Vision project.	This setting is recommended when the camera is mounted in the Eye To Hand method, and the Mech-Vision project contains the Path Planning Step, whose starting point needs to be set at the robot side.

SendPos_Type

Description

Applicable scenario

The command does not send the robot pose data to the Mech-Vision project.

This setting is recommended when the camera is mounted in the Eye To Hand method. If the Path Planning Step is used in the Mech-Vision project, the starting point of the planned path will be the Home point set in the path planning tool.

The robot joint positions and flange pose must be input to the Mech-Vision project.

This setting is recommended when the camera is mounted in the Eye In Hand method. Applicable for most robot types except gantry robots.

The robot flange pose must be input to the Mech-Vision project.

This setting is recommended when the camera is mounted in the Eye In Hand method. The robot has the flange pose but no joint positions, such as a gantry robot.

This command sends custom joint positions to the Mech-Vision project.

This setting is recommended when the camera is mounted in the Eye To Hand method, and the Mech-Vision project contains the Path Planning Step, whose starting point needs to be set at the robot side.

MM_J

This parameter specifies the custom joint position data. The data type is jointtarget.

If SendPos_Type is set to 3, the custom joint position data is sent to the Path Planing Step of the Mech-Vision project as the starting waypoint.
If SendPos_Type is set to a parameter value other than 3, the joint position data is of no practical use but must be set.

Example

MM_Start_Vis 1,1,1,MM_J;

In the preceding example, the Mech-Vision project whose ID is 1 is run, and one vision point is expected to be returned by the Mech-Vision project. At the same time, the robot sends the current joint position and flange pose data to the Mech-Vision project.

Get Vision Result

Command

This command obtains vision result, namely, a series of vision points, from Mech-Vision. The object pose of the vision point (namely, the output of the poses port of the Procedure Out Step) will be automatically converted to the robot’s TCP by the vision system. The process is as follows.

Convert the object pose from a quaternion to Euler angles.
Rotate the object’s pose around the X-axis by 180° to orient its Z-axis downward.

Calling Sequence

This command should be called after Run Mech-Vision Project. After you call this command, call Store vision result or planned path (TCP-typed pose data) to access pose data.

Command Format

MM_Get_VisData Job,Pos_Num,MM_Status;

Input Parameters

Job

Output Parameters

Pos_Num

This parameter stores the number of vision points returned by Mech-Vision. The data type is num.

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 1100. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

By default, after the robot sends this command, the vision system returns the result in 10 seconds. If the vision system fails to return any result in 10 seconds, a timeout error code is returned. To modify the default timeout period as needed, go to Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision.

Example

MM_Get_VisData 1,PoseNum,MMStatus;

In the preceding example, the vision result of the Mech-Vision project with an ID of 1 is returned, the vision point quantity is stored in PoseNum, and the command execution status code is stored in MMStatus.

Store vision result or planned path (TCP-typed pose data)

Command

This command stores the TCP data, label, and velocity of the vision point or waypoint in the variables.

Command Format

MM_Get_Pose Serial,MM_P,MM_Label,MM_Speed;

Input Parameters

Serial

This parameter specifies the index of the vision point or waypoint. The TCP data, label, and velocity of the vision point or waypoint that corresponds to the index are stored in the variables. The data type is num. Indexes start with 1.

Output Parameters

MM_P

This parameter stores the TCP data of the vision point or waypoint that corresponds to the index. The data type is robtarget.

MM_Label

This parameter stores the label of the vision point or waypoint that corresponds to the index. The data type is num.

MM_Speed

This parameter stores the velocity of the vision point or waypoint that corresponds to the index. The data type is num.

Example

MM_Get_Pose 1,TcpPose1,Label1,Speed1;

In the preceding example, the TCP data of the first vision point or waypoint is stored in TcpPose1, the label is stored in Label1, and the velocity is stored in Speed1.

Store Planned Path (joint position-typed pose data)

Command

This command stores the joint positions, label, and velocity of the waypoint in the variables.

Command Format

MM_Get_Jps Serial,MM_J,MM_Label,MM_Speed;

Input Parameters

Serial

This parameter specifies the index of the waypoint. The joint positions, label, and velocity of the waypoint that corresponds to the index are stored in the variables. The data type is num. Indexes start with 1.

Output Parameters

MM_J

This parameter stores the joint positions of the waypoint that corresponds to the index. The data type is jointtarget.

MM_Label

This parameter stores the label of the waypoint that corresponds to the index. The data type is num.

MM_Speed

This parameter stores the velocity of the waypoint that corresponds to the index. The data type is num.

Example

MM_Get_Jps 1,JpsPose1,Label1,Speed1;

In the preceding example, the joint positions of the first waypoint are stored in JpsPose1, the label is stored in Label1, and the velocity is stored in Speed1.

Switch Mech-Vision parameter recipe

Command

This command triggers Mech-Vision to switch the parameter recipe used by the project. The image below shows how to manually switch the parameter recipe for a Mech-Vision project. For details about parameter recipes, see the parameter recipe guide.

Calling Sequence

This command should be called before Run Mech-Vision Project.

Command Format

MM_Switch_Model Job,Model_Number;

Input Parameters

Job

Model_Number

This parameter specifies the parameter recipe ID in the Mech-Vision project. The data type is num. For information about how to view the parameter recipe ID, see View the Parameter Recipe ID.

Example

MM_Switch_Model 1,1;

In the preceding example, the parameter recipe of the Mech-Vision project whose ID is 1 is switched to recipe 1.

Get Planned Path in Mech-Vision

Command

This command obtains the path planned by the Mech-Vision project as a series of waypoints. The path is planned by the path planning tool, which you may enter by clicking Open the editor as shown in the image below. For details about Path Planning, see Path Planning.

Set the Port Type parameter of the Procedure Out Step in Mech-Vision to Predefined (robot path).

Calling Sequence

This command should be called after Run Mech-Vision Project. After you call this command, call Store vision result or planned path (TCP-typed pose data) or Store Planned Path (joint position-typed pose data) to access pose data.

Command Format

MM_Get_VisPath Job,Jps_Pos,Pos_Num,VisPos_Num,MM_Status;

Input Parameters

Job

Jps_Pos

This parameter specifies the type of waypoint poses to be obtained. The data type is num. The parameter value can be set to 1 or 2.

1: Joint positions. After you call this command, call Store Planned Path (joint position-typed pose data) to access joint position data.
2: TCP. After you call this command, call Store vision result or planned path (TCP-typed pose data) to access TCP data.

Output Parameters

Pos_Num

This parameter stores the number of waypoints returned by the vision system. The data type is num. By default, the vision system can send 20 waypoints at most. As such, the maximum default value of this parameter is 20. To modify the default maximum number of poses to obtain each time as needed, go to Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision. The upper limit is 30.

Before you call Get Planned Path in Mech-Vision, set Pos_Num_Need of Run Mech-Vision Project to 0 to reduce the number of Get Planned Path in Mech-Vision calls. If Pos_Num_Need of Run Mech-Vision Project is set to 1, only one waypoint is obtained each time you call Get Planned Path in Mech-Vision. You need to call Command 105 for several times to obtain all waypoints.

VisPos_Num

The position ID of the Vision Move waypoint corresponding to the Vision Move step of the path planning tool in the path. The data type is num. If the waypoint does not exist in the path, the petameter value is 0.

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the position ID of the Vision Move waypoint is 3.

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the 1103 status code is returned. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

MM_Get_VisPath 2,2,PosNum,Vis_Index,StatusCode;

In the preceding example, the planned path of the 2 Mech-Vision project is returned, the waypoints of the path are stored in the TCP format, the number of waypoints is stored in PosNum, the position IDs of Vision Move waypoints in the planned path are stored in Vis_Index, and the command execution status code is stored in StatusCode.

Trigger Mech-Vision Project and Get Result

Command

This command triggers the following operations in sequence: set the parameter recipe to be used by the Mech-Vision project (which is skipped if the project doesn’t have a parameter recipe), trigger the Mech-Vision project to call, and obtain vision result (i.e., vision points, waypoints, or custom output data) from the vision system. This command combines the Switch Mech-Vision parameter recipe, Run Mech-Vision Project, Get Vision Result, Get Planned Path in Mech-Vision, and Get Mech-Vision Custom Output Data commands.

At most 20 poses can be obtained by calling this command. To obtain more than 20 poses, don’t use this command. Use the Switch Mech-Vision parameter recipe, Run Mech-Vision Project, Get Vision Result, Get Planned Path in Mech-Vision, or Get Mech-Vision Custom Output Data command instead.

Command Format

MM_Lite_Vis Job,Model_Number,Recv_Data_Type,MM_Status,\MM_J,\Pos_Num,\VisPos_Num;

Input Parameters

Job

Model_Number

This parameter specifies the parameter recipe ID in the Mech-Vision project. The data type is num. For information about how to view the parameter recipe ID, see View the Parameter Recipe ID.

Recv_Data_Type

This parameter specifies the data type returned by the vision system. Value range: 1 to 4.

1: The vision system returns vision points (without custom port output data). Then, you must call Store vision result or planned path (TCP-typed pose data) to store vision point pose data in variables.
2: The vision system returns vision points (together with custom port output data). Then, you must call Get Mech-Vision Custom Output Data to store custom port output data of vision points in variables.
3: The vision system returns waypoints in the form of joint positions. Then, you must call Store Planned Path (joint position-typed pose data) to store waypoints in the form of joint positions in variables.
4: The vision system returns waypoints in the form of TCP. Then, you must call Store vision result or planned path (TCP-typed pose data) to store waypoints in the form of TCP in specified variables.

Output Parameters

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 1100 or 1103. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Pos_Num (Optional)

This parameter stores vision points or waypoints that are returned by the vision system. The data type is num.

VisPos_Num (Optional)

This parameter is valid only when the value of Recv_Data_Type is 3 or 4. This parameter stores the position of the first Vision Move waypoint in the entire planned path.

For example, if the path is composed of Steps Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3 sequentially, the position of Vision Move is 3. If the path does not contain Vision Move, the value of this parameter is 0.

Example

MM_Lite_Vis 1,2,1,StatusCode,\Pos_Num:=PoseNum;

In the preceding example, Mech-Vision uses the parameter recipe whose ID is 2 to run the Mech-Vision project whose ID is 1 to obtain vision points. The vision point quantity is stored in PoseNum, and command execution status code is stored in StatusCode.

Get Mech-Vision Custom Output Data

Command

This command obtains data from the custom port(s) of the Procedure Out Step in Mech-Vision. One command call saves all port data of the Procedure Out Step to robot memory.

Select the Procedure Out step, set Port Type to Custom, and then click Open the editor to go to the custom port configuration window. The Customized Keys section of the window displays custom port names, such as customeData1 and customeData2 as shown in the following figure.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
You must set Port Type of the Procedure Out step to Custom and select the poses port in the Predefined Keys section in Mech-Vision.

Calling Sequence

This command should be called after Run Mech-Vision Project. After you call this command, call Store Mech-Vision custom output data to access custom output data.

Command Format

MM_Get_DyData Job,Pos_Num,MM_Status;

Input Parameters

Job

Output Parameters

Pos_Num

This parameter stores the number of vision points returned by Mech-Vision. The data type is num.

MM_Status

Example

MM_Get_DyData 2,PosNum,StatusCode;

In the preceding example, the custom data of the Mech-Vision 2 project is obtained, the number of vision points is stored in PoseNum, and the status code of the command are stored in StatusCode.

Store Mech-Vision custom output data

Command

This command stores custom output data obtained from Mech-Vision in the variable.

Calling Sequence

This command should be called after Get Mech-Vision Custom Output Data.

Command Format

MM_Get_DyPose Serial,MM_P,MM_Label;

Input Parameters

Serial

This parameter specifies the index of the vision point. The custom output data of the vision point that corresponds to the index is stored in the variable. The data type is num. Indexes start with 1.

Output Parameters

MM_P

This parameter stores the TCP pose data of the vision point that corresponds to the index. The data type is robtarget.

MM_Label

This parameter stores the label of the vision point that corresponds to the index. If no label ports are specified in Mech-Vision, 0 is used. The data type is num.

MM_UserData

This parameter stores the custom data of the vision point that corresponds to the specified index. The parameter is a predefined global array variable. The data type is num.

Example

MM_Get_DyPose 2,MM_P_VISION,MM_Label;

In the preceding example, the TCP pose data of the second vision point is stored in MM_P_VISION, the label of the second vision point is stored in MM_Label, and the custom output data of the second vision point is stored in global array MM_UserData.

Get Gripper DO List

Command

This command obtains the control signal list for the multi-section vacuum gripper from the Mech-Vision or Mech-Viz project. This command returns 64 DO signals. The valid DO signal is a non-negative integer, ranging from 0 to 999. -1 is an invalid DO signal that serves as a placeholder. The robot applies the DO signals obtained by Set Gripper DO List as the tool.

For example, valid DO signals in the table below are 1, 3, 5, and 6, which means that the robot will set the values of these DO signals to ON.

1st	2nd	3rd	4th	5th	6th	7th	8th	…	63rd	64th
1	3	5	6	-1	-1	-1	-1	…	-1	-1

You should configure DO signals before calling this command.

Configure DO signals in the Mech-Vision project

Select the Path Planning Step, click Open the editor in the step parameter panel, and then double-click the name of the robot tool. In the pop-up window, select Depalletizing vacuum gripper for Tool type, click Configure depalletizing vacuum gripper, and then configure DO signals according to needs.
Configure DO signals and the Set DO Step in the Mech-Viz project
- In Mech-Viz, double-click the tool name, select Depalletizing vacuum gripper for Tool type, click Configure depalletizing vacuum gripper, and then configure the DO signal values according to needs.
- Configure the Set DO Step
  - The Set DO Step should be after the Vision Move Step.
  - Select Standard Interface for Receiver.
  - In the Operation Mode area, select Visual Move for the Source parameter, and select the Vision Move Step that the Set DO Step is connected to for the Select Vision Move parameter. In the image below, Vision Move_1 is selected.

Calling Sequence

This command must be called before the Get Planned Path in Mech-Vision, Get Planned Path in Mech-Viz, or Get Vision Move Output Data or Custom Output Data command. This means that the robot must obtain the motion path and then obtain gripper DO signals of the Vision Move waypoints.
This command should be called before Set Gripper DO List.

Command Format

MM_Get_DoList Resource;

Input Parameters

Resource

This parameter specifies the source of the DO signal list. The data type is num. Value range: 0 to the largest positive integer.

0: Get DO signal list from Mech-Viz.
A positive integer: Get DO signal list from Mech-Vision. The positive integer is the Mech-Vision project ID.

Example

MM_Get_DoList 0;

This example obtains the DO signal list from Mech-Viz and stores it in the robot memory.

Set Gripper DO List

Command

This command sets obtained DO signals to GO signals. It supports a maximum of four GO signal groups. One of the four GO signal groups must be 16-bit. If you need to set multiple groups of GO signals, call this command for multiple times.

Calling Sequence

This command should be called after Get Gripper DO List.

Command Format

MM_Set_DoList Serial,Go16;

Input Parameters

Serial

This parameter specifies the signal group index. The following table describes how signal group indexes correspond to DO signals. The data type is num. Value range: 1 to 4.

Signal group index	DO signal range
1	0~15
2	16~31
3	32~47
4	48~63

Go16

This parameter indicates the signal group name, which can be used to set DO signals. You can define the signal group name based on the actual number of DO signals. The data type is signalgo.

Example

MM_Set_DoList 1,GO16;
MM_Set_DoList 2,GO32;

In the preceding example, DO signals from 0 to 15 are set to G016, and DO signals from 16 to 31 are set to G032.

Run Mech-Viz project

Command

This command triggers the Mech-Viz project to run. Mech-Viz plans the robot’s motion path based on the vision result output by Mech-Vision.

Right-click the project name in the project resource panel in Mech-Viz and select Autoload Project.

Calling Sequence

You should set Step parameters before starting a Mech-Viz project. Therefore, call Read Mech-Viz Step Parameter or Set Mech-Viz Step Parameter before calling Run Mech-Viz project.

Command Format

MM_Start_Viz SendPos_Type,MM_J;

Input Parameters

SendPos_Type

This parameter specifies the way in which the real robot pose is sent to the Mech-Viz project. Valid values: 0, 1, and 2. The following table describes the details. The data type is num.

Robot pose type	Description	Applicable scenario
0	The command does not need to send the robot pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the initial pose (joint positions = [0, 0, 0, 0, 0, 0]) to the first waypoint.	This setting is recommended when the camera is mounted in the Eye To Hand method.
1	In this command, the robot sends its current joint positions and flange pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.	This setting is recommended when the camera is mounted in the Eye In Hand method.
2	In this command, the robot sends the joint positions of a teaching point (the custom joint positions), instead of the current joint positions, to the Mech-Viz project. The Mech-Viz project uses the joint positions to plan the next path in advance while the robot is not in the camera capture region, as shown below. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.	This setting is recommended when the camera is mounted in the Eye To Hand method.

Robot pose type

Description

Applicable scenario

The command does not need to send the robot pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the initial pose (joint positions = [0, 0, 0, 0, 0, 0]) to the first waypoint.

This setting is recommended when the camera is mounted in the Eye To Hand method.

In this command, the robot sends its current joint positions and flange pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

This setting is recommended when the camera is mounted in the Eye In Hand method.

In this command, the robot sends the joint positions of a teaching point (the custom joint positions), instead of the current joint positions, to the Mech-Viz project. The Mech-Viz project uses the joint positions to plan the next path in advance while the robot is not in the camera capture region, as shown below. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

This setting is recommended when the camera is mounted in the Eye To Hand method.

Why robot pose type 2 is recommended when the camera is mounted in the Eye To Hand method?

In the Eye To Hand method, the camera can perform image capturing for the next round of path planning before the robot returns to the image capture region and picking region, thus shortening the cycle time. The image below demonstrates how a robot works in the placing region.

If SendPos_Type is set to 1, the robot will send the current pose to Mech-Viz. It is possible that the real robot moves to other positions before reaching the first waypoint. However, the simulated robot moves directly to the first waypoint of the Mech-Viz project from the pose sent by the robot. Consequently, there may be a mismatch between the paths of the real robot and simulated robot. This mismatch can potentially lead to unpredicted safety hazards, especially if collision is detected in the path of the simulated robot.

On the other hand, if SendPos_Type is set to 2, the robot will send the image-capturing pose set by teaching to Mech-Viz. Thus, the real robot can trigger the next round of path planning in Mech-Viz when the real robot is in the image-capturing region and the cycle time can be shortened.

In conclusion, robot pose type should be set to 2 for projects in the Eye To Hand method.

MM_J

This parameter specifies the custom joint position data. The data type is jointtarget.

If SendPos_Type is set to 2, the custom joint position data is sent to the Mech-Viz project as the starting waypoint for planning.
If SendPos_Type is set to a parameter value other than 2, the joint position data is of no practical use but must be set.

Example

MM_Start_Viz 1,MM_J;

In the preceding example, the joint position data and flange pose of the robot are input to the Mech-Viz project for the Mech-Viz project to run.

Set Exit Port for Branch by Msg Step in Mech-Viz

Command

This command sets the exit port for the Branch by Msg Step. When the next Step is a Branch by Msg Step, the Mech-Viz project will wait for this command to specify the exit port.

Calling Sequence

This command should be called after Run Mech-Viz project.

Command Format

MM_Set_Branch Branch_Num,Export_Num;

Input Parameters

Branch_Num

This parameter specifies the Step ID of the Branch by Msg Step. The data type is num. The value is a positive integer. The Step ID is displayed in the Step parameter panel. For example, the Step ID of the Step in the image above is 1.

Export_Num

This parameter specifies the exit port ID of the Branch by Msg Step. The data type is num. The value is a positive integer. When the parameter value is set to N, the Mech-Viz project exits from the port with an ID of N-1 of the Branch by Msg Step.

Example

MM_Set_Branch 1,3;

In the preceding example, the Mech-Viz project with an ID of 1 exits from the port with an ID of 2 of the Branch by Msg Step.

Set Current Index in Mech-Viz

Command

This command sets the value of the Current Index parameter of index-type Steps. Steps that include the Index section include Move by Grid, Move by List, Custom Pallet Pattern, and Predefined Pallet Pattern.

Calling Sequence

Index-type Steps are often preceded by a Branch by Msg Step. The robot should call commands in this order: Run Mech-Viz project, Set Current Index in Mech-Viz, and Set Exit Port for Branch by Msg Step in Mech-Viz. This is to ensure that Mech-Viz has enough time to set the Current Index value.

Command Format

MM_Set_Index Skill_Num,Index_Num;

Input Parameters

Skill_Num

This parameter specifies the Step ID of the Index-type Step. The data type is num. The value is a positive integer. The Step ID is displayed in the Step parameter panel. For example, the Step ID of the Step in the image above is 3.

Index_Num

This parameter specifies the current index for a Index-type Step. The data type is num. The value is a positive integer. When this parameter value is set to N, the current index of the corresponding Step is N-1.

Example

MM_Set_Index 2,10;

In the preceding example, the current index of the Step with an ID of 2 of the Mech-Viz project is 9.

Get Planned Path in Mech-Viz

Command

This command obtains the path planned by the Mech-Viz project as a series of waypoints.

Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, motion type, and velocity. Waypoints can be divided into two categories:

Vision Move waypoints, which refer to the waypoints corresponding to the Vision Move Step.
Non-Vision Move waypoints, which refer to the waypoints corresponding to Move-type Steps other than the Vision Move Step.

Calling Sequence

This command should be called after Run Mech-Viz project. After you call this command, call Store vision result or planned path (TCP-typed pose data) or Store Planned Path (joint position-typed pose data) to access pose data.

Command Format

MM_Get_VizData Jps_Pos,Pos_Num,VisPos_Num,MM_Status;

Input Parameters

Jps_Pos

This parameter specifies the type of waypoint poses to be obtained. The data type is num. The parameter value can be set to 1 or 2.

1: Joint positions. After you call this command, call Store Planned Path (joint position-typed pose data) to access joint position data.
2: TCP. After you call this command, call Store vision result or planned path (TCP-typed pose data) to access TCP data.

Output Parameters

Pos_Num

This parameter stores the number of waypoints that are returned by the vision system. By default, the vision system sends no more than 20 waypoints at a time. Therefore, the maximum default value of this parameter is 20. To modify the default maximum number of poses to obtain each time as needed, go to Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision. The upper limit is 30.

VisPos_Num

The position ID of the Vision Move waypoint (i.e., the waypoint corresponding to the Vision Move step in the Mech-Viz project) in the path. The data type is num. If the waypoint does not exist in the path, the petameter value is 0.

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the position ID of the Vision Move waypoint is 3.

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 2100. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

MM_Get_VizData 2,PosNum,VisIndex,StatusCode;

In the preceding example, the planned path of the Mech-Viz project is obtained, the pose type of the waypoints is TCP, the number of waypoints is stored in PosNum, the position IDs of Vision Move waypoints in the planned path are stored in VisIndex, and the status code of the command are stored in StatusCode.

Trigger Mech-Viz Project and Get Planned Path

Command

This command triggers the following operations in sequence: start the Mech-Viz project, set the exit port for the Branch by Msg Step (which is skipped if the project doesn’t have a parameter recipe), and return the path planned by the Mech-Viz project. This command is equivalent to the combination of the Run Mech-Viz project, Set Exit Port for Branch by Msg Step in Mech-Viz, and Get Planned Path in Mech-Viz commands.

At most 20 poses can be obtained by calling this command. To obtain more than 20 poses, call Run Mech-Viz project, Set Exit Port for Branch by Msg Step in Mech-Viz or Get Planned Path in Mech-Viz instead.
If the Mech-Viz project has more than one Branch by Msg Step, this command cannot be called.

Command Format

MM_Lite_Viz Branch_Num,Export_Num,Recv_Data_Type,MM_Status,\Pos_Num,\VisPos_Num;

Input Parameters

Branch_Num

This parameter specifies the ID of the Branch by Msg Step. The data type is num. Value range: 0 to the largest positive integer. A value of 0 indicates that no Branch by Msg Steps are used in the Mech-Viz project. The Step ID is displayed in the parameters of the Step.

Export_Num

Recv_Data_Type

This parameter specifies the type of waypoint poses to be obtained. The data type is num. The parameter value can be set to 1 or 2.

1: Joint positions. After you call this command, call Store Planned Path (joint position-typed pose data) to access joint position data.
2: TCP. After you call this command, call Store vision result or planned path (TCP-typed pose data) to access TCP data.

Output Parameters

MM_Status

Pos_Num (Optional)

This parameter stores the number of waypoints that are returned by the vision system. The data type is num.

VisPos_Num (Optional)

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the position ID of the Vision Move waypoint is 3.

Example

MM_Lite_Viz 1,2,1,StatusCode,\Pos_Num:=PoseNum;

In the preceding example, the Mech-Viz project exits from the port with an ID of 1 of the Branch by Msg Step whose ID is 1 and outputs waypoints. The number of waypoints obtained from the Mech-Viz project is stored in PoseNum, and the status code of this command are stored in StatusCode.

Get Vision Move Output Data or Custom Output Data

Command

This command obtains Vision Move output data from the Mech-Vision project, or the Vision Move output data or custom output data from the Mech-Viz project. One command call stores all data in robot memory.

Mech-Vision projects: Vision Move data refers to data output by the Vision Move Step in the path planning tool, which you may enter from the Path Planning Step. Vision Move data includes labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, and dimensions of workobject group.
Mech-Viz projects:
- Vision Move data refers to data output by the Vision Move Step in Mech-Viz, including the labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, and dimensions of workobject group.
- Custom output data refers to data output by the custom port(s) of the Procedure Out Step in Mech-Vision and then forwarded by Mech-Viz. Select the Procedure Out step, set Port Type to Custom, and then click Open the editor to go to the custom port configuration window. The Customized Keys section of the window displays custom port names, such as customeData1 and customeData2 as shown in the following figure.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
You must set Port Type of the Procedure Out step to Custom and select the poses port in the Predefined Keys section in Mech-Vision.

Calling Sequence

This command should be called after Run Mech-Vision Project or Run Mech-Viz project. After you call this command, call Store Vision Move Output Data or Custom Output Data to access Vision Move output data or custom output data.

Command Format

MM_get_plandata Resource,Jps_Pos,Pos_Num,VisPos_Num,MM_Status;

Input Parameters

Resource

This parameter specifies the source of Vision Move planned data. The data type is num. Value range: 0 to the largest positive integer.

0: Get Vision Move data from Mech-Viz.
A positive integer: Get Vision Move data from Mech-Vision. The positive integer is the Mech-Vision project ID.

Jps_Pos

This parameter specifies the expected returned data format. The data type is num.

If Resource is set to 0, the valid value range of Jps_Pos is 1 to 4.

Parameter value of Jps_Pos	Description of expected returned data (Each field is explained below. If the Mech-Vision project does not have a custom port, no elements of custom output data are returned.)
1	Pose (joint positions), motion type, tool ID, velocity, element 1 in custom output data, … element N in custom output data
2	Pose (TCP), motion type, tool ID, velocity, element 1 in custom output data, … element N in custom output data
3	Pose (joint positions), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom output data, … element N in custom output data
4	Pose (TCP), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom output data, … element N in custom output data

If Resource is set to a positive integer, Jps_Pos can be set to 1 to 2.

Parameter value of Jps_Pos	Description of expected returned data (Each field is explained below.)
1	Pose (joint positions), motion type, tool ID, velocity, Mech-Vision Vision Move data
2	Pose (TCP), motion type, tool ID, velocity, Mech-Vision Vision Move data

Parameter value of Jps_Pos

Description of expected returned data (Each field is explained below.)

Pose (joint positions), motion type, tool ID, velocity, Mech-Vision Vision Move data

Pose (TCP), motion type, tool ID, velocity, Mech-Vision Vision Move data

Pose

The pose of a waypoint can be joint positions (measured in degrees) or TCP (measured in millimeters for three-dimensional coordinates and in degrees for Euler angles) of the robot.

Motion type

The motion type of the robot. Valid values: 1 and 2.

1: Joint motion (MOVEJ)
2: Linear motion (MOVEL)

Tool ID

The ID of the tool to be used at this waypoint. A value of -1 means that no tool is used at this waypoint.

Velocity

The meaning of velocity varies based on the project type.

For Mech-Vision projects, velocity indicates the Simulation Speed value in the path planning tool, in the form of percentage.
For Mech-Viz projects, velocity, represented in percentage, indicates the velocity set for the motion-type Steps multiplied by the global velocity set in Mech-Viz.

Vision Move data

Data output by the Vision Move Step in Mech-Vision or Mech-Viz, including labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, and dimensions of workobject group.

Name	Description	Number of Elements
Labels of picked workobjects	A label consists of 10 integers. The default value is ten 0s.	10
Number of picked workobjects	The total number of picked workobjects.	1
The number of workobjects to be picked this time.	The number of workobjects to be picked this time.	1
Edge or corner ID of vacuum gripper	The ID of the edge or corner used to pick workobjects this time.	1
TCP offset	The XYZ offset between the center of the workobject group and the tool pose center.	3
Orientation of workobject group	The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	1
Orientation of workobject	The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	1
Dimensions of workobject group	The length, width, and height of the workobject group to be picked this time.	3

Name

Description

Number of Elements

Labels of picked workobjects

A label consists of 10 integers. The default value is ten 0s.

Number of picked workobjects

The total number of picked workobjects.

The number of workobjects to be picked this time.

Edge or corner ID of vacuum gripper

The ID of the edge or corner used to pick workobjects this time.

TCP offset

The XYZ offset between the center of the workobject group and the tool pose center.

Orientation of workobject group

The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

Orientation of workobject

The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

Dimensions of workobject group

The length, width, and height of the workobject group to be picked this time.

Elements in custom output data

The data of all custom ports of a single vision point. For example, data output from ports of the Procedure Out Step is presented in the following table. The elements in custom output data of the first vision point are [0, 0, 1] and [0, 0]; and the elements in custom output data of the second vision point are [1, 0, 0] and [1, 1].

Port name

poses

labels

customData1

customData2

Output data

[

[0, 0, 0, 1, 0, 0, 0],

[0, 0, 0, 1, 0, 0, 0]

]

[

"0",

"1"

]

[

[0, 0, 1],

[1, 0, 0]

]

[

[0, 0],

[1, 1]

]

First vision point

[0, 0, 0, 1, 0, 0, 0]

[0, 0, 1]

[0, 0]

Second vision point

[0, 0, 0, 1, 0, 0, 0]

[1, 0, 0]

[1, 1]

Output Parameters

Pos_Num

This parameter stores the number of waypoints that are returned by the vision system. The data type is num.

VisPos_Num

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the position ID of the Vision Move waypoint is 3.

MM_Status

This parameter stores the status code of this command. The data type is num. If the command successfully obtained Vision Move output data of the Mech-Vision project, the status code is 1103. If the command successfully obtained the Vision Move output data or custom output data from the Mech-Viz project, the status code is 2100. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

MM_get_plandata 0,4,PosNum,VisIndex,StatusCode;

In the preceding example, the Vision Move output data or custom output data is obtained from the Mech-Viz project. The number of waypoints is stored in PoseNum, the position IDs of Vision Move waypoints in the path are stored in VisIndex, and the status codes of the command are stored in StatusCode.

Store Vision Move Output Data or Custom Output Data

Command

This command stores data output by the Vision Move Step or the custom port(s) of the Procedure Out Step in the variables.

Calling Sequence

This command should be called after Get Vision Move Output Data or Custom Output Data.

Command Format

Select different commands based on the Jps_Pos value in the Get Vision Move Output Data or Custom Output Data command.

MM_Get_PlanPose Serial,Jps_Pos,MM_P,MM_MoveType,MM_ToolNum,MM_Speed; (when the value of Jps_Pos is 2 or 4）
MM_Get_PlanJps Serial,Jps_Pos,MM_J,MM_MoveType,MM_ToolNum,MM_Speed; ( when the value of Jps_Pos is 1 or 3)

Input Parameters

Serial

This parameter specifies the index the waypoint. The Vision Move output data or custom output data of the waypoint that corresponds to the index is stored in the variables. The data type is num. Indexes start with 1.

Jps_Pos

This parameter must be set to the same as the Jps_Pos value in the Get Vision Move Output Data or Custom Output Data command. The data type is num.

Output Parameters

MM_P

This parameter stores the TCP data of the waypoint that corresponds to the index. This parameter is used in MM_Get_PlanPose. The data type is robtarget.

MM_J

This parameter stores the joint position data of the waypoint that corresponds to the index. This parameter is used in MM_Get_PlanJps. The data type is jointtarget.

MM_MoveType

This parameter stores the motion type of the waypoint that corresponds to the index. The data type is num. A value of 1 indicates joint motion, and a value of 2 indicates linear motion.

MM_ToolNum

This parameter stores the tool ID of the waypoint that corresponds to the index. The data type is num. If the tool ID is -1, no tool is used.

MM_Speed

This parameter stores the velocity of the waypoint that corresponds to the index. The data type is num.

MM_UserData

This parameter stores the custom output data of the waypoint that corresponds to the index. The parameter is a predefined global array variable. The data type is num.

MM_Plan_Results

This parameter stores the Vision Move output data of the waypoint that corresponds to the index. The parameter is a predefined global array variable. The data type is num.

The following table describes the MM_Plan_Results array variable.

Value	Description	Variable
Labels of picked workobjects	A label consists of 10 integers. The default value is ten 0s.	MM_Plan_Results{1} ~ MM_Plan_Results{10}
Number of picked workobjects	The total number of picked workobjects.	MM_Plan_Results{11}
The number of workobjects to be picked this time.	The number of workobjects to be picked this time.	MM_Plan_Results{12}
Edge or corner ID of vacuum gripper	The ID of the edge or corner used to pick workobjects this time.	MM_Plan_Results{13}
TCP offset	The XYZ offset between the center of the workobject group and the tool pose center.	MM_Plan_Results{14} ~ MM_Plan_Results{16}
Orientation of workobject group	The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	MM_Plan_Results{17}
Orientation of workobject	The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	MM_Plan_Results{18}
Dimensions of workobject group	The length, width, and height of the workobject group to be picked this time.	MM_Plan_Results{19} ~ MM_Plan_Results{21}

Value

Description

Variable

Labels of picked workobjects

A label consists of 10 integers. The default value is ten 0s.

MM_Plan_Results{1} ~ MM_Plan_Results{10}

Number of picked workobjects

The total number of picked workobjects.

MM_Plan_Results{11}

The number of workobjects to be picked this time.

MM_Plan_Results{12}

Edge or corner ID of vacuum gripper

The ID of the edge or corner used to pick workobjects this time.

MM_Plan_Results{13}

TCP offset

The XYZ offset between the center of the workobject group and the tool pose center.

MM_Plan_Results{14} ~ MM_Plan_Results{16}

Orientation of workobject group

The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

MM_Plan_Results{17}

Orientation of workobject

The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

MM_Plan_Results{18}

Dimensions of workobject group

The length, width, and height of the workobject group to be picked this time.

MM_Plan_Results{19} ~ MM_Plan_Results{21}

Example

Example 1:
```
MM_Get_PlanPose 2,4,TcpPose,MoveType,ToolNum,Speed;
```
In the preceding example, the TCP data, motion type, tool ID, and velocity of the second waypoint are stored in TcpPose, MoveType, ToolNum, and Speed respectively. If the waypoint is not a Vision Move waypoint, no Vision Move data is returned; if the waypoint is a Vision Move waypoint, the corresponding Vision Move output data is stored in the MM_Plan_Results global array and the corresponding custom output data is stored in the MM_UserData global array.
Example 2:
```
MM_Get_PlanJps 1,3,JpsPose,MoveType,ToolNum,Speed;
```
In the preceding example, the joint position data, motion type, tool ID, and velocity of the first waypoint are stored in JpsPose, MoveType, ToolNum, and Speed respectively. If the waypoint is not a Vision Move waypoint, no Vision Move data is returned; if the waypoint is a Vision Move waypoint, the corresponding Vision Move output data is stored in the MM_Plan_Results global array and the corresponding custom output data is stored in the MM_UserData global array.

Read Mech-Viz Step Parameter

Command

This command reads the parameter value of a specific Step in the Mech-Viz project.

Calling Sequence

This command should be called before Run Mech-Viz project.

Command Format

MM_Get_Property Get_Id,MM_Status,MM_Viz_Prop;

Input Parameters

Get_Id

This parameter corresponds to the Config ID field defined in the property_config file. The data type is num.

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

Before calling this function, users should define a Config ID and its corresponding Step ID and parameter key name in the following format in the property_config file.

read, Config ID, Step ID, parameter key name

read

Indicates that this line is used to read the parameter value of a Step.

Config ID

Specifies a unique ID, which in a positive integer. One Config ID corresponds to only one parameter value of a Step. To read multiple parameter values, you should set different Config IDs.

Step ID

The Step ID of the Step whose parameter is to be read.

Parameter key name

Specifies the key name of the parameter whose value the robot requires to read.

User can check the parameter key name in the Key Query Tool. From the menu bar of Mech-Viz, go to Tools Key Query Tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.
In the property_config file, lines starting with “#” are comments, which will not be executed by the program.
Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

The property_config file can have multiple read commands. The Config ID in these commands must be different.

Output Parameters

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 2109. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

MM_Viz_Prop

This parameter stores the parameter value of the Step. The data type is num.

Example

In the line below, 5 is the Config ID; 3 is the Step ID; and xCount is the parameter key name. Add this line to the property_config file.

read,5,3,xCount

When the robot sends the command below, the robot receives the value of the parameter whose key name is xCount.

MM_Get_Property 5,StatusCode,Viz_Prop;

In the preceding example, the value of the xCount parameter of the Step with an ID of 3 of the Mech-Viz project is stored in Viz_Prop, and the status codes of the command are stored in StatusCode.

Set Mech-Viz Step Parameter

Command

This command sets parameter value of a Step in the Mech-Viz project.

Calling Sequence

This command should be called before Run Mech-Viz project.

Command Format

MM_Set_Property Set_Id,MM_Status;

Input Parameters

Set_Id

This parameter corresponds to the Config ID field defined in the property_config file. The data type is num.

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

Before sending this command, users should define a Config ID and its corresponding Step ID, parameter key name and parameter value in the following format in the property_config file.

write, Config ID, Step ID, parameter key name, parameter value

write

Indicates that this line is used to set the parameter value of a Step.

Config ID

Specifies an ID, which is a positive integer and can be used repeatedly.

Step ID

Specifies the Step whose parameter value the robot requires to read.

Parameter key name

Specifies the key name of the parameter whose value the robot requires to set.

Parameter value

Specifies the value that the robot sets for the parameter.

The property_config file can contain more than one “write” command, and these commands can use a Config ID repeatedly. That is, one Config ID can be used to set values for multiple parameters.
User can check the parameter key name in the Key Query Tool. From the menu bar of Mech-Viz, go to Tools Key Query Tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.
In the property_config file, lines starting with “#” are comments, which will not be executed by the program.
Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

Output Parameters

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 2108. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

In the line below, 1 is the Config ID and 3 is the Step ID. xOffset, yOffset and zOffset are parameter key names; and 10, 20 and 30 are their respective values. Add this line to the property_config file.

write,1,3,xOffset,10
write,1,3,yOffset,20
write,1,3,zOffset,30

When the robot sends the command below, Mech-Viz sets the values of the parameters whose key names are xOffset, yOffset and zOffset respectively to 10, 20 and 30.

MM_Set_Property 1,StatusCode;

The preceding example sets the values of the parameters whose key names are xOffset, yOffset and zOffset respectively to 10, 20 and 30, and stores the status code of the command in StatusCode.

Input Object Dimensions to Mech-Vision Project

Command

This command dynamically inputs object dimensions into the Mech-Vision project. The object dimensions are the values of the Box Size Settings parameters in the Read Object Dimensions Step.

Calling Sequence

This command should be called before Run Mech-Vision Project.

Command Format

MM_Set_BoxSize Job,Length,Width,Height;

Input Parameters

Job

Length, Width, and Height

The preceding three parameters sequentially input the length, width, and height of the object to the Mech-Vision project. The length, width, and height are measured in millimeters (mm). These values are read by the Read Object Dimensions Step and set for the parameters Length on X-axis, Length on Y-axis and Length on Z-axis. The data type is num.

Example

MM_Set_BoxSize 1,500,300,200

In the preceding example, the length, width, and height of the object of the Read Object Dimensions Step in the Mech-Vision project are 500 mm, 300 mm, and 200 mm respectively.

Get Message from Notify Step

Command

When the Mech-Vision project or Mech-Viz project is executing the Notify Step, the vision system returns the message predefined in the Notify Step.

Before sending this command, complete the following settings:

For a Notify Step in the Mech-Vision project:
1. Connect the Notify Step to the right side of another Step. The Procedure Out Step is used in the example in the image below.
2. Select Trigger Control Flow Given Output in the parameter panel of the Procedure Out Step.
3. In the parameter panel of the Notify Step, enter Standard Interface Notify (a required value) for Service Name. Enter a positive integer for Message, for example, 1001.
For a Notify Step in the Mech-Viz project:
1. Connect the Notify Step to a proper Step in the workflow.
2. In the parameter panel of the Notify Step, select Standard Interface. Enter a positive integer for Message, for example, 1000.

Calling Sequence

This command should be called after Run Mech-Vision Project or Run Mech-Viz project.

Command Format

MM_Get_Notify Msg;

Output Parameters

Msg

This parameter stores the message from the Notify Step. Only integers are supported at the moment. The data type is num.

Example

MM_Get_Notify Msg_1;

In the preceding example, the message obtained from the Notify Step is stored in Msg_1.

Calibration

Command

This command is used for hand-eye calibration. This command must be used together with the Camera Calibration (Standard) setting to complete automatic calibration. You can find Camera Calibration (Standard) in the toolbar of Mech-Vision. For more information, see ABB RobotWare 6 Automatic Calibration.

Command Format

MM_Calib Move_Type,Pos_Jps,Wait_time,\Ext;

Input Parameters

Move_Type

This parameter specifies the motion type of the robot. Valid values: 1 and 2.

1: Linear motion (MOVEL)
2: Joint motion (MOVEJ)

Pos_Jps

This parameter specifies the type of calibration point poses to be obtained. Valid values: 1 and 2.

1: TCP
2: Joint positions

Wait_time

This parameter specifies the time the robot waits to avoid shaking after it moves to the calibration point. The default value is 2 (s). The data type is num.

Ext (optional)

This parameter specifies the external axis data. Unit: millimeters. If a 7th axis exists and is controlled by the robot on site, this parameter must be set.

Example

Example 1:
```
MM_Calib 2,1,2;
```
In the preceding example, the pose data of the calibration point is represented in TCP. The robot moves to the calibration point based on the joint positions of the robot and then waits for 2 seconds.
Example 2:
```
MM_Calib 2,1,2\EXT:=Axis7;
```
In the preceding example, the pose data of the calibration point is represented in TCP. The robot moves to the calibration point based on the joint positions of the robot and then waits for 2 seconds. The 7th-axis value is Axis7.

Stop Mech-Viz Project

Command

This command stops the Mech-Viz project.

Calling Sequence

This command should be called after Run Mech-Viz project.

Command Format

MM_Stop_Viz MM_Status;

Output Parameters

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, the status code is 2104. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

MM_Stop_Viz StatusCode;

In the preceding example, the running Mech-Viz project is stopped, and the status code of the command are stored in StatusCode.

Get Project Status

Command

This command checks if the Mech-Vision project is ready.

Command Format

MM_Get_Status MM_Status;

Output Parameters

MM_Status

This parameter stores the status code of this command. The data type is num. If the command is successfully executed, a status code of 1101 is returned to indicate that the Mech-Vision project is ready. If a command fails to be called, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

MM_Get_Status StatusCode;

In the preceding example, the Mech-Vision project is checked to see if the project is ready, and the status code of the command is stored in StatusCode.

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