ELITE Interface Commands

B097

Stores the received command number. Refer to TCP/IP for details

B098

Stores the received status code

B099

Executes the commands. Each value corresponds to a different command
0: After a command is executed, the value of this variable resets to 0
1: Start the Mech-Vision project
2: Obtain vision targets
3: Switch Mech-Vision parameter recipe
4: Start the Mech-Viz project
5: Select Mech-Viz branch
6: Set move index
7: Obtain the planned path from Mech-Viz
8: Store the vision poses obtained from Mech-Vision in variables V101 to V120
9: Store the waypoint poses obtained in variables V101 to V120 (if TCP) or P101 to P120 (if joint positions)
10: Calibration
11: Obtain the planned path from Mech-Vision

B100-B103

The IP address of the IPC

B104

The port number of the IPC

B105

The project ID of the Mech-Vision project to be executed

B106

The number of vision points for Mech-Vision to send, from 0 to 20, where 0 means send all

B107

The robot pose to send to Mech-Vision, from 0 to 3
0: Do not send pose to Mech-Vision
1: Send current joint positions and flange pose
2: Send current flange pose
3: Send current joint positions

B108

The ID of a parameter recipe in the project, from 1 to 99

B109

The robot pose to send to Mech-Viz, from 0 to 2
0: Do not send pose to Mech-Viz

B114

The waypoint pose type obtained from Mech-Vision or Mech-Viz
1: Send current joint positions and flange pose
2: Send current joint positions

B110

The Step ID of the Branch by Msg Step

B111

The number of the exit port of the Branch by Msg Step to take + 1, from 1 to 99

B112

The Step ID of the Step with the Current Index parameter

B113

The value for the Current Index parameter in the above Step

B114

The waypoint pose type obtained from Mech-Vision or Mech-Viz
1: joint positions
2: TCP

B201-B220

Stores the labels corresponding to the poses

V101-V120

Stores the TCPs obtained from Mech-Vision or Mech-Viz

V099

Stores the calibration point (as TCP)

P101-P120

Stores the joint positions obtained from Mech-Vision or Mech-Viz

P099

Stores the calibration point (as joint positions)