Communication Protocol

This module indicates that the execution of a command has been completed, and the data returned by the command can be read. For commands 102 and 205, only when the last byte of data has been sent will this module’s signal be set to 1.

This module indicates that new data has been sent, and the PLC can read the data. This module’s signal is dedicated for command 102 or command 205 when multiple sets of robot pose data are expected.

When the camera completes image capturing, this module’s signal is set to 1. This module is used to indicate whether the object can be moved, or whether the robot in an eye-in-hand application can move from the image-capturing position.

TRIGGER _ACKNOWLEDGE = 1 means that the vision system has been triggered successfully by the TRIGGER signal. TRIGGER _ACKNOWLEDGE will stay at 1 until the TRIGGER signal is reset to 0.

System heartbeat that flips every 1 second.

The status code, INT32.

The execution status code sent by the vision system to indicate normal and erroneous statuses.

Calibration status, INT8.

This module’s signal is dedicated for command 701. 0: The calibration is in progress. 1: The calibration is completed.

The number of sent poses, INT8. The number of poses sent this time of command execution.

The position of the Vision Move waypoint in the entire planned path. The Vision Move waypoint is the one where the robot performs picking.

For example, if the path is composed of Steps Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3 sequentially, the position of Vision Move is 3.

If the path does not contain any Vision Move waypoint, the returned value is 0.

Data type: INT8

The 64 INT8 DO signals for controlling multiple suction cup sections or array grippers.

The customized message sent by the Notify Step of the Mech-Viz / Mech-Vision project.

The message should be an integer, INT32.

The type of sent poses, INT8.

The robot poses of the waypoints in the form of joint positions or TCP.

A TCP contains Cartesian coordinates and Euler angles:

X, Y, Z, A, B, C

A set of joint positions contains at most 6 joint angles:

J1, J2, J3, J4, J5, J6

The labels corresponding to the sent poses. The values should be non-negative integers.

Data type: INT32

The tool ID corresponding to the sent pose. Range: 0 to 100

Data type: INT32

Reserved module for transmitting other data.

This module takes up 40 bytes (INT32[1: 10], 10 INT32 integers in total).

Reset EXPOSURE_COMPLETE (Bool)

If RESET_EXPOSURE = 1, EXPOSURE_COMPLETE will be set to 0.

DATA_ACKNOWLEDGE is used for acknowledging that the data returned by command 102 or command 205 has been read.

If DATA_ACKNOWLEDGE = 0, the PLC has not read the data from and the data are kept at the port.

If DATA_ACKNOWLEDGE = 1, the PLC has read the data from and can write the data of the next round.

DATA_ACKNOWLEDGE can be reset at HEARTBEAT flip or when DATA_READY = 0.

CLEAR_NOTIFY (Bool)

If CLEAR_NOTIFY = 1, the content of NOTIFY_MESSAGE will be cleared.

TRIGGER (Bool)

If TRIGGER = 1, the vision system will read the sent command and execute it.

TRIGGER _ACKNOWLEDGE can be reset upon receiving the TRIGGER signal.

The upward segment of the signal is considered as 1.

COMM_ENABLE (Bool)

0: Communication disabled. The vision system ignores the TRIGGER signal.

1: Communication enabled. The TRIGGER signal will work and the vision system will receive commands.

Command code, INT32.

Data type: INT8

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Data type: INT8

The ID of the parameter recipe in the Mech-Vision project. The ID is a positive integer in the range of 1 to 99. To view the parameter recipe ID, in the lower right of Mech-Vision, click Project Assistant  Parameter Recipe.

Data type: INT8

The Step ID of the Mech-Viz Step involved. The Step ID can be viewed in the parameters of the Step.

Data type: INT8

The exit port number of the Mech-Viz Branch by Msg Step, or the value set to the Current Index parameter of a Mech-Viz Step.

Data type: INT8

The number of vision points to be requested from Mech-Vision.

0: Request all available vision points in the vision result of Mech-Vision.

Data type: INT8

Type of robot pose to be sent.

Data type: INT8

Expected type of waypoint pose to be returned from Mech-Viz.

Data type: INT8

Robot joint positions to be sent to Mech-Vision / Mech-Viz.

Please multiply the joint position data by 10000 before setting it to the module.

A set of joint positions contains at most 6 joint angles (6 INT32 integers):

The current robot flange pose to be sent to Mech-Vision / Mech-Viz.

Please multiply the pose data by 10000 before setting it to the module.

A flange pose contains Cartesian coordinates （X, Y, Z) and Euler angles (A, B, C), 6 INT32 integers in total.

Reserved module for transmitting other data.

This module takes up 40 bytes (INT32[1: 10], 10 INT32 integers in total).