TCP/IP Interface Commands

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This guide introduces the TCP/IP commands for the Standard Interface communication. The basic information about Standard Interface commands is as follows:

Sending and receiving commands: Robot or the host computer (the client) sends commands to Mech-Mind Vision System (the server), and Mech-Mind Vision System returns the processed data to the robot or the host computer.
Data formats of sent and received commands: Both ASCII and HEX are supported.
- The delimiter in the ASCII strings is the English comma, and the terminator is \r. Examples in this guide are in the ASCII format and the string terminator (\r) is omitted. For example, Command 103 (with the terminator) sent by the robot to the vision system is as follows:
  103,1,2\r
- The byte orders of HEX (hexadecimal number) are big-endian and little-endian. The byte length in the sent commands is 64, a fixed length. If, in practice, the data has less than 64 bytes, fill in the remaining fields with 0s. If, in practice, the data has more than 64 bytes, the vision system will ignore the extra fields.
  
  Take the ASCII format string “103,1,2” as an example. When the HEX big-endian format is adopted, the sent command is as below. The decimal number 103 corresponds to the hexadecimal number 67. The hexadecimal number 67 is represented in big-endian byte order as 00 00 00 67.
  00 00 00 67 00 00 00 01 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  When the HEX little-endian format is adopted, the sent command is as below. The hexadecimal number 67 is represented as 67 00 00 00 in the little-endian byte order.
  67 00 00 00 01 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
Unit of data:
- The unit of joint positions is degree (°).
- Robot’s flange pose or Tool Center Point (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, 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, and motion type. Waypoints can be divided into two categories:
  - Vision Move waypoint: Waypoint 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.

Command Overview

Commands related to Mech-Vision

Commands related to Mech-Viz

Command 100: Trigger Mech-Vision Project and Get Results

Command 101: Trigger Mech-Vision Project

Command 102: Get Vision Results

Command 103: Switch Mech-Vision Parameter Recipe

Command 105: Get Planned Path from Mech-Vision

Command 106: Get Gripper DO List from Mech-Vision

Command 110: Get Custom Output Data from Mech-Vision

Command 111: Get Vision Move Data from Mech-Vision

Command 501: Input Object Dimensions to Mech-Vision Project

Command 503: Input Poses to Mech-Vision Project

Command 601: Get Message from Notify Step

Command 701: Calibration

Command 901: Get Software Status

Command 200: Trigger Mech-Viz Project and Get Planned Path

Command 201: Trigger Mech-Viz Project

Command 202: Stop Mech-Viz Project

Command 203: Set Exit Port for Branch by Msg in Mech-Viz

204: Set Current Index for Mech-Viz

Command 205: Get Planned Path from Mech-Viz

Command 206: Get Gripper DO List

Command 207: Read Mech-Viz Step Parameter

Command 208: Set Mech-Viz Step Parameter

Command 210: Get Vision Move Data or Custom Output Data from Mech-Viz

Command 601: Get Message from Notify Step

Command 100: Trigger Mech-Vision Project and Get Results

Description

This command triggers the following operations in sequence: First, it switches Mech-Vision parameter recipe (which is skipped if the project does not have a parameter recipe). Second, it triggers the Mech-Vision project. Third, it gets vision results (i.e., vision points, waypoints, or custom port output) from the vision system.

Robot moves only after the vision system takes an image and returns the vision results.

Command Format

100, Mech-Vision project ID, parameter recipe ID, returned data format, robot joint positions, robot flange pose

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Parameter recipe ID

The ID of the parameter recipe in the Mech-Vision project. The ID is a positive integer, from 1 to 99. For details on how to check the parameter recipe ID, see View the Parameter Recipe ID.

Set this parameter to 0 if the Mech-Vision project doesn’t need to switch a parameter recipe.

Returned data format

Value	Returned data (explained below)
1	100, status code, status of transmitting vision points, number of vision points, reserved field, vision point 1 (TCP, label, tool ID), vision point 2 (TCP, label, tool ID), ...
2	100, status code, status of transmitting vision points, number of elements in custom output data (N), pose, label, element 1 in custom output data, ..., element N in custom output data
3	100, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (joint positions, label, tool ID), waypoint 2 (joint positions, label, tool ID), ...
4	100, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (TCP, label, tool ID), waypoint 2 (TCP, label, tool ID), ...

Robot joint positions & robot flange pose

Robot sends its current joint positions and flange pose to the Mech-Vision project.

Returned Data Format

Returned data format 1

100, status code, status of transmitting vision points, number of vision points, reserved field, vision point 1 (TCP, label, tool ID), vision point 2 (TCP, label, tool ID), ...

Status code

Status code 1100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting vision points

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

By default, the vision system can send a maximum number of 20 vision points at a time. To send all vision points by calling this command once, you may need to modify the setting of the maximum number. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of vision points

This parameter specifies the number of vision points that the robot side expects to obtain.

Reserved field

This field is not currently in use. The value is 0.

Vision point

Each vision point has 8 data elements The first 6 elements are the TCP, the 7th is the label, and the 8th is the tool ID.

TCP: Robot’s tool center point.
The vision system converts the object pose in the vision point (i.e., output of the “poses” port of the “Output” Step) to the robot tool pose.
1. Convert the object pose from the form of quaternions to Euler angles.
2. Rotate the object’s pose around the X-axis by 180° to orient its Z-axis downward.

Label: The label corresponding to a pose (i.e., output of the “labels” port in the “Output” Step), which is an integer.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step does not have a “labels” port, the value of the “label” parameter is 0.

Tool ID: 0 by default. The vision points output by Mech-Vision usually do not contain the tool ID of the robot at the object position.

Returned data format 2

100, status code, status of transmitting vision points, number of elements in custom output data (N), pose, label, element 1 in custom output data, ..., element N in custom output data

Status code

Status code 1100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting vision points

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

When data is returned in this format, the vision system only returns the data of one vision point. Therefore, you need to modify the maximum number of poses to send per time to 1 by going to Robot Communication Configuration Next Advanced Settings from the tool bar of Mech-Vision.

After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of elements in custom output data

The total number of elements in data output by all custom ports. For example, outputs of the ports of the “Output” Step are presented in the following table. “customData1” and “customData2” are custom ports, with 3 and 2 columns in their respective output data. Therefore, the number of elements in custom output data is 5, which is the result of adding 3 and 2.

Port name	poses	labels	customData1	customData2
Output	[ [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] ]
Number of rows (i.e. number of items in the list)	2	2	2	2
Number of columns (i.e. number of elements in each item)	7	1	3	2

Pose

This parameter specifies the robot tool pose corresponding to one vision point. The vision system converts the object pose in the vision point (namely, output of the poses port of the Output Step) to the robot tool pose. The process is as follows.

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

Label

The label of one vision point that is output by the “labels” port of the “Output” Step.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step doesn’t have a “labels” port, the value of the “label” parameter is 0.

Element in custom output data

“Elements in custom output data” are data output by all custom ports concerning one vision point. The total number is specified by the number of elements in custom output data parameter. For example, data output from ports of the “Output” 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

Port 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]

]

The first vision point

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

[0, 0, 1]

[0, 0]

The second vision point

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

[1, 0, 0]

[1, 1]

The custom port outputs are arranged in the alphabetical order of the names of custom ports.

Returned data format 3

100, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (joint positions, label, tool ID), waypoint 2 (joint positions, label, tool ID), ...

Status code

Status code 1103 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

By default, the vision system can send a maximum number of 20 waypoints at a time. To obtain all waypoints by calling this command once, you may need to modify the setting of the maximum number. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of waypoints

This parameter specifies the number of waypoints that the robot side expects to obtain.

Position of “Vision Move” in planned path

This parameter indicates the position of the Vision Move waypoint corresponding to the “Vision Move” Step of the path planning tool in the entire path. If the path does not contain a “Vision Move” waypoint, the value of this parameter is 0.

If the planned path consists of waypoints “Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3” in sequence, the position of the Vision Move waypoint is 3.

Waypoint

Each waypoint has 8 data elements. The first 6 elements are joint positions, the 7th is the label, and the 8th is the tool ID.

Joint positions: Robot’s joint positions (JPs).

Label: The label corresponding to a pose (Output of the “labels” port in the “Output” Step), which is an integer.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the data format of the label to a string of numbers.
If there is no “labels” port in the “Output” Step, the value of “label” is 0.

Tool ID: The tool ID set in the path planning tool.

Returned data format 4

100, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (TCP, label, tool ID), waypoint 2 (TCP, label, tool ID), ...

Status code

Status code 1103 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

By default, the vision system can send a maximum number of 20 waypoints at a time. To obtain all waypoints by calling this command once, you may need to modify the setting of the maximum number. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of waypoints

This parameter specifies the number of waypoints that the robot side expects to obtain.

Position of “Vision Move” in planned path

If the planned path consists of waypoints “Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3” in sequence, the position of the Vision Move waypoint is 3.

Waypoint

Each waypoint has 8 data elements. The first 6 elements are the TCP, the 7th is the label, and the 8th is the tool ID.

TCP: Robot’s tool center point.

Label: The label corresponding to a pose (Output of the “labels” port in the “Output” Step), which is an integer.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the data format of the label to a string of numbers.
If there is no “labels” port in the “Output” Step, the value of “label” is 0.

Tool ID: The tool ID set in the path planning tool.

Examples

Example 1: returned data format 1

Robot sends the following command to the vision system. “1” instructs the vision system to return data in format 1.
```
100, 1, 2, 1, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result. “1” indicates that one vision points is obtained.
```
100, 1100, 1, 1, 0, 95.7806, 644.5677, 401.1013, 91.1206, -171.1301, 180.0, 0, 0
```

Example 2: returned data format 2

Robot sends the following command to the vision system. “2” instructs the vision system to return data in format 2.
```
100, 1, 0, 2, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result. “2” indicates that the number of elements in custom port output is two. Elements of custom port output are 12 and 22.
```
100, 1100, 1, 2, 592.6891, -256.7424, -56.6007, 0.0723, 1.1348, -176.355, 2, 12, 22
```

Example 3: returned data format 3

Robot sends the following command to the vision system. “3” instructs the vision system to return data in format 3.
```
100, 1, 2, 3, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```

The vision system returns all waypoints, which are 3 in total, to the robot in the form of JPs. The second waypoint is a Vision Move waypoint.

100, 1100, 1, 3, 2, 8.3077, 15.1634, -142.1778, -2.7756, -31.4404, -96.9490, 0, 64, 8.2425, 12.1301, -141.7587, -2.5135, -34.8905, -97.1911, 0, 32, 9.3077, 16.1634, -145.1778, -9.7756, -30.4404, -86.9490, 1, 64,

Example 4: returned data format 4

Robot sends the following command to the vision system. “4” instructs the vision system to return data in format 4.
```
100, 1, 2, 4, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```

The vision system returns all waypoints, which are 3 in total, to the robot in the form of TCP. The second waypoint is a Vision Move waypoint.

100, 1100, 1, 3, 2, 1149.114, -298.9656, 274.9219, -0.0977, -1.3863, -175.9702, 0, 7, 1149.8416, -296.8585, 245.0048, -0.0977, -1.3863, -175.9702, 2, 7, 1149.114, -298.9656, 274.9219, -0.0977, -1.3863, -175.9702, 0, 7

Command 101: Trigger Mech-Vision Project

Description

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, 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, and motion type.

Calling Sequence

You should set Step parameters BEFORE starting a Mech-Vision project. Therefore, call Command 103 or Command 501 BEFORE calling Command 101.
Vision system gets vision points and waypoints only when a Mech-Vision project is running. Therefore, call Command 101 BEFORE calling Command 102, Command 105 or Command 110.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

101, Mech-Vision project ID, expected number of vision points or waypoints, robot pose type, robot pose

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Expected number of vision points or waypoints

This parameter specifies the number of vision points or waypoints expected to be returned by the Mech-Vision project.

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.
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 all output vision points or waypoints.
- If the total amount of vision points or waypoints output by the Mech-Vision project is larger than 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 Command 101: Trigger Mech-Vision Project is called. To obtain vision points, call Command 102: Get Vision Resultsor Command 110: Get Custom Output Data from Mech-Vision. To obtain waypoints, call Command 105: Get Planned Path from Mech-Vision.
The default maximum number of vision points or waypoints that the vision system sends at a time is 20. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

Robot pose type & robot pose

The robot pose type specifies the type of the pose of the real robot to be input to the Mech-Vision project. The value range is from 0 to 3.
The value of the robot pose is decided by that of the robot pose type.

The following table explains the relationship between the two parameters.

Robot pose type	Robot pose	Description	Applicable Scenarios
0	0, 0, 0, 0, 0, 0	The robot will not send its pose to Mech-Vision.	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 start point of the planned path will be the Home point set in the path planning tool.
1	Robot’s current JPs and flange pose	The robot sends its joint positions and flange pose to Mech-Vision.	This setting is recommended when the camera is mounted in the Eye In Hand method. Applicable for most robot types except the gantry robot.
2	Robot’s current flange pose	The robot sends its flange pose to Mech-Vision.	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	Joint positions of the start point of the planned path	The robot sends the joint positions of the start point of the path to Mech-Vision.	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 start point needs to be set by the robot side.

Robot pose type

Robot pose

Description

Applicable Scenarios

0, 0, 0, 0, 0, 0

The robot will not send its pose to Mech-Vision.

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 start point of the planned path will be the Home point set in the path planning tool.

Robot’s current JPs and flange pose

The robot sends its joint positions and flange pose to Mech-Vision.

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

Robot’s current flange pose

The robot sends its flange pose to Mech-Vision.

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.

Joint positions of the start point of the planned path

The robot sends the joint positions of the start point of the path to Mech-Vision.

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 start point needs to be set by the robot side.

Returned Data Format

101, status code

Status code

Status code 1102 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

Example 1

In an Eye In Hand scenario, the robot sends the following command to the vision system. “1” indicates that the robot is sending its current joint positions and flange pose.
```
101, 1, 0, 1, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result. “1102” indicates that the Mech-Vision project is successfully triggered.
```
101, 1102
```

Example 2

In an Eye-To-Hand scenario, the robot sends the following command to the vision system. “3” indicates that the robot is sending the joint positions of the teaching point.
```
101, 1, 0, 3, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15
```
The vision system returns the following result. “1102” indicates that the Mech-Vision project is successfully triggered.
```
101, 1102
```

Example 3

In this example, Project 2 of Mech-Vision is not registered and the robot sends the following command to the vision system.
```
101, 2, 10, 0, 0, 0, 0, 0, 0, 0
```
The vision system returns the following result. “1011” indicates that the Mech-Vision project is not registered.
```
101, 1011
```

Command 102: Get Vision Results

Description

This command obtains vision results, 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 “Output” Step) will be automatically converted to the robot’s TCP by the vision system. The process is as follows.

Convert the object pose from the form of quaternions 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 Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

102, Mech-Vision project ID

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Returned Data Format

102, status code, status of transmitting vision points, number of vision points, reserved field, vision point 1 (TCP, label, tool ID), vision point 2 (TCP, label, tool ID), ...

Status code

Status code 1100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting vision points

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

This parameter value is 1 when all vision points are obtained. If the value is 0, repeat sending the command until the value becomes 1.
If not all vision points are obtained when Command 101 is called, the remaining vision points will be cleared.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of vision points

This parameter specifies the number of vision points that the robot side expects to obtain. By default, the vision system sends no more than 20 vision points at a time. Therefore, the maximum default value of this parameter is 20. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

Reserved field

This field is not currently in use. The value is 0.

Vision point

Each vision point has 8 data elements The first 6 elements are the TCP, the 7th is the label, and the 8th is the tool ID.

TCP: Robot’s tool center point.
The vision system converts the object pose in the vision point (i.e., output of the “poses” port of the “Output” Step) to the robot tool pose.
1. Convert the object pose from the form of quaternions to Euler angles.
2. Rotate the object’s pose around the X-axis by 180° to orient its Z-axis downward.

Label: The label corresponding to a pose (i.e., output of the “labels” port in the “Output” Step), which is an integer.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step does not have a “labels” port, the value of the “label” parameter is 0.

Tool ID: 0 by default. The vision points output by Mech-Vision usually do not contain the tool ID of the robot at the object position.

Examples

Example 1

The robot sends the following command to the vision system.
```
102, 1
```
The vision system returns the following result after a successful command execution. “1” indicates that one vision point, in total, is obtained.
```
102, 1100, 1, 1, 0, 95.7806, 644.5677, 401.1013, 91.1206, -171.1301, 180.0, 0, 0
```
The vision system returns the following result after a failed command execution. “1002” indicates that no vision result is obtained.
```
102, 1002
```

Example 2

This example illustrates how to obtain 22 vision points.

The robot sends Command 101 to the vision system. “0” indicates that the robot is expecting to receive all vision points.
```
101, 1, 0, 1, -0, -20.6323, -107.8121, -0, -92.8181, 0.0016
```
The vision system returns the following result. “1102” indicates that the Mech-Vision project is successfully triggered.
```
101, 1102
```
The robot sends Command 102 to the vision system to get 20 vision points.
```
102, 1
```
The vision system returns the following result to the robot, in which “0” indicates that not all vision points are obtained and “20” indicates that 20 vision points are obtained at this time.
```
102, 1100, 0, 20, 0, 95.7806, 644.5677, 401.1013, 31.1206, ...
```
The robot sends Command 102 to the vision system once more to get the remaining vision points.
```
102, 1
```
The vision system returns the following data to the robot, in which “1” indicates that all vision points are obtained; and “2” indicates that two vision points are obtained at this time.
```
102, 1100, 1, 2, 0, 315.2017, 592.1261, 399.6052, 126.1960, ...
```

Command 103: Switch Mech-Vision Parameter Recipe

Description

This command triggers Mech-Vision to switch the parameter recipe used by a 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 Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

103, Mech-Vision project ID, parameter recipe ID

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Parameter recipe ID

The ID of the parameter recipe in the Mech-Vision project. The ID is a positive integer, from 1 to 99. For details on how to check the parameter recipe ID, see View the Parameter Recipe ID.

Returned Data Format

103, status code

Status code

Status code 1107 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system to switch the parameter recipe for project No.1 of Mech-Vision to recipe No.2.
```
103, 1, 2
```
The vision system returns the following result after a successful command execution. “1107” indicates that the parameter recipe of project No.1 in Mech-Vision is successfully switched to recipe No.2.
```
103, 1107
```
The vision system returns the following result after a failed command execution. “1012” indicates that the specified recipe does not exist.
```
103, 1012
```

Command 105: Get Planned Path from Mech-Vision

Description

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 an Editor as shown in the image below. For details about Path Planning, see Path Planning.

Set the Port Type parameter of the “Output” Step in Mech-Vision to “Predefined (robot path)”.

Calling Sequence

This command should be called AFTER Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

105, Mech-Vision project ID, waypoint pose type

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Waypoint pose type

This parameter specifies the type of waypoint poses to be obtained.

1: Robot’s Joint positions (JPs)
2: Tool pose of the robot

Returned Data Format

105, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (pose, label, tool ID), waypoint 2 (pose, label, tool ID), ...

Status code

Status code 1103 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

The parameter value is 1 when all waypoints are obtained. If the value is 0, repeat sending this command until the value becomes 1.
If not all waypoints are obtained when Command 101 is called, the remaining waypoints will be cleared.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of waypoints

This parameter specifies the number of waypoints that the robot side expects to obtain. By default, the vision system sends no more than 20 waypoints at a time. Therefore, the maximum default value of this parameter is 20. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

BEFORE calling Command 105, set the expected number of vision points or waypoints parameter of Command 101 to 0 to minimize the times of calling Command 105. If the expected number of vision points or waypoints parameter of Command 101 is set to 1, only one waypoint will be obtained each time you call Command 105. You will need to call Command 105 for several times to obtain all waypoints.

Position of “Vision Move” in planned path

If the planned path consists of waypoints “Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3” in sequence, the position of the Vision Move waypoint is 3.

In the scenario where the robot needs to send this command multiple times to receive the entire path, this parameter has slightly different interpretations in the responses. In the first response, it indicates the position of the Vision Move waypoint in the entire path, while in subsequent responses, this parameter indicates the position of the Vision Move waypoint among the remaining waypoints.

For example, a path planned by Mech-Vision has four waypoints and the fourth is a Vision Move waypoint.

The first time the robot sends the command:
```
105, 1, 1
```
The vision system returns the following result to the robot. “2” indicates that two waypoints are obtained at this time, and “4” is the position of the Vision Move waypoint in the entire path.
```
105, 1103, 0, 2, 4, 0.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7, 73.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7
```
The second time the robot sends the command:
```
105, 1, 1
```
The vision system returns the following result to the robot. The first “2” indicates that the remaining two waypoints are obtained at this time, and the second “2” is the position of the Vision Move waypoint in the entire path.
```
105, 1103, 1, 2, 2, -77.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7, -26.6781, 55.4142, 45.0133, -7.3735, -10.948, 160.5773, 2, 7
```

Waypoint

Each waypoint has 8 data elements. The first 6 elements are the pose, the 7th is the label, and the 8th is the tool ID.

Pose: Robot’s JPs or TCP. The pose type is decided by the waypoint pose type parameter in the command sent by the robot.

Label: The label corresponding to a pose (Output of the “labels” port in the “Output” Step), which is an integer.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the data format of the label to a string of numbers.
If there is no “labels” port in the “Output” Step, the value of “label” is 0.

Tool ID: The tool ID set in the path planning tool.

Examples

The robot sends the following command to the vision system to obtain waypoints output by project 1 in Mech-Vision. “2” indicates that the pose type of waypoints is TCP.
```
105, 1, 2
```
The vision system returns the following result after a successful command execution. The vision system returns all waypoints to the robot, which are 5 in total. The third waypoint is a Vision Move waypoint.
```
105, 1103, 1, 5, 3, 1030.0, 0, 1260.0, 0.0, 90.0, -0.0, 0, 7, 1149.114, -298.9656, 274.9219, -0.0977, -1.3863, -175.9702, 0, 7, 1149.8416, -296.8585, 245.0048, -0.0977, -1.3863, -175.9702, 2, 7, 1149.114, -298.9656, 274.9219, -0.0977, -1.3863, -175.9702, 0, 7, 1030.0, 0, 1260.0, 0.0, 90.0, -0.0, 0,7
```
The vision system returns the following result after a failed command execution. “1020” indicates that the Mech-Vision project is not started.
```
105, 1020
```

Command 106: Get Gripper DO List from Mech-Vision

Description

This command obtains the control signal list for the multi-section vacuum gripper from the Mech-Vision project. Before using this command, you must perform the following configurations in Mech-Vision.

In the Path Planning Step, click Config wizard. In Global configuration, enable Box depalletizing.
In the Path Planning Step, click Config wizard, 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.

Calling Sequence

This command should be called AFTER Command 100, Command 105 or Command 111.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

106, Mech-Vision project ID, number of vacuum gripper sections

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Number of vacuum gripper sections

This parameter specifies the number of gripper sections that are specified in the gripper configuration tool. For example, the number of gripper sections in the above image is 3.

Returned Data Format

106, status code, DO signal 1, DO signal 2, ..., DO signal 64

Status code

Status code 1106 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

DO signal

Under Global Configuration of the path planning tool, if Plan all vision results is disabled, this function returns 64 gripper DO signals that are planned in this round. Valid DO signals are non-negative integers ranging from 0 to 999. Invalid DO signals are -1, which serves as a placeholder.

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

Under Global Configuration of the path planning tool, if Plan all vision results is enabled, Mech-Vision can perform multiple rounds of planning based on the same vision result. The 64 gripper DO signals returned by this function are obtained during all rounds of planning. In this case, you can use the number of vacuum gripper sections to differentiate the gripper DO signals obtained during each round of planning. A valid DO signal is a non-negative integer, ranging from 0 to 999. “-1” is an invalid DO signal that serves as a placeholder.

For example, if the number of vacuum gripper sections is 4 and the function returns 64 DO signals in total, each 4 DO signals are multi-section vacuum gripper signals obtained during each round of planning.

First round of planning				Second round of planning				…	16th round of planning
1st	2nd	3rd	4th	5th	6th	7th	8th	…	61st	62nd	63rd	64th
1	3	4	-1	1	4	-1	-1	…	-1	-1	-1	-1

Examples

The robot sends the following command to the vision system.
```
106, 1, 1
```

The vision system returns the following result. Valid DO signals are 11 and 12.

106, 1106, 11, 12, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1

Command 110: Get Custom Output Data from Mech-Vision

Description

This command obtains data from the custom port(s) of the “Output” Step in Mech-Vision. Select the Output Step and click Open the editor to enter the settings window of custom ports. The Customized Keys panel displays custom port names, such as customeData1 and customeData2 in the image below.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
Port Type of the Output Step in Mech-Vision must be Custom, and the poses port is required.

Calling Sequence

This command should be called AFTER Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

110, Mech-Vision project ID

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Returned Data Format

110, status code, status of transmitting vision points, number of elements in custom output data (N), pose, label, element 1 in custom output data, ..., element N in custom output data

Status code

Status code 1100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting vision points

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

Each time the robot executes this command, it only obtains the pose and custom port output corresponding to one vision point from the vision system. To obtain the custom output data corresponding to multiple vision points, call this command multiple times.
This parameter value is 1 when all vision points are obtained. If the value is 0, repeat sending this command until the value becomes 1.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of elements in custom output data

Port name	poses	labels	customData1	customData2
Output	[ [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] ]
Number of rows (i.e. number of items in the list)	2	2	2	2
Number of columns (i.e. number of elements in each item)	7	1	3	2

Pose

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

Label

The label of one vision point that is output by the “labels” port of the “Output” Step.

The label must be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step doesn’t have a “labels” port, the value of the “label” parameter is 0.

Element in custom output data

Port name

poses

labels

customData1

customData2

Port 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]

]

The first vision point

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

[0, 0, 1]

[0, 0]

The second vision point

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

[1, 0, 0]

[1, 1]

The custom port outputs are arranged in the alphabetical order of the names of custom ports.

Examples

Assume that the output of ports of the “Output” Step in the Mech-Vision project is as shown in the image below. The steps to obtain output data from the custom port(s) using Command 101: Trigger Mech-Vision Project and Command 110: Get Custom Output Data from Mech-Vision are as follows.

The robot sends Command 101 to the vision system to obtain all vision points, that is, two in total.
```
101, 1, 0, 0
```
The vision system returns the following result, indicating that Command 101 is successfully executed.
```
101, 1102
```
The robot sends Command 110 to the vision system to obtain all data of the first vision point.
```
110, 1
```
The vision system returns the following result, in which 11 and 21 are elements in custom output data.
```
110, 1100, 0, 2, 1150.1272, -297.2476, -55.0715, -0.1087, -1.6156, -176.1518, 1, 11, 21
```
Then, the robot sends Command 110 to the vision system to obtain all data of the second vision point.
```
110, 1
```
The vision system returns the following result to the robot. “1” indicates that all vision points are obtained. “12” and “22” are elements in custom output data.
```
110, 1100, 1, 2, 592.6891, -256.7424, -56.6007, 0.0723, 1.1348, -176.355, 2, 12, 22
```

Command 111: Get Vision Move Data from Mech-Vision

Description

This command obtains Vision Move data from the Mech-Vision project. “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/corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, dimensions of workobject group.

Command Format

111, Mech-Vision project ID, waypoint pose type

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Waypoint pose type

This parameter specifies the type of waypoint poses to be obtained.

1: Robot’s Joint positions (JPs)
2: Tool pose of the robot

Returned Data Format

111, status code, status of transmitting waypoints, waypoint type, pose, motion type, tool ID, Vision Move data

Status code

Status code 1103 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

Each time the robot executes this command, it only obtains one waypoint from the vision system. To receive multiple waypoints, call this command multiple times.
The parameter value is 1 when all waypoints are obtained. If the value is 0, repeat sending this command until the value becomes 1.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Waypoint type

Value

Waypoint type

Returned data

Non-Vision Move waypoint

Pose, motion type, tool ID, velocity

Vision Move waypoint

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

Pose

The pose of a waypoint can be robot’s joint positions or TCP, depending on the value of the waypoint pose type parameter in the command sent by the robot.

Motion type

1: joint motion (MOVEJ)
2: linear motion (MOVEL)

Tool ID

The ID of the tool to be used at this waypoint. The value “-1” means that no tool will be used at this waypoint.

Velocity

The “Simulation Speed” value in the path planning tool, in the form of percentage.

Vision Move data

Vision Move data includes the following information.

Name	Description	Number of elements
Labels of picked workobjects	Consists of 10 integers. By default, its value is ten 0s.	10
Number of picked workobjects	The total number of workobjects that have been picked.	1
Number of workobjects to be picked this time	The number of workobjects to be picked this time.	1
Edge/corner ID of vacuum gripper	The ID of the edge/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

Consists of 10 integers. By default, its value is ten 0s.

Number of picked workobjects

The total number of workobjects that have been picked.

Number of workobjects to be picked this time

The number of workobjects to be picked this time.

Edge/corner ID of vacuum gripper

The ID of the edge/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.

Examples

The robot sends the following command to the vision system.
```
111, 1, 2
```

The vision system returns the following result to the robot.

Description		Value
Command number		111
Status code		1103
Status of transmitting waypoints		1
Waypoint type		1
Pose		95.7806, 644.5677, 401.1013, 91.1206, -171.1301, 180.0
Motion type		1
Tool ID		0
Velocity		55
Vision Move data	Labels of picked workobjects	1, 1, 1, 0, 0, 0, 0, 0, 0, 0
	Number of picked workobjects	100
	Number of workobjects to be picked this time	3
	Edge/corner ID of vacuum gripper	28
	TCP offset	95.7806, 644.5677, 0
	Orientation of workobject group	0
	Orientation of workobject	0
	Dimensions of the workobject group	600, 800, 300

Command 200: Trigger Mech-Viz Project and Get Planned Path

Description

This command starts the Mech-Viz project (seeCommand 201: Trigger Mech-Viz Project), sets the exit port for the Branch by Msg Step (which can be skipped if there is no branch in the project, seeCommand 203: Set Exit Port for Branch by Msg in Mech-Viz), and then returns the planned path from the Mech-Viz project (seeCommand 205: Get Planned Path from Mech-Viz).

If the Mech-Viz project has more than one “Branch by Msg” Step, Command 200 will not work.

Command Format

200, Branch by Msg Step ID, exit port, waypoint pose type, robot joint positions, robot flange pose

Branch by Msg Step ID

This parameter specifies the Step ID of the “Branch by Msg” Step. The value is a positive integer.

Set this parameter to 0 if the Mech-Viz project doesn’t have a “Branch by Msg” Step.

Exit port

This parameter specifies the exit port of the “Branch by Msg” Step. 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. For example, when the robot sends “200, 2, 1, …” to the vision system, the Mech-Viz project takes port 0 as the exit of the Branch by Msg Step with a Step ID of 2.

Set this parameter to 0 if the Mech-Viz project doesn’t have a “Branch by Msg” Step.

Waypoint pose type

This parameter specifies the type of waypoint poses to be obtained.

1: Robot’s Joint positions (JPs)
2: Tool pose of the robot

Robot joint positions & robot flange pose

Robot sends its current joint positions and flange pose to the Mech-Viz project.

Returned Data Format

200, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (pose, label, tool ID), waypoint 2 (pose, label, tool ID), ...

Status code

Status code 2100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

By default, the vision system can send a maximum number of 20 waypoints at a time. To obtain all waypoints by calling this command once, you may need to modify the setting of the maximum number. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings , and you can modify the maximum number of poses to obtain each time. The limit is 30.

After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of waypoints

This parameter specifies the number of waypoints that the robot side expects to obtain.

Position of “Vision Move” in planned path

This parameter specifies the position of the Vision Move waypoint (i.e., the waypoint corresponding to the “Vision Move” Step in the Mech-Viz project) in the planned path. If the path does not contain a “Vision Move” waypoint, the value of this parameter is 0.

If the planned path consists of waypoints “Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3” in sequence, the position of the Vision Move waypoint is 3.

Waypoint

Each waypoint has 8 data elements. The first 6 elements are the pose, the 7th is the label, and the 8th is the tool ID.

Pose: Robot’s joint positions or TCP. The pose type is decided by the waypoint pose type parameter in the command sent by the robot.

Label: The label corresponding to a pose (output of the “labels” port in the “Output” Step), which is an integer.

The label should be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step does not have a “labels” port, the value of the label parameter is 0.

Tool ID: The tool ID set in the Mech-Viz project.

Examples

The robot sends the following command to the vision system. This command triggers the Mech-Viz project to run, and the project takes port 2 as the exit of the Branch by Msg Step whose Step ID is 5. “1” indicates that the robot expects to receive poses of waypoints from the Mech-Viz project in the form of joint positions. This command also specifies the robot’s current joint positions and flange pose.
```
200, 5, 3, 1, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result after a successful command execution. The vision system returns all waypoints to the robot, which are two in total. The second waypoint is a Vision Move waypoint.
```
200, 2100, 1, 2, 2, 8.3077, 15.1634, -142.1778, -2.7756, -31.4404, -96.9490, 0, 64, 8.2425, 12.1301, -141.7587, -2.5135, -34.8905, -97.1911, 0, 32
```

Command 201: Trigger Mech-Viz Project

Description

This command starts 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 “Resources” panel in Mech-Viz and select Autoload Project.

Calling Sequence

You should set Step Parameters BEFORE starting a Mech-Viz project. Therefore, call Command 207 or Command 208 BEFORE calling Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

201, robot pose type, robot pose

Robot pose type & robot pose

Robot pose type specifies the type of the pose of the real robot to be input to the Mech-Viz project. The value range is 0 to 2.
The value of the robot pose type parameter specifies what robot pose will be sent to the vision system.

The following table explains the relationship between the two parameters.

Robot pose type	Robot pose	Description	Applicable scenario
0	0, 0, 0, 0, 0, 0	The robot will not send its pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the initial pose (JPs = [0, 0, 0, 0, 0, 0]) to the first waypoint.	The camera mounting method is Eye To Hand.
1	Robot’s current JPs and flange pose	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 JPs to the first waypoint.	This setting is recommended when the camera is mounted in the Eye In Hand method.
2	JPs customized by the robot side	The robot sends the JPs of a teaching point, instead of the current JPs, to the Mech-Viz project. The Mech-Viz project uses the JPs 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

Robot pose

Description

Applicable scenario

0, 0, 0, 0, 0, 0

The robot will not send its pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the initial pose (JPs = [0, 0, 0, 0, 0, 0]) to the first waypoint.

The camera mounting method is Eye To Hand.

Robot’s current JPs and flange pose

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 JPs to the first waypoint.

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

JPs customized by the robot side

The robot sends the JPs of a teaching point, instead of the current JPs, to the Mech-Viz project. The Mech-Viz project uses the JPs 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 robot pose 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 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 robot pose 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.

Returned Data Format

201, status code

Status code

Status code 2103 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

Example 1

In an Eye In Hand scenario, the robot sends the following command to the vision system. “1” indicates that the robot is sending its current joint positions and flange pose.
```
201, 1, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result. “2103” indicates that the Mech-Viz project is successfully triggered.
```
201, 2103
```

Example 2

In an Eye To Hand scenario, the robot sends the following command to the vision system. “2” indicates that the robot is sending the joint positions of the teaching point.
```
201, 2, 5.18, 14.52, 4.03, 0.09, 72.44, 5.15
```
The vision system returns the following result. “2103” indicates that the Mech-Viz project is successfully triggered.
```
201, 2103
```

Command 202: Stop Mech-Viz Project

Description

This command is to stop the Mech-Viz project.

Calling Sequence

This command should be called AFTER Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

202

Returned Data Format

202, status code

Status code

Status code 2104 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system.
```
202
```
The vision system returns the following result. “2104” indicates that the Mech-Viz project is stopped successfully.
```
202, 2104
```

Command 203: Set Exit Port for Branch by Msg in Mech-Viz

Description

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 Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

203, Step ID, exit port

Step ID

This parameter specifies the Step ID of the “Branch by Msg” Step. 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.

Exit port

This parameter specifies the exit port of the “Branch by Msg” Step. 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. For example, when the robot sends “203, 2, 1” to the vision system, the Mech-Viz project takes port 0 as the exit of the Branch by Msg Step with a Step ID of 2.

Returned Data Format

203, status code

Status code

Status code 2105 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system. “5” is the Step ID, and “3” indicates that the Mech-Viz project exits from port 2 of the “Branch by Msg” Step.
```
203, 5, 3
```
The vision system returns the following result to the robot. “2105” indicates that the exit port of the Branch by Msg Step is set successfully.
```
203, 2105
```

204: Set Current Index for Mech-Viz

Description

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

Calling Sequence

Index-type Steps are often preceded by a “Branch by Msg” Step. The robot should call commands in this order: Command 201, Command 204, and Command 203. This is to ensure that Mech-Viz has enough time to set the Current Index value.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

204, Step ID, Current Index

Step ID

This parameter specifies the Step ID of the Index-type Step. 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.

Current Index

This parameter specifies the Current Index for a Index-type Step. The value is a positive integer. When this parameter value is set to “N”, the Current Index of the corresponding Step is “N-1”. For example, when the robot sends “204, 2, 1” to the vision system, the Current Index of the Step with an ID of 2 is set to 0.

Returned Data Format

204, status code

Status code

Status code 2106 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robots sends the following command to the vision system. “2” is the Step ID, and “6” indicates that the Current Index of the corresponding Step is set to “5”.
```
204, 2, 6
```
The vision system returns the following result. “2106” indicates that the Current Index is successfully set.
```
204, 2106
```

Command 205: Get Planned Path from Mech-Viz

Description

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, and motion type. Waypoints can be divided into two categories:

Vision Move waypoint: Waypoint 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 Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

205, waypoint pose type

Waypoint pose type

This parameter specifies the type of waypoint poses to be obtained.

1: Robot’s Joint positions (JPs)
2: Tool pose of the robot

Returned Data Format

205, status code, status of transmitting waypoints, number of waypoints, position of “Vision Move” in planned path, waypoint 1 (pose, label, tool ID), waypoint 2 (pose, label, tool ID), ...

Status code

Status code 2100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

The parameter value is 1 when all waypoints are obtained. If the value is 0, repeat sending this command until the value becomes 1.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Number of waypoints

Position of “Vision Move” in planned path

If the planned path consists of waypoints “Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, Fixed-Point Move_3” in sequence, the position of the Vision Move waypoint is 3.

For example, a path planned by Mech-Viz has four waypoints and the fourth is a Vision Move waypoint.

The first time the robot sends the command:
```
205, 1
```
The vision system returns the following result to the robot. “2” indicates that two waypoints are obtained at this time, and “4” is the position of the Vision Move waypoint in the entire path.
```
205, 2100, 0, 2, 4, 0.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7, 73.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7
```
The second time the robot sends the command:
```
205, 1
```
The vision system returns the following result to the robot. The first “2” indicates that the remaining two waypoints are obtained at this time, and the second “2” is the position of the Vision Move waypoint in the entire path.
```
205, 2100, 1, 2, 2, -77.0, 0.0, 0.0, 0.0, 69.0, 0.0, 0, 7, -26.6781, 55.4142, 45.0133, -7.3735, -10.948, 160.5773, 2, 7
```

Waypoint

Each waypoint has 8 data elements. The first 6 elements are the pose, the 7th is the label, and the 8th is the tool ID.

Pose: Robot’s joint positions or TCP. The pose type is decided by the waypoint pose type parameter in the command sent by the robot.

Label: The label corresponding to a pose (output of the “labels” port in the “Output” Step), which is an integer.

The label should be a string of numbers. If not, add a “Label Mapping” Step BEFORE the “Output” Step to convert the format of the label to a string of numbers.
If the “Output” Step does not have a “labels” port, the value of the label parameter is 0.

Tool ID: The tool ID set in the Mech-Viz project.

Examples

The robot sends the following command to the vision system to obtain the waypoints output by the Mech-Viz project in the form of JPs.
```
205, 1
```
The vision system returns the following result after a successful command execution. The vision system returns all waypoints to the robot, which are two in total. The second waypoint is a Vision Move waypoint.
```
205, 2100, 1, 2, 2, 8.3077, 15.1634, -142.1778, -2.7756, -31.4404, -96.9490, 0, 64, 8.2425, 12.1301, -141.7587, -2.5135, -34.8905, -97.1911, 0, 32
```

Command 206: Get Gripper DO List

Description

This command obtains the control signal list for the multi-section vacuum gripper from the Mech-Viz project. Before using this command, you must perform the following configurations in Mech-Viz.

In the Vision Move Step of Mech-Viz, set Select Picking Method to Box depalletizing.
In Mech-Viz, double-click the tool name. Select Depalletizing vacuum gripper for Tool type, and click Configure depalletizing vacuum gripper. Then, configure the DO signal value according to needs.

Calling Sequence

This command should be called AFTER Command 200,Command 205 or Command 210.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

206, number of vacuum gripper sections

Number of vacuum gripper sections

This parameter specifies the number of gripper sections that are specified in the gripper configuration tool. For example, the number of gripper sections in the above image is 3.

Returned Data Format

206, status code, DO signal 1, DO signal 2, ..., DO signal 64

Status code

Status code 2102 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

DO signal

If Reuse Vision Result is not selected for the Vision Move Step, this function returns 64 gripper DO signals that are planned during this round. Valid DO signals are non-negative integers ranging from 0 to 999. Invalid DO signals are -1, which serves as a placeholder.

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

If Reuse Vision Result is selected for the Vision Move Step and the Vision Move Step is used in a loop, Mech-Viz can perform multiple rounds of planning based on the same vision result. The 64 gripper DO signals returned by this function are obtained during all rounds of planning. In this case, you can use the number of vacuum gripper sections to differentiate the gripper DO signals obtained during each round of planning. A valid DO signal is a non-negative integer, ranging from 0 to 999. “-1” is an invalid DO signal that serves as a placeholder.

First round of planning				Second round of planning				…	16th round of planning
1st	2nd	3rd	4th	5th	6th	7th	8th	…	61st	62nd	63rd	64th
1	3	4	-1	1	4	-1	-1	…	-1	-1	-1	-1

Examples

The robot sends the following command to the vision system.
```
206, 1
```

The vision system returns the following result. Valid DO signals are 11 and 12.

206, 2102, 11, 12, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1

Command 207: Read Mech-Viz Step Parameter

Description

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

Calling Sequence

This command should be called BEFORE Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

207, Config ID

Config ID

This parameter corresponds to the Config ID field defined in the property_config file.

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 and parameter key name in the format as shown below in the property_config file.

read, Config ID, Step ID, parameter key name

read

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

Config ID

Specifies a unique ID, which is 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

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 read.

You can check the parameter key name in the Key Query Tool. In Mech-Viz, click File in the menu bar. In the lower-left corner, click Options. Click Developer mode, click OK, and then restart the software. In the menu bar of the software, select Tools Key Query Tool to open the 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 may 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.

In the line below, “5” is the Config ID; “3” is the Step ID; xCount is the parameter key name. Add this line to the property_config file. When the robot sends “207, 5”, it receives the value of the parameter whose key name is xCount.

read, 5, 3, xCount

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

Returned Data Format

207, status code, Step parameter value

Status code

Status code 2109 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Step parameter value

The value of the Step parameter that the robot requires to read.

If commands are sent in ASCII format, the step parameter value can be of the int, float, or string data type.
If commands are sent in HEX format, the step parameter value can be of the int or float data type.

Examples

This example shows how to read the Current Count parameter value of the “Counter” Step with a Step ID of 1.

Check the key name of the Current Count parameter in the Key Query Tool. The key name is currentCount.
Write the line below to the property_config file and save the file. The Config ID is 10 and it cannot be repeatedly used in different “read” lines. The Step ID of the “Counter” Step is 1. The key name of the Current Count parameter is currentCount.
```
read, 10, 1, currentCount
```
Restart the interface service on the toolbar of Mech-Vision.
The robot sends the following command to the vision system. The Config ID is 10.
```
207, 10
```
The vision system returns the following result. “0” is the value of the Current Count parameter whose key name is currentCount.
```
207, 2109, 0
```

Command 208: Set Mech-Viz Step Parameter

Description

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

Calling Sequence

This command should be called BEFORE Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

208, Config ID

Config ID

This parameter corresponds to the Config ID field defined in the property_config file.

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 set.

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.

You can check the parameter key name in the Key Query Tool. In Mech-Viz, click File in the menu bar. In the lower-left corner, click Options. Click Developer mode, click OK, and then restart the software. In the menu bar of the software, select Tools Key Query Tool to open the 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 may 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.

In the line below, “6” is the Config ID; “3” is the Step ID; xOffset is the parameter key name; 0.000000 is the value of the parameter you set. Add this line to the property_config file. When the robot sends “208, 6”, the vision system sets the value of the parameter whose key name is xOffset to 0.000000.

write, 6, 3, xOffset, 0.000000

The property_config file can contain multiple “write” commands with the same Config ID. In other words, one Config ID can be used to set values for several parameters.

In the example below, when the robot sends “208, 1”, the vision system sets the values of the parameters whose key names are xOffset, yOffset and zOffset respectively to 0.000000, 1.000000, and 2.000030.

write, 1, 3, xOffset, 0.000000
write, 1, 3, yOffset, 1.000000
write, 1, 3, zOffset, 2.000030

Returned Data Format

208, status code

Status code

Status code 2108 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

This example illustrates how to set the value of the Wait Time parameter. In this example, the Step ID of the “Wait” Step is 3.

Check the key name of the Wait Time parameter in the Key Query Tool. The parameter key name is waitTime.
Write the line below to the property_config file and save the file. The Config ID is 11. The Step ID of the “Wait” Step is 3. waitTime is the key name of the Wait Time parameter. The value set for the “Wait Time” parameter is 1000.
```
write, 11, 3, waitTime, 1000
```
Restart the interface service on the toolbar of Mech-Vision.
The robot sends the following command to the vision system. The Config ID 11.
```
208, 11
```
The vision system returns the following result. “2108” indicates that the value is successfully set.
```
208, 2108
```

Command 210: Get Vision Move Data or Custom Output Data from Mech-Viz

Description

This command obtains data output by the Vision Move Step or the custom port(s) of the “Output” Step from the Mech-Viz project.

For Mech-Viz 2.0, this command obtains only Vision Move data and does not obtain custom data.

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/corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, dimensions of workobject group.

Custom output data: Refers to data output by the custom-type port(s) of the “Output” Step in Mech-Vision and then forwarded by Mech-Viz.

Select the Output Step and click Open the editor to enter the settings window of custom ports. The Customized Keys panel displays custom port names, such as customeData1 and customeData2 in the image below.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
Port Type of the Output Step in Mech-Vision must be Custom, and the poses port is required.

Command Format

210, returned data format

Returned data format

Value

Explanation (For details, see the Returned Data Format section below. If the Mech-Vision project does not have a custom port, no element of custom output data will be returned.)

Waypoint type

Data

Non-Vision Move waypoint

Pose (JPs), motion type, tool ID, velocity

Vision Move waypoint

Pose (JPs), motion type, tool ID, velocity, number of elements in custom output data (N), element 1 in custom output data, ..., element N in custom output data

Non-Vision Move waypoint

Pose (TCP), motion type, tool ID, velocity

Vision Move waypoint

Pose (TCP), motion type, tool ID, velocity, number of elements in custom output data (N), element 1 in custom output data, ..., element N in custom output data

Non-Vision Move waypoint

Pose (JPs), motion type, tool ID, velocity

Vision Move waypoint

Pose (JPs), motion type, tool ID, velocity, Vision Move data, number of elements in custom output data (N), element 1 in custom output data, ..., element N in custom output data

Non-Vision Move waypoint

Pose (TCP), motion type, tool ID, velocity

Vision Move waypoint

Pose (TCP), motion type, tool ID, velocity, Vision Move data, number of elements in custom output data (N), element 1 in custom output data, ..., element N in custom output data

When this command is used to obtain Vison Move waypoint, Vision Move data or custom port output will be returned, which, in contrast, will not be returned when Command 205 is sent to obtain Vision Move waypoint.

Returned Data Format

210, status code, status of transmitting waypoints, waypoint type, pose, motion type, tool ID, velocity, Vision Move data, number of elements in custom output data (N), element 1 in custom output data,..., element N in custom output data

Whether Vision Move data will be returned depends on the value of the returned data format parameter in the command sent by the robot.
Whether custom output data will be returned depends on whether the “Output” Step of the Mech-Vision project has a custom port.

Status code

Status code 2100 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Status of transmitting waypoints

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

Each time the robot executes this command, it only obtains one waypoint from the vision system. To receive multiple waypoints, call this command multiple times.
The parameter value is 1 when all waypoints are obtained. If the value is 0, repeat sending this command until the value becomes 1.
After the robot sends this command, the vision system returns the result in 10 seconds by default. If the vision system fails to return any result in 10 seconds, the error code will be sent. From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings, and you may modify the timeout value according to needs.

Waypoint type

Value

Waypoint type

Data

Non-Vision Move waypoint

Pose, motion type, tool ID, velocity

Vision Move waypoint

pose, motion type, tool ID, velocity, Vision Move data, custom output data (which will not be returned if the Mech-Vision project does not have a custom port)

Pose

The pose of a waypoint can be robot’s joint positions or TCP, depending on the value of the returned data format parameter in the command sent by the robot.

Motion type

1: joint motion (MOVEJ)
2: linear motion (MOVEL)

Tool ID

The ID of the tool to be used at this waypoint. The value “-1” means that no tool will be used at this waypoint.

Velocity

The parameter value, represented in percentage, equals the velocity set for the move-type Steps multiplied by the global velocity set in Mech-Viz.

Vision Move data

Vision Move data includes the following information.

Name

Description

Number of elements

Labels of picked workobjects

Consists of 10 integers. By default, its value is ten 0s.

Number of picked workobjects

The total number of workobjects that have been picked.

Number of workobjects to be picked this time

The number of workobjects to be picked this time.

Edge/corner ID of vacuum gripper

The ID of the edge/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.

Number of elements in custom output data

Port name	poses	labels	customData1	customData2
Output	[ [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] ]
Number of rows (i.e. number of items in the list)	2	2	2	2
Number of columns (i.e. number of elements in each item)	7	1	3	2

Element in custom output data

Port name

poses

labels

customData1

customData2

Port 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]

]

The first vision point

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

[0, 0, 1]

[0, 0]

The second vision point

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

[1, 0, 0]

[1, 1]

The custom port outputs are arranged in the alphabetical order of the names of custom ports.

Examples

The robot sends the following command to the vision system.
```
210, 4
```

The vision system returns the following result to the robot.

Parameter		Value
Command number		210
Status code		2100
Status of transmitting waypoints		1
Waypoint type		1
Pose		95.7806, 644.5677, 401.1013, 91.1206, -171.1301, 180.0
Motion type		1
Tool ID		0
Velocity		55
Vision Move data	Labels of picked workobjects	1, 1, 1, 0, 0, 0, 0, 0, 0, 0
	Number of picked workobjects	100
	Number of workobjects to be picked this time	3
	Edge/corner ID of vacuum gripper	28
	TCP offset	95.7806, 644.5677, 0
	Orientation of workobject group	0
	Orientation of workobject	0
	Dimensions of the workobject group	600, 800, 300
Custom output data	Number of elements in custom output data	5
	Elements in data output by custom port a	0, 0, 1
	Elements in data output by custom port b	2, 2

Command 501: Input Object Dimensions to Mech-Vision Project

Description

This function 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 Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

501, Mech-Vision project ID, length, width, height

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Length, width, height

The object dimensions, in mm, to be input to the Mech-Vision project. 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.

Returned Data Format

501, status code

Status code

Status code 1108 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system to input the object dimensions (100 x 200 x 300 mm) to the Mech-Vision project with an ID of 1.
```
501, 1, 100, 200, 300
```
The vision system returns the following result. “1108” indicates that the object dimensions are successfully input to the “Read Object Dimensions” Step.
```
501, 1108
```

Command 503: Input Poses to Mech-Vision Project

Description

This command inputs poses to the Mech-Visionproject. The input pose will be used as the pose list parameter value of the “Easy Create Poses” Step, as shown below.

Calling Sequence

This command should be called BEFORE Command 101.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

503, Mech-Vision project ID, Step name, pose

Mech-Vision project ID

You can check the ID of a Mech-Vision project in the “Project List” panel. The number before the name of a project is its ID.

Step Name

The value of the Step Name parameter of the “Easy Create Poses” Step. This value should be set to a number beforehand, such as the number 1 in the figure above.

Pose

Input pose data. This data will become the pose list parameter value of the “Easy Create Poses” Step.

The pose input here 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 (°).
After the command is executed successfully, the pose list parameter value of the “Easy Create Poses” Step is the input pose, but the pose is in quaternions, and the unit of data is meters.

Returned Data Format

503, status code

Status code

Status code 1110 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system to input the robot pose (for example, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0) to the Mech-Vision project. This command sets the value of the Pose List parameter in the Easy Create Poses Step to the robot pose mentioned above.

The Mech-Vision project should contain the “Easy Create Poses” Step, and the Step name should be set to numbers beforehand. The Step name in this example is 1.
```
503, 1, 1, 549.56, 50.0, 647.01, 180.0, -1.0, 180.0
```
The vision system returns the following result. “1110” indicates that the pose is set successfully. In this case, the pose list parameters of the “Easy Create Poses” Step are [0.54956, 0.05, 0.64701, -0.999962, 0, -0.00872654, 1.2246e-16].
```
503, 1110
```

Command 601: Get Message from Notify Step

Description

When the Mech-Vision project or Mech-Viz project is executing the “Notify” Step, the vision system returns the message defined 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 “Output” Step is taken as an example in the image below.
2. Select Trigger Control Flow Given Output in the parameter panel of the “Output” Step.
3. In the parameter panel of the “Notify” Step, enter Standard Interface Notify (a required value) for the 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 immediately AFTER Command 101 or Command 201.

For details, see “Calling Sequence of Standard Interface Commands”.

Command Format

601

Returned Data Format

601, message from Notify Step

Message from Notify Step

Value in the Message text box of the “Notify” Step.

Examples

The robot sends the following command to the vision system. The “Notify” Step in the Mech-Vision project mentioned above is taken as an example.
```
601
```
The vision system returns the following result. “1000” is the value of the Message parameter of the “Notify” Step.
```
601, 1000
```

Command 701: Calibration

Description

This command is used for Hand-eye calibration. It should be used together with the *Camera Calibration * tool on the toolbar of Mech-Vision. In calibration, the robot first moves to the start point and sends the start point to the vision system using this command. Then, the vision system returns the position of the next calibration point; and the robot moves to this point and sends this command to require the position of the calibration point after this one. The robot and the vision system repeat the interaction until calibration is finished.

Command Format

701, calibration status, flange pose, joint positions

Calibration status

0: Notifies Mech-Vision to initiate the calibration.
1: The robot has reached the previous calibration point.
2: The robot failed to reach the previous calibration point.

Flange pose

The current flange pose of the robot.

Joint positions

Current joint positions of the robot.

Returned Data Format

701, status code, calibration status, flange pose of next calibration point, joint positions of next calibration point

Status code

Status code 7101 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Calibration status

0: In the process of calibration.
1: Calibration is finished.

Flange pose of next calibration point

The flange pose of the next calibration point that the robot is supposed to move to.

Joint positions of next calibration point

The joint positions of the next calibration point that the robot is supposed to move to.

Examples

The robot sends the following command to the vision system. “0” is to instruct Mech-Vision to start calibration, and the remaining data in the command represents the pose of the start point of calibration.
```
701, 0, 1371.62147, 25.6, 1334.3529, 148.58471, -179.24347, 88.75702, 88.86102, -7.11107, -28.82309, -0.44014, -67.6509, 31.4764
```
The vision system returns the following result to the robot. “0” indicates that the calibration is in progress, and the remaining data in the command represents the pose of the next calibration point.
```
701, 7101, 0, 1271.6969, -74.3374, 1334.34094, -3128.422, 179.2412, -91.11236, 93.28109, -12.0273, -32.8811, -0.37183, -68.41364, 27.02411
```
The robot sends the following command to the vision system. “1” indicates that the robot has successfully reached the start point of calibration, and the remaining data in the command represents the robot’s current pose, i.e., the pose of the next calibration point in the command returned by the vision system previously.
```
701, 1, 1271.6969, -74.3374, 1334.34094, -3128422, 1792412, -91.11236, 93.28109, -12.0273, -32.8811, -0.37183, -68.41364, 27.02411
```
The vision system returns the following result to the robot. “0” indicates that the calibration is in progress, and the remaining data in the command represents the pose of the next calibration point.
```
701, 7101, 0, 1471.62226, -74.40452, 1334.34235, 148.56924, -179.24432, 88.74148, 92.8367, -2.14999, -24.25433, -0.39222, -67.23261, 27.485225
```
Repeat the steps above to obtain following calibration points.

The vision system returns the following result. “1” indicates that calibration is finished. Now, the calibration process is done.

701, 7101, 1, 1371.62147, 25.6, 1334.3529, 148.58471, -179.24347, 88.75702, 88.86102, -7.11107, -28.82309, -0.44014, -67.6509, 31.4764

Command 901: Get Software Status

Description

This command is to check if the Mech-Vision project is ready to operate.

Command Format

901

Returned Data Format

901, status code

Status code

Status code 1101 is returned for a successful command execution. For a failed command execution, the specific error code is returned. For details, refer to Status Codes and Troubleshooting.

Examples

The robot sends the following command to the vision system.
```
901
```
The vision system returns the following result. “1101” indicates that the Mech-Vision project is ready to operate.
```
901, 1101
```

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