Standard Interface Communication Configuration for AUBO (ARCS)

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The Mech-Mind vision system communicates with the AUBO (ARCS) robot through a plug-in. This section describes how to import the plug-in into the AUBO (ARCS) robot and complete the standard-interface communication configuration between the vision system and the robot.

Check Hardware and Software Versions

  • Confirm that the AUBO robot control system is ARCS.

  • Confirm that the teach pendant version is 0.31.0-rc.30.

    Click to view the operation method

    1. On the Home screen of the teach pendant, click About to view the teach pendant version number.

The standard-interface plug-in does not support communication by connecting a tablet directly to the controller. If you need to use a tablet for communication, install RealVNC on the tablet and connect to the controller remotely so that the standard-interface plug-in can work properly.

Establish a Network Connection

Hardware Connection

Insert one end of the Ethernet cable into the network port of the IPC and the other end into the LAN port of the robot controller cabinet, as shown below.

Set IP Addresses

  1. On the Home screen of the teach pendant, click Settings  System  LAN Port  LAN(ens33)  Edit, set the robot IP address according to the actual network, and then click Apply.

  2. On the IPC, set the IP address of the IPC.

    The IPC IP address must be in the same subnet as the robot IP address. In other words, the network part and subnet mask of the two IP addresses must be the same. For example, 192.168.100.169/255.255.255.0 and 192.168.100.170/255.255.255.0 are in the same subnet.

Set the Euler-Angle Convention

  1. Open Mech-Viz, click New Empty Project. In the dialog box, click Get Online Robot Model List, select AUBO for the robot brand, and select the specific robot model in the right panel.

  2. In the left panel of Mech-Viz, right-click the robot and select Open Robot File Directory.

  3. Go up two directory levels to the Robot Library 2.0 directory.

  4. Open the robot_euler_angles_convention.json file with an editor, add the following code, then save and close the file.

        "AUBO": {
        "euler_angles_convention": "XYZ_S_w,p,r"
    },

  5. Open the default_robot_communication_settings.json file with an editor, add the following code, then save and close the file.

        "AUBO": {
        "is_enable_interface": true,
        "is_interface_needed": true,
        "interface_format": "ASCII",
        "interface_name": "TCP Server"
    },

  6. Close Mech-Viz.

Set Robot Communication Configuration

  1. Open Mech-Vision. You may enter different interfaces. Create a new solution according to the instructions below.

    • If you have entered the Welcome interface, click New blank solution.

    create solution 1

    • If you have entered the main interface, click File  New Solution on the menu bar.

    create solution 2

  2. Click Robot Communication Configuration on the toolbar of Mech-Vision.

  3. In the Robot Communication Configuration window, complete the following configurations.

    1. Click the Select robot drop-down menu, and select Listed robot. Click Select robot model, and select the robot model that you use. Then, click Next.

    2. In the Communication mode section, select Standard Interface for Interface service type, TCP Server for Protocol, and ASCII for the protocol format.

    3. It is recommended to set the port number to 50000 or above. Ensure that the port number is not occupied by another program.

    4. (Optional) Select Auto enable interface service when opening the solution.

    5. Click Apply.

tcp ascii

  1. On the main interface of Mech-Vision, make sure that the Robot Communication Configuration switch on the toolbar is flipped and has turned blue.

    interface service

Install Files to the Robot

  1. On the IPC, go to the installation directory of Mech-Vision and Mech-Viz, enter the Communication Component\Robot_Interface\Robot_Plugin\AUBO_CAP folder, copy the mminterface-x.x.x.zip plug-in file to the root directory of a USB drive, and safely remove the USB drive.

    • This document uses mminterface-1.0.0.zip as an example. If the file name is another version, the operation method is similar.

    • It is recommended to use a USB drive formatted with the FAT32 file system to ensure that the robot can correctly recognize and read it.

  2. Insert the USB drive into the USB port of the robot teach pendant.

  3. On the Home screen of the teach pendant, click Settings  System  USB Import, select the name of the USB drive in use, and click Import after the mminterface-x.x.x.zip file.

  4. Click Plug-in  Add.

  5. In the pop-up window, select the imported mminterface-x.x.x.zip file and click Select.

  6. On the following screen, turn on the mminterface plug-in, then click Restart to make the plug-in take effect.

Test Standard Interface Communication

  1. If the robot is not powered on, on the Home screen of the teach pendant click Power On, confirm the payload, then click Continue  Start. If the robot is already powered on, skip this step and continue to the next one.

  2. On the teach pendant interface, click Programming, select Add before start, and clear Loop program forever. The Add before start program segment appears in the program area on the right.

  3. Click Plug-in, select Empty under Add before start, click initSocket, and add mm_init_socket to the program. On the Command tab, enter the IPC IP address in IP and the host port number configured in Mech-Vision in Port.

  4. Under Robot Programming, click openSocket and closeSocket respectively to add mm_open_socket and mm_close_socket to the program.

  5. Save the preceding program, then click Run in the lower-left corner and select Run from start point.

  6. If the communication connection between the robot and the vision system is established successfully, related prompts appear on the Console tab of the Mech-Vision log window.

    vision center log

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