EFORT Standard Interface Communication Configuration

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This section describes how to burn the robot standard interface program into an EFORT series robot and complete the standard interface communication configuration between the Mech-Mind vision system and the robot.

Burning the standard interface program means importing the robot standard interface program and configuration files into the robot system, so that standard interface communication between the vision system and the robot can be established.

Preparations Before Burning

Check Hardware and Software Versions

The models and versions listed below are tested and can be used. For other models and versions, you may refer to this guide for operation. If any issues occur, please contact Mech-Mind Technical Support.

  • Robot model: ER3H_600.

  • Software version: R2T1E_V3.8.0.

    Click to view the operation procedure

    1. Open the teach pendant, enter the login page, input the login password, and log in as Operator.

      • The default login account is Operator, and the default login password is 1975. If the login password has been changed, contact the robot administrator to get the password.

      • If unlocking is required later, the unlock password is the same as the login password.

    2. After logging in, click the Home icon in the upper-left corner of the teach pendant interface, and then click About to display robot information.

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 the IP Address

  1. On the taskbar of the teach pendant interface, click Login. On the login page, click Permission Settings. In the pop-up window, click Get Permission.

    • If the teach pendant has already obtained permission at this time, the permission connection button displays Release Permission.

    • Only after permission is obtained successfully can you write to the controller. If permission acquisition fails, refer to the official robot manual for troubleshooting.

  2. After permission is obtained successfully, click the Home icon in the upper-left corner of the teach pendant interface, and then click Settings.

  3. Click System, set the ETH3 IP address in IP settings, and then click Save.

  4. On the IPC, set the IPC IP address.

    The IPC IP address and the robot IP address must be on the same subnet, that is, the network portion 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 on the same subnet.

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. Under Robot integration, click Open program folder.

      The files needed for subsequent loading will be copied from this folder. Do not close this folder.

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

    6. 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

Burn Files into the Robot

  1. In the opened burning program folder (EFORT folder), copy the MM_Module.XPL folder to the root directory of the USB drive, and then safely remove the USB drive.

    The burning program folder can also be found under Communication Component/Robot_Interface/EFORT in the installation directory of Mech-Vision and Mech-Viz.

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

  3. On the taskbar, click File  Project in sequence.

  4. In the bottom bar, click USB  From USB in sequence.

  5. In the following interface, select file MM_Module.XPL and click Import.

Test Standard Interface Communication

  1. In the teach pendant interface, click the Home icon in the upper-left corner, and then click TCP IP.

    If TCP IP is not displayed on the teach pendant interface, click Settings on the taskbar; in the left navigation bar, click Application Selection; in the application list on the right, select TCP IP, and click Save. After the robot restarts, TCP IP will appear on the interface.

  2. In the following interface, set communication parameters and click Save.

    • Protocol type: Select Client.

    • Socket number: Select Socket 1. This socket number must be consistent with the first parameter value in MM_Init_Socket.

    • Server IP: Enter the IPC IP address.

    • Port: 50000. If the host port number in Mech-Vision is changed, change this port number 50000 accordingly so that it remains consistent with the host port number set in Mech-Vision.

    • Timeout: 50000 microseconds.

    • Heartbeat interval: 10000 microseconds.

    • Start character: Leave empty.

    • Terminator: Select CR($R).

  3. In the following interface, select the imported MM_Module.XPL file and click Open.

  4. In the Program interface, select MM_Com_Test, move the cursor to the first line of the program, and click Set PC.

  5. Switch the key switch to manual low-speed (T1) mode. Press the three-position enabling switch (the first position is servo off, the second position is servo on, and the third position is servo off) to power on the servo. Press *鈻? (Start) on the teach pendant to run the program. The figure below shows a virtual teach pendant interface. The real teach pendant has corresponding buttons.

  6. If communication 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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