Master-Control Communication Setup

This topic describes how to set up master-control communication between Mech-Mind Vision System and a Han’s robot.

Check Controller and Software Versions

In the logon interface of the teach pendant, enter the username and password and click Confirm to go to the robot system. The default username and password are both admin.
Select the menu icon in the upper-right corner About. In the pop-up window, view the interface, hardware, and CPS version.

The versions listed below are tested and can be used. If you use other versions, errors may occur.

Plug one end of the Ethernet cable into the network port of the IPC and the other end into the network port (LAN1) of the robot controller.

On the teach pendant, select System Network enp1s0 Static IP, modify the robot IP address, subnet mask, and default gateway, and then click Apply. In the pop-up window, click the restart button for the new IP address to take effect.
Set the IP address on the IPC.

The IP addresses of the IPC and the robot should differ from each other but reside in the same subnet.

On the teach pendant, select Run Open.
In the following interface, click Enable.

After you click Enable, the following interface appears.

Open Mech-Viz, press Ctrl+N on the keyboard to create a new project. Select the robot model corresponding to your real robot brand and model on the interface as shown below.
Press Ctrl+S and create or select a folder to save the project.
Right-click the project name in the left panel in Mech-Viz and select Autoload Project.

Click Master-Control Robot on the toolbar of Mech-Viz.
Input the IP address of the real robot in Robot IP address (the IP address in the picture is only an example). Click Connect the robot.

If Mech-Viz successfully connects the real robot, the current status will change to Connected. Meanwhile, the icon in the toolbar will turn from blue to green.

If the connection fails, please double-check the robot IP address.

In the toolbar of Mech-Viz, change the Vel. (velocity) and Acc. (acceleration) parameters to 5%.
Click Sync Robot in the toolbar, and you can synchronize the poses of the simulated robot in the 3D simulation space with the poses of the real robot. Then click Sync Robot again to unselect it.
In the Robot tab, slightly adjust the value of J1, for example, from 0˚ to 3˚. This operation will move the simulated robot.
Click Move real robot and check if the real robot has moved. If the real robot has reached the joint positions set for the simulated robot, the master-control communication is working.

When moving the robot, please ensure the safety of personnel. In the case of an emergency, press the emergency stop button on the teach pendant!