PROFINET Interface Commands

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.

For details, see Calling Sequence of Standard Interface Commands.

VISION_PROJ_NUM

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.

REQ_POSE_NUM

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

ROBOT_POSE_TYPE, ROBOT_POSE_JPS/ROBOT_POSE_TCP

The following table explains the relationship between ROBOT_POSE_TYPE and ROBOT_POSE_JPS/ROBOT_POSE_TCP.

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.

This command obtains vision result, 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.

This command should be called AFTER Command 101: Trigger Mech-Vision Project.

For details, see Calling Sequence of Standard Interface Commands.

VISION_PROJ_NUM

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.

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.

SEND_POSE_NUM

This parameter indicates the number of obtained vision points.

SEND_POSE_TYPE

This parameter indicates the pose type of the vision point. Its default value is 2, which stands for TCP.

TARGET_POSE

This parameter indicates the pose of a single vision point in the obtained vision results, with the pose type being TCP.

TARGET_LABEL

This parameter indicates the label of a single vision point in the obtained vision results. Labels and poses are one-to-one paired.

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

This command should be called BEFORE Command 101: Trigger Mech-Vision Project.

For details, see Calling Sequence of Standard Interface Commands.

VISION_PROJ_NUM

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.

VISION_RECP_NUM

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.

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.

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 Config wizard as shown in the image below. For details about Path Planning Step, see Path Planning.

This command should be called AFTER Command 101: Trigger Mech-Vision Project.

For details, see Calling Sequence of Standard Interface Commands.

VISION_PROJ_NUM

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.

REQ_POSE_TYPE

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

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.

SEND_POSE_NUM

This parameter indicates the number of obtained waypoints.

SEND_POSE_TYPE

This parameter indicates the pose type of waypoints. The value of this parameter is the same as that of the REQ_POSE_TYPE parameter.

VISUAL_PT_INDEX

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.

TARGET_POSE

This parameter indicates the pose of a single waypoint in the obtained planned path. The pose type can be TCP or JPs. The pose type is decided by the REQ_POSE_TYPE parameter in the command sent by the robot.

TARGET_LABEL

This parameter indicates the label of a singe waypoint in the obtained planned path. Labels and poses are one-to-one paired.

TARGET_TOOL_ID

This parameter indicates the tool IDs of a single waypoint in the obtained planned path. Tool IDs are set in the path planning tool. The tool IDs and poses are one-to-one paired.

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.

For details, see Calling Sequence of Standard Interface Commands.

REQ_POSE_TYPE, ROBOT_POSE_JPS/ROBOT_POSE_TCP

The following table explains the relationship between ROBOT_POSE_TYPE and ROBOT_POSE_JPS/ROBOT_POSE_TCP.

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.

This command stops the Mech-Viz project.

This command should be called AFTER Command 201: Trigger Mech-Viz Project.

For details, see Calling Sequence of Standard Interface Commands.

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.

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.

This command should be called AFTER Command 201: Trigger Mech-Viz Project.

For details, see Calling Sequence of Standard Interface Commands.

VIZ_TASK_NAME

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.

VIZ_TASK_VALUE

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. Assume that you set VIZ_TASK_NAME to 2 and VIZ_TASK_VALUE to 1. When the Mech-Viz project execution reaches the Branch by Msg Step No.2 after the PLC sends this command to the vision system, the project will take exit port 0 of the Branch by Msg Step No.2.

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.

This command sets the value of the Current Index parameter of index-type Steps. Index-type Steps are Steps that include the Index section, which include Move by Grid, Move by List, Custom Pallet Pattern, and Predefined Pallet Pattern.

Index-type Steps are often preceded by a “Branch by Msg” Step. The robot should call commands in this order: Command 201: Trigger Mech-Viz Project, Command 204: Set Current Index for Mech-Viz, and Command 203: Set Exit Port for Branch by Msg in Mech-Viz. 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.

VIZ_TASK_NAME

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.

VIZ_TASK_VALUE

This parameter specifies the Current Index for an 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. Assume that you set VIZ_TASK_NAME to 2 and VIZ_TASK_VALUE to 1. After the PLC sends this command to the vision system, the current index value of the step with Step No. 2 will be 0.

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.

This command obtains the path planned by the Mech-Viz project as a series of waypoints.

This command should be called AFTER Command 201: Trigger Mech-Viz Project.

For details, see Calling Sequence of Standard Interface Commands.

REQ_POSE_TYPE

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

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.

SEND_POSE_NUM

This parameter indicates the number of obtained waypoints.

SEND_POSE_TYPE

This parameter indicates the pose type of waypoints. The value of this parameter is the same as that of the REQ_POSE_TYPE parameter.

VISUAL_PT_INDEX

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.

TARGET_POSE

This parameter indicates the pose of a single waypoint in the obtained planned path. The pose type can be TCP or JPs. The pose type is decided by the REQ_POSE_TYPE parameter in the command sent by the robot.

TARGET_LABEL

This parameter indicates the label of a singe waypoint in the obtained planned path. Labels and poses are one-to-one paired.

TARGET_TOOL_ID

This parameter indicates the tool IDs of a single waypoint in the obtained planned path. Tool IDs are set in the Mech-Viz project. The tool IDs and poses are one-to-one paired.

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.

This command must be called AFTER Command 205: Get Planned Path from Mech-Viz. This means that the PLC must obtain the planned path and then obtain gripper DO signals of the Vision Move waypoint.

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_LIST

This parameter indicates the 64 DO signals returned by the vision system. DO_LIST consists of 8 (0 to 7) bytes. Each byte consists of 8 bits (0 to 7). Therefore, the 0 to 63 bits of DO_LIST correspond to 0 to 63 DO signals. For example, bit 0 of DO_LIST corresponds to DO 0. If the value of this bit is True, the DO signal is active; if the value is False, the DO signal is inactive.

This command 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.

This command should be called BEFORE Command 101: Trigger Mech-Vision Project.

For details, see Calling Sequence of Standard Interface Commands.

VISION_PROJ_NUM

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.

EXT_INPUT_DATA

This parameter indicates 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.

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.

When the Mech-Vision project or Mech-Viz project is executing the Notify Step, the vision system returns the message predefined in the Notify Step.

Before sending this command, complete the following settings for the Notify Step.

This command should be called immediately AFTER Command 101: Trigger Mech-Vision Project or Command 201: Trigger Mech-Viz Project.

For details, see Calling Sequence of Standard Interface Commands.

NOTIFY_MSG

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

This command checks if the Mech-Vision project is ready.

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.