Register Instructions

This parameter indicates the system heartbeat, which toggles every 1 second.

This parameter is used to feedback whether the TRIGGER successfully activated the vision system. The values are defined as follows:

TRIGGER_ACKNOWLEDGE remains high until the TRIGGER is reset.

This parameter indicates whether the camera has completed exposure. The values are defined as follows:

When the camera completes exposure, this parameter is set to 1. It is usually used to notify the robot whether it can move from the image-capturing position.

This parameter indicates whether the pose data is readable. The values are defined as follows:

This parameter is specifically used for Command 102, Command 105, and Command 205 to receive multiple sets of pose data sent by the vision system.

This parameter is used to indicate whether the command has been executed. The values are defined as follows:

This parameter is a reserved field for future use.

This parameter indicates the calibration status. The values are defined as follows:

This parameter indicates the number of vision points or waypoints sent by the vision system.

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

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

For example, if the planned path consists of the following waypoints: "Fixed-Point Move_1", "Fixed-Point Move_2", "Vision Move", "Fixed-Point Move_3", the position of the Vision Move waypoint is 3.

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.

This parameter is a reserved field for future use.

This parameter is used to store the message sent by the “Notify” Step. For details, see Command 601.

This parameter is a reserved field for future use.

This parameter is a reserved field for future use.

This parameter is a reserved field for future use.

This parameter indicates the status code returned by the vision system. For details, see Status Codes and Troubleshooting.

This parameter indicates the pose sent by the vision system. The pose type can be TCP or JPs. The pose type is determined by the REQ_POSE_TYPE parameter specified when sending the command.

This parameter indicates the label sent by the vision system. Labels and poses are one-to-one paired.

This parameter indicates the tool IDs sent by the vision system. The tool IDs and poses are one-to-one paired.

This parameter is a reserved field for future use.

This parameter indicates whether communication is enabled. The values are defined as follows:

This parameter indicates whether the PLC triggers the vision system to execute a command. The values are defined as follows:

This parameter resets EXPOSURE_COMPLETE. If RESET_EXPOSURE is set to 1, EXPOSURE_COMPLETE will be set to 0.

This parameter is used to confirm whether the PLC has read the data returned by the vision system (used only for Command 102, Command 105, and Command 205). The values are defined as follows:

This parameter resets message notifications. If CLEAR_NOTIFY is set to 1, the content of NOTIFY_MESSAGE will be cleared.

This parameter is a reserved field for future use.

This parameter indicates the robot calibration status. The values are defined as follows:

This parameter specifies the format in which the real robot pose will be passed to a Mech-Vision or Mech-Viz project. For details, see Command 101 and Command 201.

This parameter specifies the number of vision points or waypoints expected to be returned by the Mech-Vision project. For details, see Command 101 for details.

This parameter indicates the expected robot pose type returned by the vision system. The value of this parameter is the same as that of the SEND_POSE_TYPE parameter. The values are defined as follows:

This parameter specifies the Mech-Vision project ID. You can check the Mech-Vision project ID in the Mech-Vision Project List panel. The project ID is the number before the project name.

This parameter indicates the parameter recipe ID in the Mech-Vision project. For details, see Command 103.

This parameter indicates the Step ID of the Step in a Mech-Viz project.

This parameter specifies the exit port of a “Branch by Msg” Step (see Command 203) or the current index of an index-type Step (see Command 204).

This parameter is a reserved field for future use.

This parameter is a reserved field for future use.

This parameter is a reserved field for future use.

This parameter is a reserved field for future use.

This parameter indicates the command code, e.g., 101, 102, etc.

This parameter indicates the robot joint positions passed to the Mech-Vision or Mech-Viz project. For details, see Command 101 and Command 201.

The JPs are represented in degrees and can include up to six joint angles in the following format:

J1, J2, J3, J4, J5, J6

This parameter indicates the robot flange pose passed to the Mech-Vision or Mech-Viz project. For details, see Command 101 and Command 201.

A flange pose contains 3D coordinates （X, Y, Z) and Euler angles (A, B, C), structured as follows:

X, Y, Z, A, B, C

This parameter is a reserved field for future use.