ESTUN Standard Interface Commands

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This section describes standard interface commands used in TCP communications between a ESTUN robot and Mech-Mind Vision System. The robot (the client) sends commands to Mech-Mind Vision System (the server), and Mech-Mind Vision System returns the processed data to the robot.

Command Overview

Commands related to Mech-Vision

Commands related to Mech-Viz

Initialize Communication

Establish TCP Communication

Close TCP Communication

Run Mech-Vision Project

Switch Mech-Vision Parameter Recipe

Get Vision Result

Get Planned Path in Mech-Vision

Store Vision Result or Planned Path (TCP)

Store Planned Path (joint positions)

Get Mech-Vision Custom Data

Get Gripper DO List from Mech-Vision

Get Gripper DO List from Mech-Viz

Get Message from Notify Step

Calibration

Input Object Dimensions to Mech-Vision Project

Initialize Communication

Establish TCP Communication

Close TCP Communication

Run Mech-Viz Project

Set Exit Port for Branch by Msg Step in Mech-Viz

Set Current Index in Mech-Viz

Get Planned Path in Mech-Viz

Store Vision Result or Planned Path (TCP)

Store Planned Path (joint positions)

Read Mech-Viz Step Parameter

Set Mech-Viz Step Parameter

Get Vision Move Data or Custom Data

Get Gripper DO List from Mech-Vision

Get Gripper DO List from Mech-Viz

Get Message from Notify Step

Stop Mech-Viz Project

Precautions

When programming an ESTUN robot, take note of the following items:
- Newly created programs must be located in the MM_Interface folder, and can call subprograms within the MM_Interface folder.
- When calling standard interface commands, you need assign values to the input parameters in advance.
Unit of data:
- The unit of joint positions is degree (°).
- A robot’s flange pose or TCP consists of the position and pose. The position is represented in XYZ coordinates and is measured in millimeters (mm); the pose is represented in Euler angles and is measured in degrees (°).
Vision point and waypoint:
- Vision point: An object recognized by Mech-Vision. A vision point has information including the object pose, label, dimensions, and custom data.
- Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, and motion type. Waypoints can be divided into two categories:
  - Vision Move waypoint: Waypoint corresponding to the Vision Move Step.
  - Non-Vision Move waypoints, which refer to the waypoints corresponding to Move-type Steps other than the Vision Move Step.

Initialize Communication

This command sets the IP address of the IPC, port number, and timeout period for robot communication.

Calling Sequence

This command should be called before Establish TCP Communication.

Command Format

MM_INIT_SKT

Input Parameters

This parameter indicates the IP address of the IPC, which is an integer array of length 4.

PORT

This parameter specifies the port number used by the IPC to establish the communication between the IPC and the robot. This port number must be consistent with the host port number that is specified for robot communication in the toolbar of Mech-Vision.

TIME_OUT

This parameter specifies the communication timeout period. Unit: seconds.

Establish TCP Communication

This command establishes the TCP communication between the robot and the vision system.

Command Format

MM_OPEN_SOCKET

Calling Sequence

This command should be called after Initialize Communication.

Close TCP Communication

This command closes the TCP communication between the robot and the vision system.

Calling Sequence

After you receive the result of the Mech-Vision or Mech-Viz project, you can call this command to close the communication and store the result in variables.

Command Format

MM_CLOSE_SOCKET

Run Mech-Vision Project

Command

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.

Vision point: An object recognized by Mech-Vision. A vision point has information including the object pose, label, dimensions, and custom data.
Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, and motion type.

Calling Sequence

You should set Step parameters before starting a Mech-Vision project. Therefore, call Switch Mech-Vision Parameter Recipe or Input Object Dimensions to Mech-Vision Project before calling Run Mech-Vision Project.
Vision system gets vision points and waypoints only when a Mech-Vision project is running. Therefore, call Run Mech-Vision Project before calling Get Vision Result, Get Planned Path in Mech-Vision, or Get Mech-Vision Custom Data.

Command Format

MM_START_VIS

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

NEED_POINT_NUM

This parameter indicates the number of vision points or waypoints expected to be returned by the Mech-Vision project. Valid values: 0 to the largest positive integer.

If the Mech-Vision project has a Path Planning Step, this parameter indicates the expected number of waypoints. Otherwise, it indicates the expected number of vision points.

0: Obtain all vision points or waypoints from the Mech-Vision project.
A positive integer: Obtain the specific number of vision points or waypoints from the Mech-Vision project.
- If the total amount of vision points or waypoints output by the Mech-Vision project is smaller than the parameter value, this command will obtain the number of all vision points or waypoints.
- If the total amount of vision points or waypoints output by the Mech-Vision project is larger than or equal to the parameter value, this command will obtain the number of vision points or waypoints as specified by this parameter.

Vision points or waypoints will not be returned after Run Mech-Vision Project is called. To obtain vision points, call Get Vision Result or Get Mech-Vision Custom Data. To obtain waypoints, call Get Planned Path in Mech-Vision.
The default maximum number of vision points or waypoints that the vision system sends at a time is 20. To modify the default maximum number of poses to obtain each time as needed, go to Robot and Communication > Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision. The upper limit is 30.

SEND_ROBOT_DATA_TYPE

This parameter specifies the pose type of the real robot to send to the Mech-Vision project. Valid values: 0, 1, 2, and 3. The following table describes the details.

SEND_ROBOT_DATA_TYPE	Description	Applicable scenario
0	The command does not send the robot pose data to the Mech-Vision project. If the Path Planning Step is used in the Mech-Vision project, the start point of the planned path will be the Home point set in the path planning tool.	This setting should be used if the camera is mounted in eye to hand mode and the project does not require images to be captured beforehand.
1	The current joint positions and flange pose of the robot must be input to the Mech-Vision project.	This setting should be used when the camera is mounted in eye in hand mode. This setting is recommended for most scenarios except those involving gantry robots.
2	The robot flange pose must be input to the Mech-Vision project.	This setting is recommended for scenarios involving gantry robots.
3	This command sends custom joint positions to the Mech-Vision project. This joint positions will be sent to the Path Planning Step in the Mech-Vision project as the start point, where the robot will move from this start point to the first waypoint of the planned path.	This setting should be used if the camera is mounted in eye to hand mode and the project requires images to be captured beforehand.

SEND_ROBOT_DATA_TYPE

Description

Applicable scenario

The command does not send the robot pose data to the Mech-Vision project.

If the Path Planning Step is used in the Mech-Vision project, the start point of the planned path will be the Home point set in the path planning tool.

This setting should be used if the camera is mounted in eye to hand mode and the project does not require images to be captured beforehand.

The current joint positions and flange pose of the robot must be input to the Mech-Vision project.

This setting should be used when the camera is mounted in eye in hand mode.

This setting is recommended for most scenarios except those involving gantry robots.

The robot flange pose must be input to the Mech-Vision project.

This setting is recommended for scenarios involving gantry robots.

This command sends custom joint positions to the Mech-Vision project.

This joint positions will be sent to the Path Planning Step in the Mech-Vision project as the start point, where the robot will move from this start point to the first waypoint of the planned path.

This setting should be used if the camera is mounted in eye to hand mode and the project requires images to be captured beforehand.

VIS_VIZ_CST_JPS

This parameter specifies the custom joint positions.

If the SEND_ROBOT_DATA_TYPE parameter is set to 3, the joint positions will be sent to the Path Planning Step in the Mech-Vision project as the start point, where the robot moves from this start point to the first waypoint of the planned path.
If the SEND_ROBOT_DATA_TYPE parameter is set to a value other than 3, the joint positions here will have no effect.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1102 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
p:NEED_POINT_NUM.value = 1
p:SEND_ROBOT_DATA_TYPE.value = 1
CALL MM_START_VIS

In the preceding example, the Mech-Vision project whose ID is 1 is run, and one vision point is expected to be returned by the Mech-Vision project. At the same time, the robot sends the current joint position and flange pose data to the Mech-Vision project.

Get Vision Result

Command

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.

If the first input port of the Output Step is Object Center Points, the Output Step will convert the object center points into the corresponding pick points. Therefore, the object poses obtained by running this command are actually poses of pick points, instead of poses of object center points.

Convert the object pose from a quaternion to Euler angles.
Rotate the object’s pose around the X-axis by 180° to orient its Z-axis downward.

Calling Sequence

This command should be called after Run Mech-Vision Project. After you call this command, call Store Vision Result or Planned Path (TCP) to access pose data.

Command Format

MM_GET_VIS_DATA

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

Output Parameters

VISUAL_MOVE_NUM

This parameter stores the number of vision points returned by Mech-Vision.

By default, after the robot sends this command, the vision system returns the result in 10 seconds. If the vision system fails to return any result in 10 seconds, a timeout error code is returned. To modify the default timeout period as needed, go to Robot and Communication > Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision.

GET_ALL_POSE

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1100 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
CALL MM_GET_VIS_DATA

The above example demonstrates how to obtain the vision result in Mech-Vision Project 1.

Store Vision Result or Planned Path (TCP)

Command

This command stores the TCP, label, and tool ID of the vision point or waypoint in the variables.

Command Format

MM_GET_POSE

Input Parameters

USE_NUM

This parameter specifies the index of the vision point or waypoint. The TCP, label, and tool ID of the vision point or waypoint that corresponds to the index are stored in the variables. Indexes start from 1.

Output Parameters

USE_POSE

This parameter stores the TCP of the vision point or waypoint that corresponds to the index.

USE_LABEL

This parameter stores the label of the vision point or waypoint that corresponds to the index.

USE_TOOLID

This parameter stores the tool ID of the vision point or waypoint that corresponds to the index.

Example

p:USE_NUM.value = 1
CALL MM_GET_POSE

The above example indicates that the TCP of the first vision point or waypoint will be stored in USE_POSE, the label will be stored in USE_LABEL, and the tool ID will be stored in USE_TOOLID.

Store Planned Path (joint positions)

Command

This command stores the joint positions, label, and tool ID of the waypoint in the variables.

Command Format

MM_GET_JPS

Input Parameters

USE_NUM

This parameter specifies the index of the waypoint. The joint positions, label, and tool ID of the waypoint that corresponds to the index are stored in the variables. Indexes start from 1.

Output Parameters

USE_JPS

This parameter stores the joint positions of the waypoint that corresponds to the index.

USE_LABEL

This parameter stores the label of the waypoint that corresponds to the index.

USE_TOOLID

This parameter stores the tool ID of the waypoint that corresponds to the index.

Example

p:USE_NUM.value = 1
CALL MM_GET_JPS

The above example indicates that the joint positions of the first waypoint will be stored in USE_JPS, the label will be stored in USE_LABEL, and the tool ID will be stored in USE_TOOLID.

Switch Mech-Vision Parameter Recipe

Command

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.

Calling Sequence

This command should be called before Run Mech-Vision Project.

Command Format

MM_SWITCH_MODEL

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

RECIPE_NUM

This parameter indicates the parameter recipe ID in the Mech-Vision project. For details on how to check the parameter recipe ID, see View the Parameter Recipe ID.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1107 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
p:RECIPE_NUM.value = 2
CALL MM_SWITCH_MODEL

In the preceding example, the parameter recipe of the Mech-Vision project whose ID is 1 is switched to recipe 2.

Get Planned Path in Mech-Vision

Command

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, see Path Planning.

Set the Port Type parameter of the Output Step in Mech-Vision to Predefined (robot path).

Calling Sequence

This command should be called after Run Mech-Vision Project. After you call this command, call Store Vision Result or Planned Path (TCP) or Store Planned Path (joint positions) to access pose data.

Command Format

MM_GET_VIS_PATH

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

POS_JPS

This parameter specifies the type of waypoint poses to be obtained. can be set to 1 or 2.

1: joint positions. After you run this command, run Store Planned Path (joint positions) to access joint position data.
2: tool poses. After you run this command, run Store Vision Result or Planned Path (TCP) to access tool pose data.

Output Parameters

GET_ALL_POSE

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

PATH_NUM

This parameter stores the number of waypoints that are returned by the vision system. By default, the vision system sends no more than 20 waypoints at a time. Therefore, the maximum default value of this parameter is 20. To modify the default maximum number of poses to obtain each time as needed, go to Robot and Communication > Robot Communication Configuration Next Advanced Settings in the toolbar of Mech-Vision. The upper limit is 30.

Before you call Get Planned Path in Mech-Vision, set NEED_POINT_NUM of Run Mech-Vision Project to 0 to reduce the number of Get Planned Path in Mech-Vision calls. If NEED_POINT_NUM of Run Mech-Vision Project is set to 1, only one waypoint is obtained each time you call Get Planned Path in Mech-Vision. You need to call Command 105 several times to obtain all waypoints.

VISUAL_MOVE_IN_PATH

The sequence number of the Vision Move waypoint (the waypoint corresponding to the Vision Move step of the path planning tool) in the path. If the waypoint does not exist in the path, the petameter value is 0.

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the sequence number of the Vision Move waypoint is 3.

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1103 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
p:POS_JPS.value = 2
CALL MM_GET_VIS_PATH

In the preceding example, the planned path of the Mech-Vision project 1 is returned, the waypoints of the path are stored in the TCP format, the number of waypoints is stored in PATH_NUM, the sequence number of the Vision Move waypoint in the planned path is stored in VISUAL_MOVE_IN_PATH, and the command execution status code is stored in MM_STATUS.

Get Mech-Vision Custom Data

Command

This command obtains data from the custom port(s) of the Output Step in Mech-Vision. One command call saves all port data of the Output Step to robot memory.

Select the Output Step, set Port Type to Custom, and then click Open the editor to go to the custom port configuration window. The Customized Keys section of the window displays custom port names, such as customeData1 and customeData2 as shown in the following figure.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
You must set Port Type of the Output Step to Custom and select the poses port in the Predefined Keys section in Mech-Vision.

Calling Sequence

This command should be called after Run Mech-Vision Project.

Command Format

MM_GET_VIS_CST_DATA

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

Output Parameters

POSE_LIST

This parameter indicates the poses of all vision points obtained, with the pose type being TCP.

LABELS

This parameter indicates the labels of all vision points obtained this time.

CUSTOMIZE_DATA_NUM

This parameter indicates the custom data of all vision points obtained this time.

GET_ALL_POSE

This parameter specifies whether all vision points are obtained. The value is 0 or 1.

0: Not all vision points are obtained.
1: All vision points are obtained.

MM_STATUS

Example

p:PROJECT_NUM.value = 1
CALL MM_GET_VIS_CST_DATA

The above example indicates that the custom data of Mech-Vision project 1 is obtained, the custom data is stored in CUSTOMIZE_DATA_NUM, the TCP is stored in POSE_LIST, and the label is stored in LABELS.

Input Object Dimensions to Mech-Vision Project

Command

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.

When you use this command, only one Read Object Dimensions Step is allowed in the Mech-Vision project. Otherwise, the vision system will return an error.

Calling Sequence

This command should be called before Run Mech-Vision Project.

Command Format

MM_SET_BOX_SIZE

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

BOX_SIZE[1], BOX_SIZE[2], BOX_SIZE[3]

The preceding three parameters sequentially input the length, width, and height of the object to the Mech-Vision project. The length, width, and height are measured in millimeters (mm). 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.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1108 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
p:BOX_SIZE.value[1] = 500
p:BOX_SIZE.value[2] = 300
p:BOX_SIZE.value[3] = 200
CALL MM_SET_BOX_SIZE

In the preceding example, the length, width, and height of the object of the Read Object Dimensions Step in the Mech-Vision project are 500 mm, 300 mm, and 200 mm respectively.

Run Mech-Viz Project

Command

This command triggers the Mech-Viz project to run. Mech-Viz plans the robot’s motion path based on the vision result output by Mech-Vision.

Right-click the project name in the project resource panel in Mech-Viz and select Autoload Project.

Calling Sequence

You should set Step parameters before starting a Mech-Viz project. Therefore, call Read Mech-Viz Step Parameter or Set Mech-Viz Step Parameter before calling Run Mech-Viz Project.

Command Format

MM_START_VIZ

Input Parameters

SEND_ROBOT_DATA_TYPE

This parameter specifies the way in which the real robot pose is sent to the Mech-Viz project. Valid values: 0, 1, and 2. The following table describes the details.

Robot pose type	Description	Applicable scenario
0	This command does not need to send the robot pose to the Mech-Viz project. The simulated robot in the Mech-Viz project will move from the set home position to the first waypoint.	This setting is recommended when the camera is mounted in eye to hand mode.
1	In this command, the robot sends its current joint positions and flange pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.	This setting is recommended when the camera is mounted in eye in hand mode.
2	In this command, the robot sends the joint positions of a teach point (the custom joint positions), instead of the current joint positions, to the Mech-Viz project. The Mech-Viz project uses the joint positions to plan the next path in advance while the robot is not in the camera capture region, as shown below. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.	This setting is recommended when the camera is mounted in eye to hand mode.

Robot pose type

Description

Applicable scenario

This command does not need to send the robot pose to the Mech-Viz project. The simulated robot in the Mech-Viz project will move from the set home position to the first waypoint.

This setting is recommended when the camera is mounted in eye to hand mode.

In this command, the robot sends its current joint positions and flange pose to the Mech-Viz project. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

This setting is recommended when the camera is mounted in eye in hand mode.

In this command, the robot sends the joint positions of a teach point (the custom joint positions), instead of the current joint positions, to the Mech-Viz project. The Mech-Viz project uses the joint positions to plan the next path in advance while the robot is not in the camera capture region, as shown below. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

This setting is recommended when the camera is mounted in eye to hand mode.

Why robot pose type 2 is recommended when the camera is mounted in eye to hand mode?

In eye to hand mode, the camera can perform image capturing for the next round of path planning before the robot returns to the image capture region and picking region, thus shortening the cycle time. The image below demonstrates how a robot works in the placing region.

If SEND_ROBOT_DATA_TYPE is set to 1, the robot will send the current pose to Mech-Viz. It is possible that the real robot moves to other positions before reaching the first waypoint. However, the simulated robot moves directly to the first waypoint of the Mech-Viz project from the pose sent by the robot. Consequently, there may be a mismatch between the paths of the real robot and simulated robot. This mismatch can potentially lead to unpredicted safety hazards, especially if collision is detected in the path of the simulated robot.

On the other hand, if SEND_ROBOT_DATA_TYPE is set to 2, the robot will send the image-capturing pose set by teaching to Mech-Viz. Thus, the real robot can trigger the next round of path planning in Mech-Viz when the real robot is in the image-capturing region and the cycle time can be shortened.

In conclusion, robot pose type should be set to 2 for projects in eye to hand mode.

VIS_VIZ_CST_JPS

This parameter specifies the custom joint positions.

If the SEND_ROBOT_DATA_TYPE parameter is set to 2, the joint positions will be sent to the Mech-Viz project as the start point, where the robot moves from this start point to the first waypoint of the planned path.
If the SEND_ROBOT_DATA_TYPE parameter is set to a value other than 2, the joint positions here will have no effect.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2103 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:SEND_ROBOT_DATA_TYPE.value = 1
CALL MM_START_VIZ

In the preceding example, the joint position data and flange pose of the robot are input to the Mech-Viz project for the Mech-Viz project to run.

Stop Mech-Viz Project

Command

This command stops the Mech-Viz project.

Calling Sequence

This command should be called after Run Mech-Viz Project.

Command Format

MM_STOP_VIZ

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2104 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

CALL MM_STOP_VIZ

In the preceding example, the running Mech-Viz project is stopped.

Set Exit Port for Branch by Msg Step in Mech-Viz

Command

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.

Calling Sequence

This command should be called after Run Mech-Viz Project.

Command Format

MM_SET_BRANCH

Input Parameters

BRANCH_ID

This parameter specifies the “Branch by Msg” Step by its ID. Valid values: positive integers. The Step ID is displayed in the Step parameter panel. For example, the Step ID of the Step in the image above is 1.

BRANCH_PORT

This parameter indicate the exit port of the Branch by Msg Step. Valid values: positive integers. 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.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2105 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:BRANCH_ID.value = 1
p:BRANCH_PORT.value = 3
CALL MM_SET_BRANCH

In the preceding example, the Mech-Viz project with an ID of 1 exits from the port with an ID of 2 of the Branch by Msg Step.

Set Current Index in Mech-Viz

Command

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.

Calling Sequence

Index-type Steps are often preceded by a Branch by Msg Step. The robot should call commands in this order: Run Mech-Viz Project, Set Current Index in Mech-Viz, and Set Exit Port for Branch by Msg Step in Mech-Viz. This is to ensure that Mech-Viz has enough time to set the Current Index value.

Command Format

MM_SET_INDEX

Input Parameters

SKILL_ID

This parameter specifies the Step ID of the Index-type Step. Valid values: positive integers. The Step ID is displayed in the Step parameter panel. For example, the Step ID of the Step in the image above is 3.

SKILL_INDEX

This parameter sets the value of the Current Index parameter of index-type Steps. Valid values: positive integers. When this parameter value is set to N, the current index of the corresponding Step is N-1.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2106 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:SKILL_ID.value = 2
p:SKILL_INDEX.value = 10
CALL MM_SET_INDEX

In the preceding example, the current index of the Step with an ID of 2 of the Mech-Viz project is 9.

Get Planned Path in Mech-Viz

Command

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

Waypoint: Each point that the robot reaches when moving along the planned path. A waypoint has information including the robot pose, label, and motion type. Waypoints can be divided into two categories:

Vision Move waypoint: Waypoint corresponding to the Vision Move Step.
Non-Vision Move waypoints, which refer to the waypoints corresponding to move-type Steps other than the Vision Move Step.

Calling Sequence

This command should be called after Run Mech-Viz Project. After you call this command, call Store Vision Result or Planned Path (TCP) or Store Planned Path (joint positions) to access pose data.

Command Format

MM_GET_VIZ_DATA

Input Parameters

POS_JPS

This parameter specifies the type of waypoint poses to be obtained. can be set to 1 or 2.

1: joint positions. After you run this command, run Store Planned Path (joint positions) to access joint position data.
2: tool poses. After you run this command, run Store Vision Result or Planned Path (TCP) to access tool pose data.

Output Parameters

PATH_NUM

VISUAL_MOVE_IN_PATH

The sequence number of the Vision Move waypoint (i.e., the waypoint corresponding to the Vision Move step in the Mech-Viz project) in the path. If the waypoint does not exist in the path, the petameter value is 0.

If the planned path consists of the following waypoints in sequence: Fixed-Point Move_1, Fixed-Point Move_2, Vision Move, and Fixed-Point Move_3, the sequence number of the Vision Move waypoint is 3.

GET_ALL_POSE

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2100 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:POS_JPS.value = 2
CALL MM_GET_VIZ_DATA

The above example demonstrates how to obtain the path planned in the Mech-Viz project. The waypoints are represented in TCP.

Read Mech-Viz Step Parameter

Command

This command reads the parameter value of a specific Step in the Mech-Viz project.

Calling Sequence

This command should be called before Run Mech-Viz Project.

Command Format

MM_READ_PROPERTY

Input Parameters

PROPERTY_ID

This parameter corresponds to the Config ID field defined in the property_config file.

From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings. Click Property Configuration to open the property_config file.

Before calling this function, you should define a Config ID and its corresponding Step ID and parameter key name in the following format in the property_config file.

read, Config ID, Step ID, parameter key name

read

Indicates that this line is used to read the parameter value of a Step.

Config ID

Specifies a unique ID, which is a positive integer. One Config ID corresponds to only one parameter value of a Step. To read multiple parameter values, you should set different Config IDs.

Step ID

The Step ID of the Step whose parameter is to be read.

parameter key name

Specifies the key name of the parameter whose value the robot requires to read.

You can check the parameter key name in the Key Query Tool. In Mech-Viz, click File in the menu bar. In the lower-left corner, click Options. Click Developer mode, click OK, and then restart the software. In the menu bar of the software, select Tools Key Query Tool to open the tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.
In the property_config file, lines starting with “#” are comments, which will not be executed by the program.
Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

The property_config file can have multiple read commands. The Config ID in these commands must be different.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2109 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

PROPERTY_VALUE

This parameter stores the parameter value of the Step.

Example

In the line below, 5 is the Config ID; 3 is the Step ID; and xCount is the parameter key name. Add this line to the property_config file.

read,5,3,xCount

When the robot sends the command below, the robot receives the value of the parameter whose key name is xCount.

p:PROPERTY_ID.value = 5
CALL MM_READ_PROPERTY

In the preceding example, the value of the xCount parameter of the Step with an ID of 3 of the Mech-Viz project is stored in PROPERTY_VALUE.

Set Mech-Viz Step Parameter

Command

This command sets parameter value of a Step in the Mech-Viz project.

Calling Sequence

This command should be called before Run Mech-Viz Project.

Command Format

MM_SET_PROPERTY

Input Parameters

PROPERTY_ID

This parameter corresponds to the Config ID field defined in the property_config file.

From the toolbar of Mech-Vision, go to Robot Communication Configuration Next Advanced Settings. Click Property Configuration to open the property_config file.

Before sending this command, you should define a Config ID and its corresponding Step ID, parameter key name and parameter value in the following format in the property_config file.

write, Config ID, Step ID, parameter key name, parameter value

write

Indicates that this line is used to set the parameter value of a Step.

Config ID

Specifies an ID, which is a positive integer and can be used repeatedly.

Step ID

Specifies the Step whose parameter value the robot requires to read.

parameter key name

Specifies the key name of the parameter whose value the robot requires to set.

parameter value

Specifies the value that the robot sets for the parameter.

The property_config file can contain more than one “write” command, and these commands can use a Config ID repeatedly. That is, one Config ID can be used to set values for multiple parameters.
You can check the parameter key name in the Key Query Tool. In Mech-Viz, click File in the menu bar. In the lower-left corner, click Options. Click Developer mode, click OK, and then restart the software. In the menu bar of the software, select Tools Key Query Tool to open the tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.
In the property_config file, lines starting with “#” are comments, which will not be executed by the program.
Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2108 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

In the line below, 1 is the Config ID and 3 is the Step ID. xOffset, yOffset and zOffset are parameter key names; and 10, 20 and 30 are their respective values. Add this line to the property_config file.

write,1,3,xOffset,10
write,1,3,yOffset,20
write,1,3,zOffset,30

When the robot sends the command below, Mech-Viz sets the values of the parameters whose key names are xOffset, yOffset and zOffset respectively to 10, 20 and 30.

p:PROPERTY_ID.value = 1
CALL MM_SET_PROPERTY

In the preceding example, the values of the parameters whose key names are xOffset, yOffset and zOffset are respectively set to 10, 20, and 30.

Get Gripper DO List from Mech-Vision

Command

This command obtains the control signal list for the multi-section vacuum gripper from the Mech-Vision project. This command returns 64 DO signals. A valid DO signal is a non-negative integer, ranging from 0 to 999. -1 is an invalid DO signal that serves as a placeholder.

For example, valid DO signals in the table below are 1, 3, 5, and 6, which means that the robot will set the values of these DO signals to ON.

1st	2nd	3rd	4th	5th	6th	7th	8th	…	63rd	64th
1	3	5	6	-1	-1	-1	-1	…	-1	-1

Before using this command, you must perform the following configurations in Mech-Vision.

In the Path Planning Step, click Config wizard. In Global configuration, enable Box depalletizing.
In the Path Planning Step, click Config wizard, and then double-click the name of the robot tool. In the pop-up window, select Depalletizing vacuum gripper for Tool type, click Configure depalletizing vacuum gripper, and then configure DO signals according to needs.

Calling Sequence

This command must be called before the Get Planned Path in Mech-Vision command. This means that the robot must obtain the motion path and then obtain gripper DO signals of the Vision Move waypoint.

Command Format

MM_GET_VIS_DO_LIST

Input Parameters

PROJECT_NUM

Mech-Vision project ID. You can view the project ID of a Mech-Vision project in the Project List section of Mech-Vision. The project ID is the number before the project name.

SUCKER_NUM

This parameter specifies the number of gripper sections that are specified in the gripper configuration tool. For example, the number of gripper sections in the above image is 3.

The DO signals returned by this command vary based on the deployed project.

Under Global Configuration of the path planning tool, if Plan all vision results is disabled, this command returns 64 gripper DO signals that are planned in this round. Valid DO signals are non-negative integers ranging from 0 to 999. Invalid DO signals are -1, which serves as a placeholder.

For example, valid DO signals in the table below are 1, 3, 5, and 6, which means that the robot will set the values of these DO signals to ON.

1st

2nd

3rd

4th

5th

6th

7th

8th

…

63rd

64th

1

3

5

6

-1

-1

-1

-1

…

-1

-1

Under Global Configuration of the path planning tool, if Plan all vision results is enabled, Mech-Vision can perform multiple rounds of planning based on the same vision result. The 64 gripper DO signals returned by this command are obtained during all rounds of planning. In this case, you can use the number of vacuum gripper sections to differentiate the gripper DO signals obtained during each round of planning.

For example, if the number of vacuum gripper sections is 4 and the command returns 64 DO signals in total, each 4 DO signals are multi-section vacuum gripper signals obtained during each round of planning.

First round of planning				Second round of planning				…	16th round of planning
1st	2nd	3rd	4th	5th	6th	7th	8th	…	61st	62nd	63rd	64th
1	3	4	-1	1	4	-1	-1	…	-1	-1	-1	-1

Output Parameters

DO_LIST

This parameter indicates the source of the DO signal list.

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 1106 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:PROJECT_NUM.value = 1
p:SUCKER_NUM.value = 2
CALL MM_GET_VIS_DO_LIST

The above example demonstrates how to obtain the DO signal list planned in the Mech-Vision project.

Get Gripper DO List from Mech-Viz

Command

This command obtains the control signal list for the multi-section vacuum gripper from the Mech-Viz project. This command returns 64 DO signals. A valid DO signal is a non-negative integer, ranging from 0 to 999. -1 is an invalid DO signal that serves as a placeholder.

For example, valid DO signals in the table below are 1, 3, 5, and 6, which means that the robot will set the values of these DO signals to ON.

1st	2nd	3rd	4th	5th	6th	7th	8th	…	63rd	64th
1	3	5	6	-1	-1	-1	-1	…	-1	-1

Before using this command, you must perform the following configurations in Mech-Viz.

In the Vision Move Step of Mech-Viz, set Select Picking Method to Box depalletizing.
In Mech-Viz, double-click the tool name, select Depalletizing vacuum gripper for Tool type, click Configure depalletizing vacuum gripper, and then configure the DO signals according to needs.

Calling Sequence

This command must be called before the Get Planned Path in Mech-Vizor Get Vision Move Data or Custom Data command. This means that the robot must obtain the motion path and then obtain gripper DO signals of the Vision Move waypoint.

Command Format

MM_GET_VIZ_DO_LIST

Input Parameters

SUCKER_NUM

This parameter specifies the number of gripper sections that are specified in the gripper configuration tool. For example, the number of gripper sections in the above image is 3.

If Reuse Vision Result is not selected for the Vision Move Step, this command returns 64 gripper DO signals that are planned during this round. Valid DO signals are non-negative integers ranging from 0 to 999. Invalid DO signals are -1, which serves as a placeholder.

For example, valid DO signals in the table below are 1, 3, 5, and 6, which means that the robot will set the values of these DO signals to ON.

1st

2nd

3rd

4th

5th

6th

7th

8th

…

63rd

64th

1

3

5

6

-1

-1

-1

-1

…

-1

-1

If Reuse Vision Result is selected for the Vision Move Step and the Vision Move Step is used in a loop, Mech-Viz can perform multiple rounds of planning based on the same vision result. The 64 gripper DO signals returned by this command are obtained during all rounds of planning. In this case, you can use the number of vacuum gripper sections to differentiate the gripper DO signals obtained during each round of planning.

First round of planning				Second round of planning				…	16th round of planning
1st	2nd	3rd	4th	5th	6th	7th	8th	…	61st	62nd	63rd	64th
1	3	4	-1	1	4	-1	-1	…	-1	-1	-1	-1

Output Parameters

DO_LIST

This parameter indicates the source of the DO signal list.

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 2102 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:SUCKER_NUM.value = 1
CALL MM_GET_VIZ_DO_LIST

The above example demonstrates how to obtain the DO signal list planned in the Mech-Viz project.

Get Vision Move Data or Custom Data

Command

This command obtains data output by the Vision Move Step or the custom port(s) of the Output Step from the Mech-Viz project. One function call stores all data in robot memory.

The path obtained by this command includes Vision Move waypoints and non-Vision Move waypoints. A Vision Move waypoint includes not only the pose and tool ID, but also Vision Move planned data or custom data. This is the key difference compared to the Get Planned Path in Mech-Viz or Get Planned Path in Mech-Vision command.
This command must not be used together with the Get Planned Path in Mech-Viz or Get Planned Path in Mech-Vision command.
This command is intended for depalletizing tasks only and is not suitable for other types of pick operations.

Vision Move data refers to data output by the Vision Move Step in Mech-Viz, including the labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, and dimensions of workobject group.

Custom data refers to data output by the custom port(s) of the Output Step in Mech-Vision and then forwarded by Mech-Viz.

Data output from Predefined Keys, such as poses, labels, sizes, offsets, is not custom data.
You must set Port Type of the Output Step to Custom and select the poses port in the Predefined Keys section in Mech-Vision.

Calling Sequence

This command should be called after Run Mech-Viz Project.

Command Format

MM_GET_VIZ_PLAN_DATA

Input Parameters

RETURN_TYPE

This parameter specifies the expected returned data format. See the following for details.

Value of RETURN_TYPE	Description of expected returned data (Each field is explained below. If the Mech-Vision project does not have a custom port, no elements of custom data are returned.)
1	Pose (joint positions), motion type, tool ID, velocity, element 1 in custom data, … element N in custom data
2	Pose (TCP), motion type, tool ID, velocity, element 1 in custom data, … element N in custom data
3	Pose (joint positions), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom data, … element N in custom data
4	Pose (TCP), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom data, … element N in custom data

Output Parameters

GET_ALL_POSE

This parameter specifies whether all waypoints are obtained. The value is 0 or 1.

0: Not all waypoints are obtained.
1: All waypoints are obtained.

IS_VISUAL_MOVE

This parameter specifies the waypoint type. See the following for details.

Value of IS_VISUAL_MOVE

Waypoint type

Data

Non-Vision Move waypoint

Pose, motion type, tool ID, velocity

Vision Move waypoint

pose, motion type, tool ID, velocity, Vision Move data, custom output data (which will not be returned if the Mech-Vision project does not have a custom port)

JPS_LIST、POSE_LIST

This parameter indicates the pose of waypoints. The pose type of the waypoints can be robot’s joint positions or TCP, depending on the value of RETURN_TYPE.

If the pose type is joint position, it is stored in JPS_LIST.
If the pose type is TCP, it is stored in POSE_LIST.

MOVE_TYPE

This parameter indicates the motion type of the robot. Valid values: 1 and 2.

1: Joint motion (MOVEJ)
2: Linear motion (MOVEL)

TOOLIDS

This parameter indicates the tool IDs of the waypoints. A value of -1 means that no tool is used at this waypoint.

SPEEDS

The parameter value, represented in percentage, equals the velocity set for a move-type Step multiplied by the global velocity set in Mech-Viz.

PLAN_DATA_LIST

This parameter indicates the data output by the Vision Move Step, including labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, and dimensions of workobject group.

Data	Description	Variable
Labels of picked workobjects	A label consists of 10 integers. The default value is ten 0s.	PLAN_DATA_LIST[1~10]
Number of Picked Target Objects	The total number of picked workobjects.	PLAN_DATA_LIST[11]
The number of workobjects to be picked this time.	The number of workobjects to be picked this time.	PLAN_DATA_LIST[12]
Edge or corner ID of vacuum gripper	The ID of the edge or corner used to pick workobjects this time.	PLAN_DATA_LIST[13]
TCP offset	The XYZ offset between the center of the workobject group and the tool pose center.	PLAN_DATA_LIST[14~16]
Orientation of workobject group	The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	PLAN_DATA_LIST[17]
Orientation of workobject	The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.	PLAN_DATA_LIST[18]
Dimensions of workobject group	The length, width, and height of the workobject group to be picked this time.	PLAN_DATA_LIST[19~21]

Data

Description

Variable

Labels of picked workobjects

A label consists of 10 integers. The default value is ten 0s.

PLAN_DATA_LIST[1~10]

Number of Picked Target Objects

The total number of picked workobjects.

PLAN_DATA_LIST[11]

The number of workobjects to be picked this time.

PLAN_DATA_LIST[12]

Edge or corner ID of vacuum gripper

The ID of the edge or corner used to pick workobjects this time.

PLAN_DATA_LIST[13]

TCP offset

The XYZ offset between the center of the workobject group and the tool pose center.

PLAN_DATA_LIST[14~16]

Orientation of workobject group

The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

PLAN_DATA_LIST[17]

Orientation of workobject

The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

PLAN_DATA_LIST[18]

Dimensions of workobject group

The length, width, and height of the workobject group to be picked this time.

PLAN_DATA_LIST[19~21]

CUSTOMIZE_DATA

This parameter indicates all custom port data from the Output Step in Mech-Vision. For example, data output from ports of the Output Step is presented in the following table. The elements in custom data of the first vision point are [0, 0, 1] and [0, 0]; and the elements in custom data of the second vision point are [1, 0, 0] and [1, 1].

Port name

poses

labels

customData1

customData2

Output port data

[

[0, 0, 0, 1, 0, 0, 0],

[0, 0, 0, 1, 0, 0, 0]

]

[

"0",

"1"

]

[

[0, 0, 1],

[1, 0, 0]

]

[

[0, 0],

[1, 1]

]

First vision point

[0, 0, 0, 1, 0, 0, 0]

[0, 0, 1]

[0, 0]

Second vision point

[0, 0, 0, 1, 0, 0, 0]

[1, 0, 0]

[1, 1]

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. If the command successfully obtained the Vision Move data or custom data from the Mech-Viz project, the status code is 2100.

Example

p:RETURN_TYPE.value = 4
CALL MM_GET_VIZ_PLAN_DATA

The above example demonstrates how to obtain the data output by the Vision Move Step or the custom port(s) of the Output Step from the Mech-Viz project.

Get Message from Notify Step

Command

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.

For a Notify Step in the Mech-Vision project:
1. Connect the Notify Step to the right side of another Step. The Output Step is used in the example in the image below.
2. Select Trigger Control Flow Given Output in the parameter panel of the Output Step.
3. In the parameter panel of the Notify Step, enter Standard Interface Notify (the value cannot be modified) for Service Name. Enter a positive integer for Message, for example, 1001.
For a Notify Step in the Mech-Viz project:
1. Connect the Notify Step to a proper Step in the workflow.
2. In the parameter panel of the Notify Step, select Standard Interface. Enter a positive integer for Message, for example, 1000.

Calling Sequence

This command should be called after Run Mech-Vision Project or Run Mech-Viz Project.

Command Format

MM_NOTIFY

Output Parameters

NOTIFY_VALUE

This parameter stores the message from the Notify Step. Only positive integer messages are supported at the moment.

When the Notify Step is executed in the Mech-Vision or Mech-Viz project, the message remains in the buffer of the vision system for only three seconds. Therefore, you should consider the timing of calling this command to ensure successful message retrieval.

Example

CALL MM_NOTIFY

In the preceding example, the message obtained from the Notify Step is stored in NOTIFY_VALUE.

Calibration

Command

This command is used for robot hand-eye calibration (extrinsic parameter calibration). This command must be used together with the Camera Calibration setting to complete automatic calibration. You can find Camera Calibration in the toolbar of Mech-Vision. For more information, see ESTUN Automatic Calibration.

Command Format

MM_CALIB

Input Parameters

MOVE_TYPE

This parameter indicates the motion type of the robot. Valid values: 1 and 2.

1: Linear motion (MOVEL)
2: Joint motion (MOVEJ)

POS_JPS

This parameter specifies the type of calibration point poses to be obtained. Valid values: 1 and 2.

1: TCP
2: Joint positions

WAIT_TIME

This parameter specifies the time the robot waits to avoid shaking after it moves to the calibration point. The default value is 2 (s).

Output Parameters

MM_STATUS

This parameter indicates the name of the variable for storing the command execution status code. Status code 7101 is returned for a successful command execution. If a command fails to be run, a specific error code is returned. For details, see Status Codes and Troubleshooting.

Example

p:MOVE_TYPE.value = 2
p:POS_JPS.value = 2
p:WAIT_TIME.value = 2
CALL MM_CALIB

In the preceding example, the robot moves to the calibration point based on the joint positions of the robot and then waits for 2 seconds.

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