HYUNDAI Standard Interface Commands
For HYUNDAI robots, each JOB file in the table represents a standard interface command. The corresponding commands can be called when the program number is set correctly. For example, for the file 9801_COM101.JOB, the program number is 9801, and the statement can be written as CALL 9801_MMH_VIStrig. MMH_VIStrig can be replaced by other strings, and the statement still calls the program corresponding to the 9801_COM101.JOB file.
| JOB file | Function |
|---|---|
9801_COM101 |
Trigger Mech-Vision project to run |
9802_COM102 |
Get vision targets |
9803_COM103 |
Switch Mech-Vision recipe |
9804_COM201 |
Trigger Mech-Viz project to run |
9805_COM202 |
Stop Mech-Viz project |
9806_COM203 |
Switch Mech-Viz branch |
9807_COM204 |
Set index |
9808_COM205 |
Get planned path from Mech-Viz |
The following table shows the status code and description in the standard interface commands.
| Name | Description |
|---|---|
V500! |
X-value (the X-value of the first vision point is stored in V500!, and that of the second vision point is stored in V514!, and so on) |
V501! |
Y-value (the Y-value of the first vision point is stored in V501!, and that of the second vision point is stored in V515!, and so on) |
V502! |
Z-value (the Z-value of the first vision point is stored in V502!, and that of the second vision point is stored in V516!, and so on) |
V503! |
RX-value (the RX-value of the first vision point is stored in V503!, and that of the second vision point is stored in V517!, and so on) |
V504! |
RY-value (the RY-value of the first vision point is stored in V504!, and that of the second vision point is stored in V518!, and so on) |
V505! |
RZ-value (the RZ-value of the first vision point is stored in V505!, and that of the second vision point is stored in V519!, and so on) |
V506! |
LABEL value (the LABEL value of the first vision point is stored in V506!, and that of the second vision point is stored in V520!, and so on) |
V507! |
SPEED value (the SPEED value of the first vision point is stored in V507!, and that of the second vision point is stored in V521!, and so on) |
V508! |
J1 value (the J1 value of the first vision point is stored in V508!, and that of the second vision point is stored in V522!, and so on) |
V509! |
J2 value (the J2 value of the first vision point is stored in V509!, and that of the second vision point is stored in V523!, and so on) |
V510! |
J3 value (the J3 value of the first vision point is stored in V510!, and that of the second vision point is stored in V524!, and so on) |
V511! |
J4 value (the J4 value of the first vision point is stored in V511!, and that of the second vision point is stored in V525!, and so on) |
V512! |
J5 value (the J5 value of the first vision point is stored in V512!, and that of the second vision point is stored in V526!, and so on) |
V513! |
J6 value (the J6 value of the first vision point is stored in V513!, and that of the second vision point is stored in V527!, and so on) |
P500 |
Get the current pose |
P501 |
The pose at the next calibration point during the calibration |
V490% |
Step ID of the Branch by Msg Step (for the Branch by Msg Step in Mech-Viz) |
V491% |
The number of the exit port to take (for the Branch by Msg Step in Mech-Viz) |
V492% |
ID of the Step with the Index parameters (for Mech-Viz Steps with the Index parameters) |
V493% |
Value for the Starting Index parameter (for Mech-Viz Steps with the Index parameters) |
V500$ |
IP address of the IPC |
V501$ |
String sent to the IPC |
V502$ |
String received from the IPC |
V503$ |
Strings received from the IPC are separated into multiple substrings by commas (,). The first substring is stored in V503$, and the second is stored in V504$, and so on |
V500% |
Port number of the IPC |
V501% |
Channel number, the default number is 1 |
V502% |
Idle |
V503% |
Mech-Vision project ID |
V504% |
The number of vision points to be received with the range of 0 to 4. 0 indicates that all vision points will be received |
V505% |
Pose type (1 represents joint positions, and 2 represents TCP) |
V506% |
Mech-Vision recipe ID |
V507% |
Initial index of register P |
V508% |
Calibration status |