Robot Program Upgrade Notes (Standard Interface Communication)
When you use Standard Interface communication and upgrade Mech-Vision and Mech-Viz, take note of the following robot program-related upgrade precautions.
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From 1.8.X to 2.0.0
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If no Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.
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The velocity parameter (the fourth parameter) of the MM_Get_Pose and MM_Get_Jps commands of ABB, FANUC, Kawasaki, KUKA, and YASKAWA is changed to the tool ID parameter. Please check if your project uses velocity that is set in Mech-Viz. If your project does not involve velocity, no robot program modification is needed. Otherwise, please add code to set the velocity for your robot program.
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If the Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.
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The number of vacuum gripper sections parameter is added to the Get Gripper DO List command.
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The planning round parameter is added to the Set Gripper DO List command.
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The velocity parameter (the fourth parameter) of the MM_Get_Pose and MM_Get_Jps commands is changed to the tool ID parameter.
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From 1.7.X to 1.8.2
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If the Standard Interface program is not reloaded onto the robot, and no message from the “Notify” Step is needed, i.e., MM_Get_Notify does not need to be triggered, the robot program does not need to be modified.
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If the Standard Interface program is not reloaded onto the robot, and the message from the “Notify” Step is needed, i.e., MM_Get_Notify needs to be triggered, the mm_get_notify command should be coded in the robot program manually. Please contact Mech-Mind Technical Support for further assistance.
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If the Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.
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When establishing Standard Interface communication with ABB robots, MM_Open_Socket and MM_Close_Socket should be called in the robot program to establish and close the connection.
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The Standard Interface programs corresponding to certain commands of FANUC, KUKA, ABB, YASKAWA, and KAWASAKI are modified as follows:
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The “lastdata” parameter is removed from the five commands, i.e., MM_Get_VizData, MM_Get_VisData, MM_Get_VisPath, MM_Get_PlanData, and MM_Get_DyData. Instead, the programs internally loop until all vision data is received.
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The “resource” parameter is added to the MM_Get_DoList and MM_Get_PlanData commands to distinguish the sources of DO signals or Vision Move data, i.e., from Mech-Vision or Mech-Viz.
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The robot program should call the MM_Get_Notify command to receive the message set in the “Notify” Step in the project. The notification data cannot be received directly as before.
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From 1.6.X to 1.7.5
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If the Standard Interface program is not reloaded onto the robot in the project, no robot program modification is needed.
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If the Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.
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The MM_J parameter is added to the MM_Start_Vis command to save the taught joint positions.
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The MM_J parameter is added to the MM_Start_Viz command to save the taught joint positions.
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The VisPos_Num parameter is added to the MM_Get_PlanData command to save the position ID of the waypoint in the path that corresponds to the Vision Move Step.
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The MM_Set_DoList command is recreated. If this command is used in the project, please test the actual effect.
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The MM_Get_VisPath, MM_Get_PlanJps, MM_Get_PlanPose, and MM_Get_DyPose commands are added.
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From 1.5.X to 1.6.1
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If the Standard Interface program is not reloaded onto the robot in the project, no robot program modification is needed.
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If the Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.
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The MM_Get_Dy_Data, MM_Get_PlanData, MM_Get_Property, and MM_Set_Property commands are added.
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The data clearing feature is added to the MM_Get_Pose and MM_Get_Jps commands.
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If you use YASKAWA robots, take note of the following release notes:
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Only the MM_INIT_SOCKET command contains statements that establish and close the connection for testing purposes. The MM_INIT_SOCKET command only needs to be called once and the set IP address will be valid globally.
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Statements to establish and close the connection have been separated into two independent commands (MM_OPEN_SOCKET and MM_CLOSE_SOCKET) to avoid frequent connections and disconnections between the robot and the vision system.
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