Communication Component 2.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Communication Component 2.0.
Communication Component 2.0.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Communication Component 2.0.0.
New Features
New Features of Standard Interface Communication
The following features are added to Standard Interface communication of Communication Component 2.0.0:
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The parameter that specifies the number of vacuum gripper sections is added to Command 106 and Command 206. This parameter is used to send multiple rounds of DO signals to support picking multiple times using one image.
Command 106 and Command 206 correspond to the MM_Get_DoList Standard Interface command of ABB, FANUC, Kawasaki, KUKA, and YASKAWA. -
Command 503 is added to input poses to Mech-Vision projects.
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Command 210 obtains only Vision Move data and cannot obtain the custom data from the Mech-Vision project.
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ABB, ESTUN, FANUC, KUKA, YASKAWA, AB PLC, and Siemens S7 PLC Standard Interface example programs are added to help you get acquainted with Standard Interface programming.
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The ETHERNET IP (Software) protocol is supported, allowing you to establish EtherNet/IP communication without using PCI-e cards.
Compatibility with Robots
In Communication Component 2.0.0, robots listed in the following table are compatible with Master-Control communication and/or Standard Interface communication.
| Robot | Master-Control communication | Standard Interface Communication |
|---|---|---|
CGXI robots |
√ |
√ |
HYUNDAI robots (with Hi6 controller) |
√ |
√ |
Estun robots |
√ |
|
YASKAWA robots (with DX200 controller) |
√ |
√ |
Improvements
Updates to Standard Interface Communication
The following updates are made to Standard Interface communication of Communication Component 2.0.0:
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Velocity returned by Command 102, Command 105, and Command 205 is changed to tool ID to support the tool auto-changing feature. When you write programs, take note that the above commands obtain tool IDs instead of velocities.
Command 102, Command 105, and Command 205 correspond to the MM_Get_VisData, MM_Get_VisPath, and MM_Get_VizData Standard Interface commands of ABB, FANUC, Kawasaki, KUKA, and YASKAWA respectively. In addition, the velocity in the MM_Get_Pose and MM_Get_Jps Standard Interface commands of ABB, FANUC, Kawasaki, KUKA, and YASKAWA is changed to tool ID.
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Command 206 no longer supports obtaining DO signals by using the Set Do Step. Instead, DO signals are now obtained by using the Vision Move Step.
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If the Capture Images from Camera Step in the Mech-Vision project uses local virtual image data and you call a Standard Interface command to trigger the project to run, Mech-Vision will inform you that using virtual data may incur risks.
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Detailed information of error codes will no longer be displayed on the robot side for ABB, FANUC, and KUKA robots. Only the numbers of the error codes will be displayed. For more information about status codes, see Status Codes and Troubleshooting.
Other Improvements
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The Python engine used by Communication Component has been upgraded to 3.9.13.
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Automatic backup and restoration of Adapter projects are supported.
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For certain FANUC, Kawasaki, and YASKAWA robots, Communication Component no longer applies Z-axis compensation when the reference frame origin is above the base.
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DENSO robots call Standard Interface commands to obtain tool poses instead of flange poses.
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The Standard Interface plugin of TM robots can obtain joint positions from Mech-Viz.
Resolved Issues
The following issues have been resolved in Communication Component 2.0.0:
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TCPs received by some ABB and YASKAWA robots were actually flange poses.
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The J3 linear axis unit was not considered when calculating joint positions of the SCARA robots.
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Siemens PLCs used INT variables to send and receive BOOL data during Modbus TCP communication.