Before You Upgrade
1.8.0 Upgrade Notes
This section introduces the upgrade notes for Mech-Vision 1.8.0, Mech-Viz 1.8.0, and the communication component.
When the origin of the robot reference frame was not at the bottom of the robot base, the tool pose on the robot teach pendant would be inconsistent with the values in the software. With version 1.8.0, this problem can be solved.
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After you create a project using some robot models with the 1.8.0 software, the DH1 no longer requires manual compensation when you perform manual calibration, teach the pick point, or send the planning or recognition result in tool poses to the robot through Adapter.
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When opening projects/solutions created with versions earlier than 1.8.0, the software will automatically switch to compatibility mode, and you can see a “Compatibility mode” watermark displayed on the interface. For certain robot models, the DH1 still should be compensated manually when you perform manual calibration, teach the pick point, or send the planning or recognition result in tool poses to the robot through Adapter. (If the DH1 has already been compensated in projects created with earlier versions, you do not need to compensate again.)
When you use Mech-Vision 1.8.0 in conjunction with Mech-Viz 1.8.0, please ensure the two software is in the same mode. The software cannot function properly if their modes are different. If this is the case, please refer to the following table to operate accordingly.
Mech-Vision Regular mode |
Mech-Vision Compatibility mode |
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Mech-Viz Regular mode |
Use as normal. |
According to the previous project logic and configuration, create a new project in Mech-Vision and re-calibrate the extrinsic parameters of the camera. |
Mech-Viz Compatibility mode |
According to the previous project logic and configuration, create a new project in Mech-Viz. |
Use as normal. |
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Mech-Vision 1.8.0 Upgrade Notes
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After Mech-Vision is upgraded to 1.8.0, pay attention to the following notes when you use the Production Interface.
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The production interface that you have deployed with a typical application in Mech-Vision 1.7.0 or earlier cannot be used anymore.
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The production interface that you have customized for your application in Mech-Vision 1.8.0 or earlier can still be used. However, the production interface may fail to be opened due to the change in several files. To solve these issues, please contact Mech-Mind Technical Support.
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From version 1.8.0, Mech-Eye TOF cameras, MindVision 2D cameras, and SmartRay 3D laser profilers are no longer supported in the Capture Images from Camera Step.
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Mech-Vision 1.8.0 improved the “Sampling Interval” in the 3D Fine Matching and 3D Fine Matching (Multiple Models) Steps. If the “Sampling Interval” set in the project created with earlier version software is not appropriate, the project execution may be slowed down.
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Mech-Vision 1.8.0 improved the deep learning model in the Predict Pick Points (Any Objects), so that the model optimization time is reduced during Step execution. However, when you execute the Step for the first time after the software is installed or the IPC is changed, the time it takes to optimize the model may be longer.
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Mech-Vision 1.8.0 improved the picking configuration files used in the Predict Pick Points V2 Step. Projects downloaded in the solution library of Mech-Vision 1.7.4 or earlier versions and used this Step cannot be run in Mech-Vision 1.8.0 or further versions. Please re-download the corresponding project in the new version software.
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Mech-Vision 1.8.0 improved the Step Library. Some of the Steps were removed, and the Step categories of some Steps were changed. See the following for details.
Removed Step Steps moved to “Legacy” Calc Disparity Image, Calc 2D Poses of Rectangles, Calc Poses and Dimensions of Rectangles, 2D Matching, Count Boxes, Deep Learning Inference (Mech-DLK 2.1.0/2.0.0), Defect Detection, Detect Fiducial Markers, Detect Edges (Deep Learning), Image Classification, Generate Rectangle Candidates, Instance Segmentation, Load 2D Templates, Object Detection, Pallet Information Recognition, Validate and Calc Parameter Compensation, Evaluate 2D Poses, Generate Rectangular Edge Templates of Specified Sizes, Remove Overlapped Polygons, Remove Polygons outside Mask, Calc Calibration Board Poses
Remove Overlapped Objects, Remove Overlapped Objects V2, 3D Coarse Matching, 3D Fine Matching (Multiple Models), 3D Coarse Matching (Multiple Models), Adjust Poses, Sort 3D Poses
Mech-Viz 1.8.0 Upgrade Notes
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The singularity detection algorithm has been improved in version 1.8.0. Once the software is upgraded, the singularity detection result may be different from that in earlier versions. However, the singularity detection result in the current version is more accurate.
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The algorithm for limiting the range of motion of the robot’s shoulder, elbow, and wrist has been improved in version 1.8.0. Once the software is upgraded, the robot path may be different from that in earlier versions. However, the improved algorithm ensures the motion range limit takes effect, enhancing the accuracy and stability of the robot motion.
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The pick point calculation algorithm has been improved in version 1.8.0. Once the software is upgraded, the robot path may be different from that in earlier versions. However, more pick points can now be calculated and more appropriate paths can be planned.
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The collision model of the end tool in STL format is no longer supported in version 1.8.0. If the collision model of end tool you use is in STL format, you should convert the STL file to the OBJ file by using the Model Editor and then configure the end tool collision model again.
Upgrade Notes on Communication Component
Changes in Communication Component Usage
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Starting from version 1.8.0, Mech-Center will only run as a background communication component of the vision system when Mech-Vision or Mech-Viz is launched.
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The user interface designed for Mech-Center was removed. Standard Interface communication and Adapter communication should be configured in Mech-Vision, while Master-Control communication should be configured in Mech-Viz.
Upgrade Notes on Adapter Project
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The Step parameters of the “Set DO” and “Check DI” Steps were modified in Mech-Viz 1.8.0. Consequently, if these two Steps were used in the Adapter project created with an earlier software version, the relevant Step parameters in the code should be modified as well. You can check the key names of the Step parameters by using the Key Query Tool.
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Once the software is upgraded, if the Adapter project created with an earlier software version inherits classes from the Standard Interface program, it requires the addition of initialization parameters to function properly. For details on changes of each protocol, go to
Mech-Center\Robot_Interface\Adapter_Sample_Projects\Adapter Inherits Standard Interfacein the software installation directory.
Upgrades Notes on Standard Interface Communication with Robots
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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., Command 601 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., Command 601 needs to be triggered, the mm_get_notify function 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 in the project, please modify the robot program according to the following instructions.
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When establishing Standard Interface communication with ABB robots, MM_Open_Socket and MM_Close_Socket should be called in the main program to establish and terminate 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 programs, 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 programs to distinguish the sources of DO signal or Vision Move output, i.e., from Mech-Vision or Mech-Viz.
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The robot program should call the mm_get_notify function 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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Upgrades Notes on Standard Interface Communication with PLCs
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If the Standard Interface program is not re-downloaded in the project, and no message from the “Notify” Step is needed, i.e., Command 601 does not need to be triggered, the PLC program does not need to be modified.
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If the Standard Interface program is not re-downloaded in the project, and the message from the “Notify” Step is needed, i.e., Command 601 needs to be triggered, the MM_Get_Custom_Notify function should be adjusted in the PLC program manually. Please contact Mech-Mind Technical Support for further assistance.
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If the Standard Interface program is re-downloaded in the project, please modify the robot program according to the following instructions.
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The PLC program should enable the MM_Get_Custom_Notify function 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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When establishing Standard Interface communication with Siemens PLC Snap 7, please note that the input and output parameters have been modified.
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