ABB Standard Interface Commands¶

The ABB Standard Interface provides the following procedures:

When programming the ABB robot, please pay attention to the following:

Multiple parameters should be separated by commas.

All parameters should be defined as local variables in the program file.

Parameters can be defined as Input or Output parameters.

Arguments in the program: the input arguments can be constants, global variables or local variables, and the output arguments can be global variables or local variables.

This Standard Interface is over the TCP/IP protocol.

Initialize Communication ¶

MM_Init_Socket "IP_Address",Server_Port,Time_Out;

This procedure is used to set the host IP address, port number, and wait time for TCP/IP communication.

Parameters¶

Input Parameters

Name

Description

IP_Address

The IP address of the host

Server_Port

TCP/IP port number; the default port number is 50000

Time_Out

Wait time in seconds before stopping connection attempt

Example¶

MM_Init_Socket "192.168.1.20",50000,60;

When running the example, the host IP address should be set to 192.168.1.20, the port number should be set to 50000, and the wait time is 60 seconds.

Start Mech-Vision Project ¶

MM_Start_Vis Job,Pos_Num_Need,SendPos_Type,MM_J;

This procedure is for applications that use Mech-Vision but not Mech-Viz. It runs the corresponding Mech-Vision project to acquire and process data.

Parameters¶

Input Parameters

Name	Description
Job	Mech-Vision Project ID, from 1 to 99
Job	Can check and adjust in Mech-Vision
Pos_Num_Need	Number of vision points for Mech-Vision to send, from 0 to 20, where 0 means “send all”
SendPos_Type	Set the robot pose to send to Mech-Vision, from 0 to 3
SendPos_Type	See the following table for explanations of the 4 values
MM_J	Variable for storing the joint positions of the start point when SendPose_Type = 3

SendPos_Type value

Pose sent to Mech-Vision

Applicable scenario

0

No robot pose sent to Mech-Vision

Project is in the eye-to-hand mode. If the “Path Planning” Step is used, the planned path starts at the Home point set in the path planning tool.

1

Current joint positions and flange pose of the robot as image-capturing pose

Project is in the eye-in-hand mode. Applicable to most robots (excluding truss robots).

2

Current flange pose of the robot as image-capturing pose

Project is in the eye-in-hand mode. The robot has no joint positions and only flange pose (such as truss robots).

3

Joint positions of a specific start point

Project is in the eye-to-hand mode and the Mech-Vision project contains the “Path Planning” Step, whose start point needs to be set from the robot side.

Example¶

MM_Start_Vis 1,1,1,MM_J;

This example triggers Mech-Vision No. 1 project to run; the Mech-Vision No. 1 project is expected to send back 1 vision point; and the robot will send its current joint positions and flange pose as the image-capturing pose.

Get Vision Target(s)¶

MM_Get_VisData Job,Last_Data,Pos_Num,MM_Status;

This procedure is for applications that use Mech-Vision but not Mech-Viz. It obtains the vision result from the corresponding Mech-Vision project.

Note

If custom outputs are defined in the “Procedure Out” Step in the Mech-Vision project, use MM_Get_Dy_Data to obtain the vision result instead.

Parameters¶

Input Parameter

Name

Description

Job

Mech-Vision Project ID, from 1 to 99

Can check and adjust in Mech-Vision

Output Parameters

Name	Description
Last_Data	Variable, indicating whether all vision points have been sent, 0 or 1
Last_Data	0: NOT all vision points have been sent (more on the way) 1: All vision points have been sent
Pos_Num	Variable for storing the number of received vision points
MM_Status	Variable for storing status code. Please see Status Codes and Troubleshooting.

Example¶

MM_Get_VisData 1,LastData,PoseNum,MMStatus;

This example obtains the vision result from Mech-Vision project No.1. Whether all vision points have been sent is stored in LastData, the number of vision points received is stored in PoseNum, and the status code is stored in MMStatus.

Start Mech-Viz Project ¶

MM_Start_Viz SendPos_Type,MM_J;

This procedure is for applications that use both Mech-Vision and Mech-Viz. It runs the corresponding Mech-Viz project (which triggers the corresponding Mech-Vision project to run), and sets the initial joint positions of the simulated robot in Mech-Viz.

Parameter¶

Input Parameters

Name	Description
SendPos_Type	Set the initial pose for the simulated robot in Mech-Viz, from 0 to 2
SendPos_Type	See the following table for explanations of the 3 values
MM_J	Variable for storing the joint positions of the start point when SendPose_Type = 2

SendPos_Type value

Pose sent to Mech-Viz

Applicable scenario

0

No robot pose sent to Mech-Viz

Project is in the eye-to-hand mode. The simulated robot in Mech-Viz moves from joint positions = [0, 0, 0, 0, 0, 0] to the first waypoint.

1

Current joint positions and flange pose of the robot

This setting is recommended for projects in the eye-in-hand mode. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

2

Joint positions of a specific start point

This setting is recommended for projects in the eye-to-hand mode. The simulated robot in Mech-Viz moves from the input joint positions to the first waypoint.

Note

When the scene contains object models that obstruct the robot to move from [0, 0, 0, 0, 0, 0] to the first waypoint, this parameter must be set to 1.

Example¶

MM_Start_Viz 1,MM_J;

This example runs the corresponding Mech-Viz project, and sets the initial joint positions and flange pose of the simulated robot to the current joint positions and flange pose of the real robot.

Get Planned Path ¶

MM_Get_VizData GetPos_Type,Last_Data,Pos_Num,VisPos_Num,MM_Status;

This procedure obtains the planned path from Mech-Viz.

Note

Only the poses and their corresponding labels and velocities are obtained by this subprogram. If any other type of data are needed, such as custom outputs from Mech-Vision project or depalletizing planning data, use MM_Get_PlanData to obtain the planned path instead.

Parameters¶

Input Parameter

Name

Description

GetPos_Type

Whether Mech-Viz should send waypoint poses as joint positions or TCPs, 1 or 2

1: Mech-Viz sends joint positions 2: Mech-Viz sends TCPs

Output Parameters

Name	Description
Last_Data	Variable, indicating whether all waypoints have been sent, 0 or 1
Last_Data	0: NOT all waypoints have been sent (more on the way) 1: All waypoints have been sent
Pos_Num	Variable for storing the number of received waypoints
VisPos_Num	Variable for storing the position of the first Vision Move waypoint in the path
VisPos_Num	Example path: Move_1, Move_2, Vision Move_3, Move_3, Vision Move_2 In this path, the position of the first Vision Move waypoint is 3. If the path does not contain Vision Move waypoint, the return value is 0.
MM_Status	Variable for storing status code. Please see Status Codes and Troubleshooting.

Example¶

MM_Get_VizData 2,Last,Pose_Num,Vis_Index,StatusCode;

This example obtains the planned path from Mech-Viz in the form of TCPs. Whether all waypoints have been sent is stored in Last, the number of waypoints received is stored in Pose_Num, the position of the Vision Move waypoint is stored in Vis_Index, and the status code is stored in StatusCode.

Obtain Pose ¶

MM_Get_Pose Index,P90,Label,Pose_Speed;

This procedure stores a vision pose returned by Mech-Vision or a waypoint pose (as TCP) returned by Mech-Viz in the specified variable.

Parameters¶

Input Parameter

Name

Description

Index

Specify the index of the pose to be stored

Output Parameters

Name	Description
P90	Variable for storing the specified pose
Label	Variable for storing the label corresponding to the specified pose
Pose_Speed	Variable for storing the velocity corresponding to the specified pose

Example¶

MM_Get_Pose 1,P90,Label,PoseSpeed1;

This example stores the first received pose to P90, the corresponding label to Label, and the corresponding velocity to PoseSpeed1.

Obtain Joint Positions ¶

MM_Get_Jps Index,Jointtarget,Label,Pose_Speed;

This procedure stores a set of joint positions returned by Mech-Viz in the specified variable.

Note

As Mech-Vision does not output joint position data, this procedure can only be used with Mech-Viz.

Parameters¶

Input Parameter

Name

Description

Index

Specify the index of the set of joint positions to be stored

Output Parameters

Name	Description
Jointtarget	Variable for storing the specified set of joint positions
Label	Variable for storing the label corresponding to the specified set of joint positions
Pose_Speed	Variable for storing the velocity corresponding to the specified set of joint positions

Example¶

MM_Get_Jps 1,jpose1,Label1,PoseSpeed1;

This example stores the first set of received joint positions to jpose1, the corresponding label to Label1, and the corresponding velocity to PoseSpeed1.

Switch Mech-Vision Recipe ¶

MM_Switch_Model Job,Model_Number;

This procedure specifies which parameter recipe of the Mech-Vision project to use. For more information on parameter recipe, please see Parameter Recipe.

Note

This procedure must be called BEFORE MM_Start_Vis.

Parameters¶

Input Parameters

Name

Description

Job

Mech-Vision Project ID, from 1 to 99

Can check and adjust in Mech-Vision

Model_Number

The ID of a parameter recipe in the Mech-Vision project, from 1 to 99

Example¶

MM_Switch_Model 1,1;

This example switches the parameter recipe used to No. 1 in Mech-Vision project No. 1.

Select Mech-Viz Branch ¶

MM_Set_Branch Branch_Num,Exit_Num;

This procedure is used to select along which branch the Mech-Viz project should proceed. Such branching is achieved by adding Branch by Msg Step(s) to the project. This procedure specifies which exit port such Step(s) should take.

Note

MM_Start_Viz must be called BEFORE this procedure.
When the next Step to be executed in Mech-Viz is a Branch by Msg Step, Mech-Viz will wait for this procedure to send the exit port number it should take.

Parameters¶

Input Parameters

Name	Description
Branch_Num	Step ID of the “Branch by Msg” Step, can be viewed in Mech-Viz
Exit_Num	The number of the exit port to take + 1, from 1 to 99
Exit_Num	Example: To select exit port 0 in Mech-Viz, set the value of this parameter to 1.

Example¶

MM_Set_Branch 1,3;

This example tells Mech-Viz to take exit port 3 for the “Branch by Msg” Step whose Step ID is 1.

Set Move Index ¶

MM_Set_Index Skill_Num,Index_Num;

This procedure sets the value for the Current Index parameter of a Mech-Viz Step. Steps that have this parameter include Move by List, Move by Grid, Custom Pallet Pattern, and Smart Pallet Pattern.

Note

MM_Start_Viz must be called BEFORE this procedure.

Parameters¶

Input Parameters

Name

Description

Skill_Num

Step ID of the Step, can be viewed in Mech-Viz

Index_Num

Value for the Current Index parameter when the Step is executed

Example¶

MM_Set_Index (2,10);

This example sets the Current Index value to 9 for the Step whose Step ID is 2. When the Step is executed, the Current Index value will be added 1 and become 10.

Get Software Status ¶

MM_Get_Status MM_Status;

This procedure is currently capable of checking whether Mech-Vision is ready to run projects. In the future, this procedure can be used for obtaining the execution status of Mech-Vision, Mech-Viz, and Mech-Center.

Parameter¶

Output Parameter

Name	Description
MM_Status	Variable for storing status code
MM_Status	Status code 1101 indicates that Mech-Vision is ready to run projects. For other status codes, please see Status Codes and Troubleshooting.

Example¶

MM_Get_Status StatusCode;

This example obtains the status code and stores it in StatusCode.

Input Object Dimensions to Mech-Vision ¶

MM_Set_BoxSize Job,Lenght,Width,Height;

This procedure inputs object dimensions to the Mech-Vision project.

Note

This procedure must be called BEFORE MM_Start_Vis.
The corresponding Mech-Vision project must contain the “Read Object Dimensions” Step, and the Read Sizes from Properties parameter of this step must be checked.

Parameters¶

Input Parameters

Name

Description

Job

Mech-Vision Project ID, from 1 to 99

Can check and adjust in Mech-Vision

Lenght

Length of object in mm

Width

Width of object in mm

Height

Height of object in mm

Example¶

MM_Set_BoxSize(1,500,300,200)

This example sets the object dimensions in the Read Object Dimensions Step in the Mech-Vision project No. 1 to 500*300*200 mm.

Get DO Signal List ¶

MM_Get_DoList Status;

This procedure obtains the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper.

Note

MM_Get_VizData must be called BEFORE this procedure.
Please deploy the Mech-Viz project based on the template project in xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\tool\viz_project\suction_zone, and set the suction cup configuration file in the Mech-Viz project.
Set the current robot model as the Received Name in Mech-Viz.

Parameter¶

Output Parameter

Name

Description

Status

Variable for storing the status code. Please see Status Codes and Troubleshooting

Example¶

MM_Get_DoList Status;

This procedure stores the status code of Mech-Viz in Status.

Set DO Signal List ¶

MM_Set_DoList Serial,GO16;

This procedure sets the DoList sent by Mech-Viz to GO signals. It supports 4 groups of 16-bit GO signals in maximum. If you need to set multiple groups of GO signals, please run this procedure for several times.

Note

MM_Get_DoList must be called BEFORE this procedure.

Parameters¶

Input Parameters

Name

Description

Serial

Serial number of the signal group, from 1 to 4
Output Parameters

Name

Description

GO16

Name of the signal group for storing the DO signal value to be set

Example¶

MM_Set_DoList 1,GO16;

MM_Set_DoList 2,GO32;

The first example sets the 0–15 values in the DoList calculated by Mech-Viz to corresponding GO16 signals, and the second example sets the 16–32 values in DoList to corresponding GO32 signals.

Input TCP to Mech-Viz ¶

MM_Set_Pos Pos;

This procedure inputs TCP data to the External Move Step.

Note

This procedure must be called BEFORE MM_Start_Viz.
Please deploy the Mech-Viz project based on the template project in xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\tool\viz_project\outer_move, and put the External Move Step at a proper position in the workflow.

Parameter¶

Input Parameter

Name

Description

Pos

Variable for storing the TCP data to be sent to Mech-Viz

Example¶

MM_Set_Pos P10;

This example sends the TCP data stored in P10 to the External Move Step in the Mech-Viz project.

Calibration ¶

MM_Calib Move_Type,Pos_Jps,Wait_time,\\num Ext;

This procedure is used for hand-eye calibration (camera extrinsic parameter calibration). It automates the calibration process in conjunction with the Camera Calibration function in Mech-Vision. For detailed instructions, see ABB Calibration Program.

Parameters¶

Input Parameters

Name	Description
Move_Type	Motion type, 1 or 2
Move_Type	1: MoveL 2: MoveJ
Pos_Jps	Pose as TCP or joint positions, 1 or 2
Pos_Jps	1: TCP 2: Joint positions
Wait_Time	The time the robot waits to avoid shaking after it moves to the calibration point; the default value is 2 (s)
Ext	Data of the external 7th axis in mm (Optional)

Examples¶

Example 1

MM_Calib 2,1,2;

This example moves the robot in MoveJ type, receives pose data in the form of TCP, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. In addition, this robot does not have an external axis installed.

Example 2

MM_Calib 2,1,2,\\EXT:=Axis7;

This example moves the robot in MoveJ type, receives pose data in the form of TCP, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. Moreover, the 7th axis value of this robot is Axis7.

Get Custom Output Data from Mech-Vision ¶

MM_Get_Dy_Data Job,Pos_Num,MM_Status;

This procedure is used for obtaining the vision result that includes custom port outputs from the corresponding Mech-Vision project. “Custom port outputs” refers to data output by ports other than poses and labels of the “Procedure Out” Step in Mech-Vision. The output ports can be customized if the Port Type parameter of the Step is set to “Custom”.

Note

MM_Start_Vis must be called BEFORE this procedure.
If only poses and labels are needed (no custom output ports defined), use MM_Get_VisData to obtain the vision result instead.

Parameters¶

Input Parameter

Name

Description

Job

Mech-Vision Project ID, from 1 to 99

Can check and adjust in the Project List panel in Mech-Vision
Output Parameters

Name

Description

Pos_Num

Variable for storing the number of received vision points

MM_Status

Variable for storing status code. Please see Status Codes and Troubleshooting.

Example¶

MM_Get_Dy_Data 2,Pos_Num,StatusCode;

This example obtains the vision result that includes custom port outputs from Mech-Vision project No. 2. The number of vision points received is stored in Pose_Num, and the status code is stored in Status. The obtained poses and corresponding labels are stored in the global variable MMvis2_Pose, and the corresponding custom port outputs are stored in the global variable UserData.

Save Custom Output Data to Specified Variables ¶

MM_Get_DyPose Serial,MM_P,MM_Label;

This procedure stores the data in a vision point returned by Mech-Vision in the specified variables.

Note

This procedure is called AFTER MM_Get_Dy_Data.

Parameters¶

Input Parameter

Name

Description

Serial

Specify the index of the vision point to be stored

Output Parameters

Name	Description
MM_P	Variable for storing the pose in the specified vision point
MM_Label	Variable for storing the label in the specified vision point
MM_UserData	Predefined global variable for storing the custom port outputs in the specified vision point, max length is 50

Example¶

MM_Get_DyPose 2,MM_P_VISION,MM_Label;

This example stores the pose in the second received vision point to MM_P_VISION, the corresponding label to MM_Label, and the corresponding custom port outputs to MM_UserData.

Get Waypoint from Mech-Viz ¶

MM_Get_PlanData Jps_Pos,Pos_Num,VisPos_Num,MM_Status;

This procedure is used for obtaining the planned path from Mech-Viz. This procedure can obtain all data output by Mech-Viz, including motion type, tool number, custom port outputs from Mech-Vision and depalletizing planning data.

“Custom port output” refers to data output by ports other than poses and labels of the “Procedure Out” Step in Mech-Vision. The output ports can be customized if the Port Type parameter of the Step is set to “Custom”.

“Depalletizing planning data” is explained below.

Note

MM_Start_Viz must be called BEFORE this procedure.
If only poses, labels and velocities are needed, use MM_Get_VizData to obtain the planned path instead.

Parameters¶

Input Parameters

Name	Description
Jps_Pos	Expected format of the returned data, see the following table for explanations

The relationship between the value of Jps_Pos and the format of the returned data is summarized below.

Jps_Pos value	Format of returned data (Explained below)
1	Pose (joint positions), motion type, tool number, velocity, number of custom ports, custom port output, custom port output, … custom port output
2	Pose (TCP), motion type, tool number, velocity, number of custom ports, custom port output, custom port output, … custom port output
3	Pose (joint positions), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output, custom port output, … custom port output
4	Pose (TCP), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output, custom port output, … custom port output

Pose

The pose of the waypoint, as joint positions (in degree) or TCP, which is composed of Cartesian coordinates (XYZ in mm) and Euler angles (ABC in degree).

Motion type

Value is 1: joint motion

Value is 2: linear motion

Tool number

The index number of the tool to be used at this waypoint. -1 means no tool is used.

Velocity

Velocity percentage of the waypoint, equals to the velocity setting in the corresponding move-type Step × the global velocity setting in Mech-Viz.

Depalletizing planning data:

Data used in planning multi-pick depalletizing tasks. These data are part of the waypoint of the “Vision Move” Step. The following data are included:

Label: composed of 10 integers, if fewer than 10 labels are obtained, the rest of the digits are filled with 0.

Number of picked workobjects

Number of workobjects to be picked this time

Edge-corner ID of vacuum gripper: can be checked by double-clicking the corresponding tool in Resources in Mech-Viz and then selecting Configure control logic.

TCP offset: The offset between the tool pose at the center of the to-pick workobjects and the actual tool pose.

Workobject orientation: whether the X-axis of the workobject reference frame is aligned with the X-axis of the tool reference frame (value: 0 or 1).

Dimensions of the workobjects combined

Number of custom ports

The number of output keys excluding poses and labels when the Port Type parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”.

Custom port outputs

The outputs excluding poses and labels when the Port Type parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”. These data are part of the waypoint of the “Vision Move” Step.

The custom port outputs are arranged in alphabetical order of the custom port names.

Waypoints in a planned path can be divided into two types: those of the “Vision Move” Step and those of other move-type Steps.

All waypoints contain the following data: pose, motion type, tool number and velocity.
The waypoints of the “Vision Move” Step also contain depalletizing planning data.
If custom ports are defined for the “Procedure Out” Step in Mech-Vision, then the waypoints of the “Vision Move” Step also contain custom port outputs.

To obtain the depalletizing planning data, set Jps_Pos to 3 or 4; if the depalletizing planning data are not needed, set Jps_Pos to 1 or 2.

Output Parameters

Name	Description
Pos_Num	Variable for storing the number of received waypoints
VisPos_Num	Variable for storing the position of the first Vision Move waypoint in the path
VisPos_Num	Example path: Move_1, Move_2, Vision Move_3, Move_3, Vision Move_2 In this path, the position of the first Vision Move waypoint is 3. If the path does not contain Vision Move waypoint, the return value is 0.
MM_Status	Variable for storing status code. Please see Status Codes and Troubleshooting.

Example¶

MM_Get_PlanData 4,PosNum,Vis_Index,StatusCode;

This example obtains the planned path that includes depalletizing planning data and custom port outputs from Mech-Viz, and the poses obtained are in the form of TCPs. The number of waypoints received is stored in PosNum, the position of the Vision Move waypoint is stored in Vis_Index, and the status code is stored in StatusCode.

Save Waypoint to Specified Variables ¶

When Jps_Pos in MM_Get_PlanData equals to 1 or 3:

MM_Get_PlanJps Serial,Jps_Pos,MM_J,MM_MoveType,MM_ToolNum,MM_Speed;

When Jps_Pos in MM_Get_PlanData equals to 2 or 4:

MM_Get_PlanPose Serial,Jps_Pos,MM_P,MM_MoveType,MM_ToolNum,MM_Speed;

These procedures store the data in a waypoint returned by Mech-Viz in the specified variables.

Note

These procedures are called AFTER MM_Get_PlanData.

Input Parameters

Name

Description

Serial

Specify the index of the waypoint to be stored

Jps_Pos

Expected format of the returned data, must be the same value as in MM_Get_PlanData

Output Parameters

Name	Description
MM_J	Variable for storing the joint positions in the specified waypoint
MM_P	Variable for storing the TCP in the specified waypoint
MM_MoveType	Variable for storing the motion type in the specified waypoint
MM_MoveType	1: joint motion 2: linear motion
MM_ToolNum	Variable for storing the tool number in the specified waypoint, -1 means no tool is used
MM_Speed	Variable for storing the velocity in the specified waypoint
MM_UserData	Predefined global variable for storing the custom port outputs in the specified waypoint
MM_Plan_Results	Predefined global variable for storing the depalletizing planning data in the specified waypoint

Examples¶

MM_Get_PlanPose 2,4,P10,MoveType,ToolNum,Speed;

This example stores the TCP in the second received waypoint to P10, the corresponding motion type to MoveType, the corresponding tool number to ToolNum, the corresponding velocity to Speed, the corresponding custom port outputs to MM_UserData, and the corresponding depalletizing planning data to MM_Plan_Results.

MM_Get_PlanJps 1,3,jpose1,MoveType,ToolNum,Speed;

This example stores the joint position in the first received waypoint to jpose1, the corresponding motion type to MoveType, the corresponding tool number to ToolNum, the corresponding velocity to Speed, the corresponding custom port outputs to MM_UserData, and the corresponding depalletizing planning data to MM_Plan_Results.

Get Result of Step “Path Planning” in Mech-Vision ¶

MM_Get_VisPath Job,Jps_Pos,Last_Data,Pos_Num,VisPos_Num,MM_Status;

This procedure is for applications that use Mech-Vision but not Mech-Viz. It obtains the collision-free path planned by the “Path Planning” Step from the corresponding Mech-Vision project.

Note

MM_Start_Vis must be called BEFORE this procedure.
The Port Type parameter of the “Procedure Out” Step in the Mech-Vision project must be set to “Predefined (robot path)”.

Input Parameters

Name	Description
Job	Mech-Vision Project ID, from 1 to 99
Job	Can check and adjust in the Project List panel in Mech-Vision
Jps_Pos	Whether Mech-Vision should send poses as joint positions or TCPs, 1 or 2
Jps_Pos	1: Mech-Vision sends joint positions 2: Mech-Vision sends TCPs

Output Parameters

Name	Description
Last_Data	Variable, indicating whether all waypoints have been sent, 0 or 1
Last_Data	0: NOT all waypoints have been sent (more on the way) 1: All waypoints have been sent
Pos_Num	Variable for storing the number of received waypoints
VisPos_Num	Variable for storing the position of the first Vision Move waypoint in the path
VisPos_Num	Example path: Move_1, Move_2, Vision Move_3, Move_3, Vision Move_2 In this path, the position of the first Vision Move waypoint is 3. If the path does not contain Vision Move waypoint, the return value is 0.
MM_Status	Variable for storing status code. Please see Status Codes and Troubleshooting.

Example¶

MM_Get_VisPath 2,2,LastData,PosNum,Vis_Index,StatusCode;

This example obtains the planned path from Mech-Vision project No. 2 in the form of TCPs. Whether all waypoints have been sent is stored in LastData, the number of waypoints received is stored in PosNum, the position of the Vision Move waypoint is stored in Vis_Index, and the status code is stored in StatusCode.