FANUC Standard Interface Commands¶
The FANUC Standard Interface provides the following procedures:
When programming the FANUC 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.
This Standard Interface is over the TCP/IP protocol.
Initialize Communication¶
MM_INIT_SKT (C_Tag,Ip_Addr,Svr_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
C_Tag
Client port number, i.e. the port number string of the robot, select from ports 1 to 8.
Ip_Addr
The IP address of the IPC
Svr_Port
Server port number; the default port number is 50000
Time_Out
Wait time in minutes before stopping connection attempt
Example¶
CALL MM_INIT_SKT ('1', '192.168.1.20', 50000, 5);
When running the example, the specified client port number is 1, 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 5 minutes.
Start Mech-Vision Project¶
MM_START_VIS (Job,Pos_Num_Need,SendPos_Type,Pr_Num)
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
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
See the following table for explanations of the 4 values
Pr_Num
Position Register for storing the joint positions of the start point when SendPose_Type = 3
If using, change the data type of the register to joint positions
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¶
CALL MM_START_VIS (1,1,1,60)
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 to Mech-Vision.
Get Vision Target(s)¶
MM_GET_VIS (Job,Reg_Lst_Data,Reg_Pos_Num,Reg_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_DT to obtain the vision result instead.
Parameters¶
Input Parameter
Name
Description
Job
Mech-Vision Project ID, from 1 to 99
Output Parameters
Name
Description
Reg_Lst_Data
Data Register, indicating whether all vision points have been sent, 0 or 1
0: NOT all vision points have been sent (more on the way) 1: All vision points have been sent
Reg_Pos_Num
Data Register for storing the number of received vision points, from 1 to 20
Reg_Status
Data Register for storing status code. Please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_VIS (1,50,51,52)
This example obtains the vision result from Mech-Vision project No.1. Whether all vision points have been sent is stored in register R[50], the number of vision points received is stored in register R[51], and the status code is stored in register R[52].
Start Mech-Viz Project¶
MM_START_VIZ (SendPos_Type,Pr_Num)
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
See the following table for explanations of the 3 values
Pr_Num
Position Register for storing the joint positions of the start point when SendPose_Type = 3
If using, change the data type of the register to joint positions
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 objects that obstruct the robot to move from [0,0,0,0,0,0] to the first waypoint, this parameter should not be set to 1.
Example¶
CALL MM_START_VIZ (1,60)
This example runs the corresponding Mech-Viz project, and sets the initial joint positions of the simulated robot to the current joint positions of the real robot.
Get Planned Path¶
MM_GET_VIZ (Jps_Pos,Reg_Lst_Data,Reg_Pos_Num,Reg_VPos_Num,Reg_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_PLNDT to obtain the planned path instead.
Parameters¶
Input Parameter
Name
Description
Jps_Pos
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
Reg_Lst_Data
Data Register, indicating whether all waypoints have been sent, 0 or 1
0: NOT all waypoints have been sent (more on the way) 1: All waypoints have been sent
Reg_Pos_Num
Data Register for storing the number of received waypoints which range from 1-20
Reg_VPos_Num
Data Register for storing the position of the first Vision Move waypoint in the path
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.
Reg_Status
Data Register for storing status code. Please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_VIZ (2,50,51,52,53)
This example obtains the planned path from Mech-Viz in the form of TCPs. Whether all waypoints have been sent is stored in register R[50], the number of waypoints received is stored in register R[51], the position of the Vision Move waypoint is stored in register R[52], and the status code is stored in register R[53].
Obtain Pose¶
MM_GET_POS (Serial,Pr_Num,Reg_Label,Reg_Speed)
This procedure stores a vision pose returned by Mech-Vision or a waypoint pose (as TCP) returned by Mech-Viz in the specified Position Register.
Parameters¶
Input Parameter
Name
Description
Serial
Specify the index of the pose to be stored
Output Parameters
Name
Description
Pr_Num
Position Register for storing the specified pose
Label
Data Register for storing the label corresponding to the specified pose
Pose_Speed
Data Register for storing the velocity corresponding to the specified pose
Example¶
CALL MM_GET_POS (1,60,61,62)
This example stores the first received pose to register PR[60], the corresponding label to register R[61], and the corresponding velocity to register R[62].
Obtain Joint Positions¶
MM_GET_JPS (Serial,Pr_Num,Reg_Label,Reg_Speed)
This procedure stores a set of joint positions returned by Mech-Viz in the specified Position Registers.
Note
As Mech-Vision does not output joint position data, this subprogram can only be used with Mech-Viz.
Parameters¶
Input Parameter
Name
Description
Serial
Specify the index of the set of joint positions to be stored
Output Parameters
Name
Description
Pr_Num
Position Register for storing the specified set of joint positions
Reg_Label
Data Register for storing the label corresponding to the specified set of joint positions
Reg_Speed
Data Register for storing the velocity corresponding to the specified set of joint positions
Example¶
CALL MM_GET_JPS (1,60,61,62)
This example stores the first set of received joint positions to PR[60], the corresponding label to register R[61], and the corresponding velocity to register R[62].
Switch Mech-Vision Recipe¶
MM_SET_MOD (Job,Model_Num)
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_VIZ.
Parameters¶
Input Parameters:
Name
Description
Job
Mech-Vision Project ID, from 1 to 99
Model_Num
The ID of a parameter recipe in the Mech-Vision project, from 1 to 99
Example¶
CALL MM_SET_MOD (2,2)
This example switches the parameter recipe used to No. 2 in Mech-Vision project No. 2.
Select Mech-Viz Branch¶
MM_SET_BCH (Branch_Num,Export_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 subprogram 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
Example: To select exit port 0 in Mech-Viz, set the value of this parameter to 1.
Example¶
CALL MM_SET_BCH (1,3)
This example tells Mech-Viz to take exit port 3 for “Branch by Msg” Step whose Step ID is 1.
Set Move Index¶
MM_SET_IDX (Skill_Num,Index_Num)
This procedure sets the value for the Current Index parameter of Mech-Viz Steps. 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¶
CALL MM_SET_IDX (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_STAT (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
Status code 1101 indicates that Mech-Vision is ready to run projects. For other status codes, please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_STAT (70)
This example obtains the status code and stores it in register R[70].
Input Object Dimensions to Mech-Vision¶
MM_SET_BS (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
Lenght
Length of object in mm
Width
Width of object in mm
Height
Height of object in mm
Example¶
CALL MM_SET_BS (1,11.0,12.0,13.0)
This example sets the object dimensions in the Read Object Dimensions Step in the Mech-Vision project No. 1 to 11*12*13 mm.
Get DO Signal List/ Set DO Signal List¶
Get DO Signal List
MM_GET_DLSet DO Signal List
MM_SET_DL
These two procedures obtain the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper and set the DOs accordingly.
Note
MM_GET_VIZ 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.
Parameters¶
No parameters.
Example¶
CALL MM_GET_DL
CALL MM_SET_DL
These two examples obtain the DO signal list planned by Mech-Viz, store it in Do_Port[i], and input the values to the corresponding digital outputs.
Input TCP to Mech-Viz¶
MM_SET_POS (X,Y,Z,W,P,R)
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 |
X |
Variable 1 of the pose (mm) |
Y |
Variable 2 of the pose (mm) |
Z |
Variable 3 of the pose (mm) |
W |
Variable 4 of the pose (arc degree) |
P |
Variable 5 of the pose (arc degree) |
R |
Variable 6 of the pose (arc degree) |
Example¶
CALL MM_SET_POS (100.1,200.2,300.3,90.0,180.0,0.0)
This example sends the pose of TCP (100.1,200.2,300.3,90.0,180.0,0.0) to the External Move Step in the Mech-Viz project.
Calibration¶
MM_CALIB (Move_Type,PosJps,WaitTime,AxisNum,AxisVal,Reg_CalibPos)
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 FANUC Calibration Program.
Parameters¶
Input Parameters
Name
Description
Move_Type
Motion type, 1 or 2
1: Linear motion 2: Joint moton
PosJps
Pose as flange pose or joint positions, 1 or 2
1: flange pose 2: Joint positions
WaitTime
The time the robot waits to avoid shaking after it moves to the calibration point; the default value is 2 (s)
AxisNum
The axis number of the robot
AxisVal
Data of the external 7th axis in mm (Optional; input 0 when there is no external axis)
Reg_CalibPos
The Position Register used in MM_AUTO_CALIB; PR[100] by default
Example¶
CALL MM_CALIB (2,1,2,6,0,100)
This example moves a 6-axis robot in Joint motion type, receives pose data in the form of flange pose, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. Moreover, the robot does not have an external 7th axis. The register PR[100] is used to store the received pose data.
Get Notification from Mech-Vision¶
MM_RCV_NTFY(MM_NotifyMsg)
This procedure is used to obtain the message output by the “Notify” Step in the corresponding Mech-Vision project.
Note
MM_START_VIS or MM_START_VIZ must be called BEFORE this procedure.
The Service Name and Message parameters of the “Notify” Step must be set according to the following requirements:
Service Name must be set to Standard Interface Notify.
Message must be a positive integer that represents a predetermined message.
Parameter¶
Output parameter
Name
Description
MM_NotifyMsg
Data Register for storing the message
Get Vision Result from Mech-Vision¶
MM_GET_DY_DT (Job,Reg_Pos_Num,Reg_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_VIS 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
Reg_Pos_Num
Data Register for storing the number of received vision points
Reg_Status
Data Register for storing status code. Please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_DY_DT (1,50,51)
This example obtains the vision result that includes custom port outputs from Mech-Vision project No. 1. The number of vision points received is stored in register R[50], and the status code is stored in register R[51].
Save Vision Point to Specified Registers¶
MM_GET_DYPOS (Serial,Pr_Num,Reg_Label,Reg_UserData)
This procedure stores the data in a vision point returned by Mech-Vision in the specified registers.
Note
This procedure is called AFTER MM_GET_DY_DT.
Parameters¶
Input parameter
Name
Description
Serial
Specify the index of the vision point to be stored
Output parameters
Name
Description
Pr_Num
Position Register for storing the pose in the specified vision point
Reg_Label
Data Register for storing the label in the specified vision point
Reg_UserData
The first Data Register for storing the custom port outputs in a specified vision point
Outputs are stored in registers consecutive to the input one. Reserve enough registers.
Example¶
CALL MM_GET_DYPOS (1,60,61,62)
This example stores the pose in the first received vision point to register PR[60], the corresponding label to register R[61], and the corresponding custom port outputs to register R[62] and consecutive.
Get Waypoint from Mech-Viz¶
MM_GET_PLNDT (Jps_Pos,Reg_Pos_Num,Reg_VPos_Num,Reg_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_START_VIZ 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
Reg_Pos_Num
Data Register for storing the number of received waypoints
Reg_VPos_Num
Data Register for storing the position of the first Vision Move waypoint in the path
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.
Reg_Status
Data Register for storing status code. Please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_PLNDT (3,50,51,52);
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 joint positions. The number of waypoints received is stored in register R[50], the position of the Vision Move waypoint is stored in register R[51], and the status code is stored in register R[52].
Save Waypoint to Specified Registers¶
MM_GET_PLJOP (Serial,Jps_Pos,Pr_Num,Reg_MoveType,Reg_ToolNum,Reg_Speed,Reg_UserData,Reg_PlanRes)
This procedure stores the data in a waypoint returned by Mech-Viz in the specified registers.
Note
This procedure is called AFTER MM_GET_PLNDT.
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_PLNDT
Output parameters
Name
Description
Pr_Num
Position Register for storing the pose in the specified waypoint
Reg_MoveType
Data Register for storing the motion type in the specified waypoint
1: joint motion 2: linear motion
Reg_ToolNum
Data Register for storing the tool number in the specified waypoint, -1 means no tool is used
Reg_Speed
Data Register for storing the velocity in the specified waypoint
Reg_UserData
The first Data Register for storing the custom port outputs in the specified waypoint
Data are stored in registers consecutive to the input one. Reserve enough registers.
Reg_PlanRes
The first Data Register for storing the depalletizing planning data in the specified waypoint
Data are stored in registers consecutive to the input one. Reserve enough registers.
Examples¶
CALL MM_GET_PLJOP (1,3,60,61,62,63,81,131)
This example stores the joint positions in the first received waypoint to register PR[60], the corresponding motion type to register R[61], the corresponding tool number to register R[62], the corresponding velocity to register R[63], the corresponding custom port outputs to registers R[81] and consecutive, and the corresponding depalletizing planning data to registers R[131] and consecutive.
Get Result of Step “Path Planning” in Mech-Vision¶
MM_GET_VISP (Job,Jps_Pos,Reg_Lst_Data,Reg_Pos_Num,Reg_VPos_Num,Reg_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
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
1: Mech-Vision sends joint positions 2: Mech-Vision sends TCPs
Output parameters
Name
Description
Reg_Lst_Data
Data Register, indicating whether all waypoints have been sent, 0 or 1
0: NOT all waypoints have been sent (more on the way) 1: All waypoints have been sent
Reg_Pos_Num
Data Register for storing the number of received waypoints
Reg_VPos_Num
Data Register for storing the position of the first Vision Move waypoint in the path
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.
Reg_Status
Data Register for storing status code. Please see Status Codes and Troubleshooting.
Example¶
CALL MM_GET_VISP (1,1,50,51,52,53)
This example obtains the planned path from Mech-Vision project No. 1 in the form of joint positions. Whether all waypoints have been sent is stored in register R[50], the number of waypoints received is stored in register R[51], the position of the Vision Move waypoint is stored in register R[52], and the status code is stored in register R[53].