JAKA Standard Interface Commands¶
Initialize Communication¶
This command is used for setting the IP address and port number of the host for TCP/IP Socket communication.
Parameters¶
Name
Description
IP
The IP address of the host
PORT
The port number for TCP/IP Socket communication
Start Mech-Vision Project¶
This command is for applications that use Mech-Vision but not Mech-Viz. It runs the corresponding Mech-Vision project to acquire and process data.
Parameters¶
Name
Description
projectId
Mech-Vision Project ID, from 1 to 99
excepted points
Number of vision points for Mech-Vision to send, from 0 to 20, where 0 means “send all”
pose type
Set the robot pose to send to Mech-Vision, from 0 to 3
See the following table for explanations of the 4 values
pose 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.
Get Vision Target(s)¶
This command is for applications that use Mech-Vision but not Mech-Viz. It obtains the vision result from the corresponding Mech-Vision project.
Parameter¶
Name
Description
projectId
Mech-Vision Project ID, from 1 to 99
Start Mech-Viz Project¶
This command 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¶
Name
Description
pose 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
pose 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.
Get Planned Path¶
This command obtains the planned path from Mech-Viz.
Parameter¶
Name
Description
pose 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
Switch Mech-Vision Recipe¶
This command specifies which parameter recipe of the Mech-Vision project to use. For more information on parameter recipe, please see Parameter Recipe.
Note
This command must be called BEFORE Start_Vision.
The corresponding Mech-Vision project must have parameter recipes already configured and saved.
Parameters¶
Name
Description
projectId
Mech-Vision Project ID, from 1 to 99
recipeId
The number of a parameter recipe in the Mech-Vision project, from 1 to 99
Select Mech-Viz Branch¶
This command 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 command specifies which exit port such Step(s) should take.
Note
Start_Viz must be called BEFORE this command.
When the next Step to be executed in Mech-Viz is a Branch by Msg Step, Mech-Viz will wait for this command to send the exit port number it should take.
Parameters¶
Name
Description
branchId
Step ID of the “Branch by Msg” Step, can be viewed in Mech-Viz
branch out port
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.
Set Move Index¶
This command 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
Start_Viz must be called BEFORE this command.
Parameters¶
Name
Description
IndexId
Step ID of the Step, can be viewed in Mech-Viz
index out port
Value for the Current Index parameter when the Step is executed
Move Robot to Vision Target¶
This command moves the robot to a vision point output by Mech-Vision.
Parameters¶
Name
Description
No.
The number of the vision point to which the robot should move
If the Mech-Vision project outputs only one vision project, then No. should be set to 1.
vel
The velocity of the robot, in mm/s
acc
The acceleration of the robot, in mm/s 2
tol
End point error. If 0, the robot arrives at the point precisely; otherwise, the motion between points is smoothed.
Move Robot to Waypoint¶
This command moves the robot to a waypoint output by Mech-Viz.
Parameters¶
Name
Description
No.
The number of the vision point to which the robot should move
If the Mech-Vision project outputs only one vision project, then No. should be set to 1.
vel
The velocity of the robot, in mm/s
acc
The acceleration of the robot, in mm/s 2
tol
End point error. If 0, the robot arrives at the point precisely; otherwise, the motion between points is smoothed.
Get Result of Step “Path Planning” in Mech-Vision¶
This command 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
The Port Type parameter of the “Procedure Out” Step in the Mech-Vision project must be set to “Predefined (robot path)”.
Parameters¶
Name
Description
projectId
Mech-Vision Project ID, from 1 to 99
Can check and adjust in the Project List panel in Mech-Vision
pose type
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