ELITE Interface Commands¶
The Standard Interface communication for Elite is realized through the following global variables.
Variable |
Description |
B097 |
Stores the received command number. Refer to TCP/IP for details. |
B098 |
Stores the received status code. |
B099 |
Executes the commands. Each value corresponds to a different command. |
0: After a command is executed, the value of this variable resets to 0. 1: Start the Mech-Vision project. 2: Obtain vision targets from Mech-Vision. 3: Switch Mech-Vision parameter recipe. 4: Start the Mech-Viz project. 5: Select Mech-Viz branch. 6: Set move index. 7: Obtain the planned path from Mech-Viz. 8: Store the vision poses obtained from Mech-Vision in variables V101 to V120. 9: Store the waypoint poses obtained from Mech-Vision or Mech-Viz in variables V101 to V120 (if TCP) or P101 to P120 (if JPs). 10: Calibration. 11: Obtain the planned path from Mech-Vision. |
|
B100–B103 |
The IP address of the IPC. |
B104 |
The port number of the IPC. |
B105 |
The project ID of the Mech-Vision project to be executed. |
B106 |
The number of vision points for Mech-Vision to send, from 0 to 20, where 0 means “send all”. |
B107 |
The robot pose to send to Mech-Vision, from 0 to 3. |
0: Do not send pose to Mech-Vision 1: Send current JPs and flange pose 2: Send current flange pose 3: Send current JPs |
|
B108 |
The ID of a parameter recipe in the Mech-Vision project, from 1 to 99. |
B109 |
The robot pose to send to Mech-Viz, from 0 to 2. |
0: Do not send pose to Mech-Viz 1: Send current JPs and flange pose 2: Send current JPs |
|
B110 |
The Step ID of the “Branch by Msg” Step, can be viewed in Mech-Viz. |
B111 |
The number of the exit port of the “Branch by Msg” Step to take + 1, from 1 to 99. |
B112 |
The Step ID of the Step with the Current Index parameter. |
B113 |
The value for the Current Index parameter in the above Step. |
B114 |
Whether Mech-Viz/Mech-Vision should send waypoint poses as JPs or TCPs, 1 or 2. |
1: Mech-Viz/Mech-Vision sends JPs 2: Mech-Viz/Mech-Vision sends TCPs |
|
B201–B220 |
Stores the labels corresponding to the poses. |
Variable |
Description |
V101–V120 |
Stores the TCPs obtained from Mech-Vision or Mech-Viz. |
V099 |
Stores the calibration point (as TCP). |
P101–P120 |
Stores the JPs obtained from Mech-Vision or Mech-Viz. |
P099 |
Stores the calibration point (as JPs) |