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
	Can check and adjust in Mech-Vision
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
	Can check and adjust in Mech-Vision

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
	Can check and adjust in Mech-Vision
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