Standard Interface Programming for JAKA

This section introduces how to write a Standard Interface program with JAKA’s programming function. You can apply the example program with a little modification. There is no requirement on the version of the robot controller when using the example programs provided in this section.

Load the Program

Please refer to Load the Example Programs to load the example programs.

Attention

The example programs you should load are mmCali.zip (Calibration Example Program), mmVis.zip (Mech-Vision Example Program), and mmViz.zip (Mech-Viz Example Program).

Calibrate the Example Program

In the Programming control window, open the loaded mmCali program.

../../../../_images/jaka_program_implementation1.png

Program Description

You will only need to make the following two modifications:

  • Step 1: Modify the IP address and port number in the Open SOCKET instruction. The IP address set here is the IP address of the IPC, which should be in the same subnet as that of the robot.

  • Step 9: You can select the Linear movement, and set the Start subscript to 3 and the End subscript to 9.

Mech-Vision Example Program

In the Programming control window, open the loaded mmVis program.

../../../../_images/jaka_program_implementation2.png

Program Description

  • Step 1: Establish TCP/IP Socket connection between the robot and the IPC. The IP address set here is the IP address of the IPC, which should be in the same subnet as that of the robot.

  • Step 2: Obtain the robot’s current joint positions and store them in the current_jps variable.

  • Step 3: Send the command to start the Mech-Vision project. Please refer to Command 101 for detailed descriptions of parameter settings.

  • Step 4: Receive the status code returned from Command 101, and store it in the res variable.

  • Step 5: Send the command to obtain the vision result. Please refer to Command 102 for detailed descriptions of parameter settings.

  • Step 6: Receive the data returned from Command 102, and store it in the res variable.

  • Step 7: Convert the data received in Step 6 from strings to array and store the data in the vis_recv variable.

  • Step 8: Print the log.

  • Step 9: Determine whether the value of vis_recv’s Access subscript 1 is 1100. 1100 indicates that the vision result is obtained successfully.

  • Step 10: Move to the first vision point in linear movement.

    Attention

    For JAKA robot’s linear movement, the software should send TCP to the robot; and for joint movement, the software should send joint positions.

Mech-Viz Example Program

In the Programming control window, open the loaded mmViz program.

../../../../_images/jaka_program_implementation3.png

Program Description

  • Step 1: Establish TCP/IP Socket connection between the robot and the IPC. The IP address set here is the IP address of the IPC, which should be in the same subnet as that of the robot.

  • Step 2: Obtain the robot’s current joint positions and store them in the current_jps variable.

  • Step 3: Send the command to start the Mech-Viz project. Please refer to Command 201 for detailed descriptions of parameter settings.

  • Step 4: Receive the status code returned from Command 201, and store it in the res variable.

  • Step 5: Send the command to obtain the planned path. Please refer to Command 205 for detailed descriptions of parameter settings.

  • Step 6: Receive the data returned from Command 205, and store it in the res variable.

  • Step 7: Convert the data received in Step 6 from strings to array and store the data in the viz_recv variable.

  • Step 8: Determine whether the value of viz_recv’s Access subscript 1 is 2100. 2100 indicates that the planned path is obtained successfully.

  • Step 9: Move to the first waypoint in linear movement.

    Attention

    For JAKA robot’s linear movement, the software should send TCP to the robot; and for joint movement, the software should send joint positions.