Communication Commands and Troubleshooting

Communication commands enable communication between the robot and Mech-Metrics. Mech-Metrics supports five groups of communication commands: Command 801: Start Measurement Task, Command 802: Run Feature Measurement, Command 803: Stop Measurement Task, Command 804: Import Part ID During Measurement, and Command 805: Query Part Historical Data. This document explains each command group in detail.

Communication Commands

Command 801: Start Measurement Task

Send Command

Sender

Robot

Receiver

Mech-Metrics

Time to send

This command is sent when the measurement of a new part begins.

Command description

The robot informs Mech-Metrics that the measurement of a new part begins.

Command Format

801, robot ID, part name, part SN, custom 1, custom 2, custom 3, custom 4, custom 5, custom 6, custom 7, custom 8

Sample command

801,1,part01,sn001,1,2,3,4,5,6

Command parameter description

Parameter Required Description

robot ID

Yes

This parameter specifies the unique identifier of the robot. The robot number is an integer between 1 and 99.

In the above example, the first 1 is the robot ID.

part name

Yes

This parameter specifies the name of the part to be measured. The part name can contain letters and digits and cannot exceed 20 characters in length.

In the above example, part01 is the part name.

part SN

Yes

This parameter specifies the part SN. The part SN, also known as the part ID, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

In the above example, sn001 is the part SN.

This parameter is required. In some scenarios, the part SN cannot be obtained at the start of measurement and may need to be obtained by scanning a barcode or QR code during the measurement process. In these cases, the part SN can be empty but the position of the part SN must be reserved.

Example: 801,1,part01,,1,2,3,4,5,6. In this example, the part SN is not specified but the position of the part SN is reserved by the comma (,).

custom 1-8

No

This parameter is optional. This parameter provides custom information of the part. Custom parameters are used only when more part information needs to be provided to Mech-Metrics. This command supports up to 8 custom parameters. The value of each custom parameter is an integer between 1 and 8.

To use a custom parameter:

  1. In the upper-part ribbon of Mech-Metrics, select Communication  Configure Communication Command to configure the meaning for values (1 to 8) of the custom parameter (such as custom parameter 1).

  2. Add the custom parameter to the command.

In the above example, 1,2,3,4,5,6 are custom parameters. The meaning of each of these custom parameters is configured in Mech-Metrics.

Return Command

Sender

Mech-Metrics

Receiver

Robot

Time to send

The sent command is received.

Command description

Mech-Metrics informs the robot that it has received the start measurement task command, begins creating a historical record for the new part, and informs the robot whether this execution will be continuous or a single run.

Command Format

801, status code, loop execution/one-time execution

Sample command

801,8100,1

Command parameter description

Parameter Description

status code

This parameter indicates the status code that indicates the command execution result.

  • If the command is executed successfully, Mech-Metrics will return status code 8100.

  • If the status code returned by Mech-Metrics is not 8100, the command fails to be run. For troubleshooting details, see Troubleshooting.

In the above example, the status code returned by Mech-Metrics is 8100, which indicates that the command execution succeeds.

loop execution/one-time execution

This parameter indicates whether the execution is loop execution or one-time execution.

  • 0: One-time execution. If one-time execution is specified, the robot runs the following commands in sequence: 801→802→803.

  • If you want to measure multiple features, please run Command 802 for multiple times. For example, if you want to measure two features, the robot runs the following commands in sequence: 801→802→802→803.

  • For more information about Command 802, see Command 802: Run Feature Measurement. For more information about Command 803, see Command 803: Stop Measurement Task.

  • 1: Loop execution. If loop-execution is specified, the robot executes multiple command sets. The command set starts from Command 801. If one-time execution is returned by a Command 801 in a command set, the robot program stops after the command set is executed.

In the above example, 1 indicates loop execution.

  • By default, Mech-Metrics returns 0 to the robot, indicating that the current execution is a one-time execution.

  • In semi-dynamic repeatability testing, Mech-Metrics returns 1 to the robot, indicating that the current execution is a loop-execution. Since manual movement of the robot or clamping of the part is not required during semi-dynamic repeatability testing, you can continuously execute multiple rounds of commands on the robot side.

Command 802: Run Feature Measurement

Send Command

Sender

Robot

Receiver

Mech-Metrics

Time to send

The robot reaches the feature’s image-taking position.

Command description

Trigger the Mech-Vision project that corresponds to the to-be-measured feature to run.

Command Format

802, robot ID, feature ID, robot joint positions, robot flange pose

Sample command

802,1,1,10,20,30,40,50,60,100,200,300,0,180,0

Command parameter description

Parameter Required Description

robot ID

Yes

This parameter specifies the unique identifier of the robot. The robot number is an integer between 1 and 99.

In the above example, the first 1 is the robot ID.

feature ID

Yes

This parameter specifies the ID of the feature to be measured. The ID is the unique identifier of the feature. The ID is an integer between 1 and 999.

  • Each feature must be associated with a Mech-Vision project, which is used to measure the feature. The project ID is the unique identifier of the project in the Mech-Vision solution.

  • In Mech-Metrics, feature IDs correspond to the measurement positions on the part, while Mech-Vision project IDs represent the sequence of projects in the Mech-Vision solution. The two types of IDs are not directly related, and multiple measurement positions can be associated with the same Mech-Vision project.

In the above example, the second 1 is the feature ID.

robot joint positions

Yes

This parameter specifies the joint positions of the robot. In general, six joint positions (J1 to J6) of the robot are specified. Unit: degrees.

In the above example, 10,20,30,40,50,60 are the joint positions of the robot.

robot flange pose

Yes

This parameter specifies the flange pose of the robot. It typically includes six values: three for position and three for orientation. The unit of position data is millimeters. The orientation data is represented using Euler angles, with the unit in degrees.

In the example above, 100,200,300,0,180,0 represent the robot flange pose, where 100,200,300 are position data, and 0,180,0 are orientation data.

Return Command

Sender

Mech-Metrics

Receiver

Robot

Time to send

Mech-Metrics receives a signal indicating that the camera has completed taking the photo.

Command description

Notify the robot that the image has been taken, so it can move to the next measurement position.

Command Format

802, status code

Sample command

802,8101

Command parameter description

Parameter Description

status code

This parameter indicates the status code that indicates the command execution result.

  • If the command is executed successfully, Mech-Metrics will return status code 8101.

  • If the status code returned by Mech-Metrics is not 8101, the command fails to be run. For troubleshooting details, see Troubleshooting.

In the above example, the status code returned by Mech-Metrics is 8101, which indicates that the command execution succeeds.

Command 803: Stop Measurement Task

Send Command

Sender

Robot

Receiver

Mech-Metrics

Time to send

The last feature of the part has been photographed. The measurement of the part has been completed.

Command description

The robot informs Mech-Metrics that the measurement ends and requests the measurement result of the part.

Command Format

803, robot ID

Sample command

803,1

Command parameter description

Parameter Required Description

robot ID

Yes

This parameter specifies the unique identifier of the robot. The robot number is an integer between 1 and 99.

In the above example, 1 is the robot ID.

Return Command

Sender

Mech-Metrics

Receiver

Robot

Time to send

The sent command is received.

Command description

Return the measurement result.

Command Format

803, status code, result, part status 1, part status 2, part status 3

Sample command

803,8102,0,0,0,0

Command parameter description

Parameter Description

status code

This parameter indicates the status code that indicates the command execution result.

  • If the command is executed successfully, Mech-Metrics will return status code 8102.

  • If the status code returned by Mech-Metrics is not 8102, the command fails to be run. For troubleshooting details, see Troubleshooting.

In the above example, the status code returned by Mech-Metrics is 8102, which indicates that the command execution succeeds.

result

This parameter indicates the result of the part.

  • 0 indicates OK (the part is qualified).

  • 1 indicates NG (the part is defective).

In the above example, the first 0 indicates that the part is qualified.

part status 1-3

These parameters indicate the numbers of measurement items whose measured value exceeds tolerance 1, 2, and 3 respectively.

  • If a specific-level tolerance is not set or the measured value of the item is within the tolerance, 0 is displayed.

  • If a specific-level tolerance is set and the measured value of the item exceeds the tolerance, the number increases by 1.

In the example above, the last three 0s indicate that no tolerances are set, or no measurement values have exceeded the tolerances.

Command 804: Import Part ID During Measurement

Send Command

Sender

Robot

Receiver

Mech-Metrics

Time to send

The command can be sent any point during the current part measurement process.

Command description

In some scenarios, the part ID (also known as part SN) cannot be obtained at the start of measurement and may need to be obtained by scanning a barcode or QR code during the measurement process. This command is used to input the part ID during the measurement.

Command Format

804, robot ID, part SN

Sample command

804,1,sn001

Command parameter description

Parameter Required Description

robot ID

Yes

This parameter specifies the unique identifier of the robot. The robot number is an integer between 1 and 99.

In the above example, 1 is the robot ID.

part SN

Yes

This parameter specifies the part SN. The part SN, also known as the part ID, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

In the above example, sn001 is the part SN.

Return Command

Sender

Mech-Metrics

Receiver

Robot

Time to send

The sent command is received.

Command description

Inform the robot that the part SN has been successfully input.

Command Format

804, status code

Sample command

804,8103

Command parameter description

Parameter Description

status code

This parameter indicates the status code that indicates the command execution result.

  • If the command is executed successfully, Mech-Metrics will return status code 8103.

  • If the status code returned by Mech-Metrics is not 8103, the command fails to be run. For troubleshooting details, see Troubleshooting.

In the above example, the status code returned by Mech-Metrics is 8103, which indicates that the command execution succeeds.

Command 805: Query Part Historical Data

Send Command

Sender

Robot

Receiver

Mech-Metrics

Time to send

The command can be sent at any point when the measurement is not started.

Command description

Input a part SN to allow Mech-Metrics to display the input part in the main interface.

Command Format

805, robot ID, part SN

Sample command

805,1,sn001

Command parameter description

Parameter Required Description

robot ID

Yes

This parameter specifies the unique identifier of the robot. The robot number is an integer between 1 and 99.

In the above example, 1 is the robot ID.

part SN

Yes

This parameter specifies the part SN. The part SN, also known as the part ID, is the unique identifier of the part. The part SN can contain letters and digits and cannot exceed 30 characters in length.

In the above example, sn001 is the part SN.

Return Command

Sender

Mech-Metrics

Receiver

Robot

Time to send

The sent command is received.

Command description

Inform that the part SN has been successfully input.

Command Format

805, status code

Sample command

805,8104

Command parameter description

Parameter Description

status code

This parameter indicates the status code that indicates the command execution result.

  • If the command is executed successfully, Mech-Metrics will return status code 8104.

  • If the status code returned by Mech-Metrics is not 8104, the command fails to be run. For troubleshooting details, see Troubleshooting.

In the above example, the status code returned by Mech-Metrics is 8104, which indicates that the command execution succeeds.

Troubleshooting

Error codes and Troubleshooting

Error code Description Troubleshooting

8002

Invalid input parameter.

Check if all input parameters are correct based on the input parameter descriptions of the command you want to send. For example, if you need to send Command 801 and receive this error code, check the input parameters based on the command parameter description in the send command section of Command 801. This means to check whether the parameters such as robot ID, part name, part SN, and custom parameters 1–8 are correct. For instance, ensure that the part name matches the one used in the Mech-Metrics project.

8003

Mech-Metrics project not opened.

Check whether the corresponding Mech-Metrics project is open.

8004

Part not found.

Check whether the part SN exists in the Mech-Metrics project or is misspelled.

8005

Measurement task not started.

Check whether Command 801 is called before you call Command 802 to start feature measurement.

8006

The Mech-Vision software is not open, or the corresponding Mech-Vision project was not found.

Check whether Mech-Vision and the corresponding Mech-Vision project are open.

8007

Mech-Vision project execution error.

Check if the Mech-Vision project is properly configured.

8008

Mech-Vision solution not found.

Check if the solution is open in Mech-Vision.

8021

Mech-Metrics not registered.

Check if Mech-Metrics is open.

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