Overview

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Protocols

Standard Interface communication supports the following 7 protocols. Please select the protocol according to the actual requirement.

  1. TCP Server

    Communication Component provides a TCP Server as an external service interface that supports the transfer of ASCII and HEX data.

  2. Siemens PLC Client

    To communicate with Siemens S7 series PLC, Communication Component provides a PLC Client based on Snap7 protocol as a communication interface.

  3. PROFINET

    Communication Component can be used as a PROFINET slave station to connect to the PROFINET industrial network. For communication using the PROFINET industrial bus, the conditions that need to be met include:

    • The industrial computer or host supports the installation of standard PCIe interface.

    • HMS INpact 40 PIR Slave PCIe interface and Ixxat VCI driver software have been installed.

    • Communication Component 1.5.0 or above has been installed. Use the PROFINET General Station Description (GSD) file provided by Mech-Center.

    • PROFINET communication is in the standard big-endian data format. The data contains 32-bit DINT pose data, and the PROFINET master station (especially the robot controller) needs to support 32-bit integer sending and receiving.

  4. EtherNet/IP

    Communication Component can be used as an EtherNet/IP slave station to connect to the EtherNet/IP industrial network. To communicate using the EtherNet/IP industrial bus, the conditions include:

    • The industrial computer or host supports the installation of standard PCIe interface.

    • HMS INpact 40 EIP Slave PCIe interface and Ixxat VCI driver software have been installed.

    • Communication Component 1.5.1 or above has been installed. Use the EDS file provided by Communication Component.

    • EtherNet/IP communication is in the standard big-endian data format. The data contains 32-bit DINT pose data, and the EtherNet/IP master station (especially the robot controller) needs to support 32-bit integer sending and receiving.

  5. Modbus TCP Slave

    Communication Component can be used as a slave device software, providing the Standard Interface option Modbus TCP Slave for data communication with the master device. This function requires installing Communication Component 1.6.1 or above.

  6. Mitsubishi MC Client

    Communication Component can be used as a slave device software, providing the Standard Interface option Mitsubishi MC Client to establish MC (MELSEC communication) protocol communication with the master device. This option requires Communication Component 1.7.2 or above to be installed.

  7. UDP Server

    Communication Component can be used as the server, providing the Standard Interface option UDP Server to establish UDP protocol communication with the client. This option requires Communication Component 1.7.2 or above to be installed.

Introduction to Commands

Unified data units are required for communication:

  • The unit of joint angle and Euler angle is degree (°).

  • The unit of XYZ coordinates in the flange pose frame is mm.

Mech-Vision

101: Start Mech-Vision Project

In scenarios where only Mech-Vision is used, this command starts the Mech-Vision project that executes image capturing and performs vision recognition.

102: Get Vision Target(s)

In scenarios where only Mech-Vision is used, this command reads the vision recognition results, i.e., target object pick points.

103: Switch Mech-Vision Recipe

This command switches between the saved parameter recipes in Mech-Vision project when recognizing different target objects. Parameters involved include recognition models, deep learning model files, etc.

105: Get Result of Step “Path Planning” in Mech-Vision

This command gets the collision-free path planning result of the “Path Planning” Step in Mech-Vision.

110: Get custom output data from Mech-Vision

This command receives data from Step “Procedure Out” when Port Type is set to Custom in Mech-Vision. Executing this command once only fetches one pose and its corresponding labels, scores, etc. (if any) from the vision result. If expecting to receive multiple poses, please execute this command multiple times.

Mech-Viz

201: Start Mech-Viz Project

In scenarios where both Mech-Vision and Mech-Viz are used, this command starts the Mech-Viz project with the corresponding Mech-Vision project to plan the robot motion path.

202: Stop Mech-Viz Project

This command manually terminates the Mech-Viz project.

203: Select Mech-Viz Branch

This command lets the Mech-Viz project run along the specified exit port by specifying the “Branch by Msg” step.

204: Set Move Index

Set the index parameter of the move-type Steps in the Mech-Viz project. The move-type Steps that contain index parameters include Move by List, Move by Grid, Custom Pallet Pattern, and Predefined Pallet Pattern.

205: Get Planned Path

This command obtains the robot path planned by the Mech-Viz project.

206: Get DO Signal List

This command gets the DO list calculated by Mech-Viz when multiple suction cup sections are used to pick multiple objects at a time.

207: Get Mech-Viz Step Parameter

This command reads the values of specified parameters of specified Steps. Please specify which parameters of which Steps to read in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Communication Component.

208: Set Mech-Viz Step Parameter

This command sets the values of specified parameters of specified Steps. Please specify what values and which parameters of which Steps to set in menu: Deployment Settings [ Mech-Interface > Advanced Settings > Property Config ] in Communication Component.

210: Get Waypoint with Vision Planning Result

This command gets a single planned waypoint from Mech-Viz. The waypoint may be for a Vision Move Step, or for one of the other move-type Steps. A waypoint may contain pose, velocity, gripper info, object info, etc.

Dynamic Data Input

501: Input Object Dimensions to Mech-Vision

This command inputs object dimensions, i.e. length, width, and height, to the Mech-Vision project through Step “Read Object Dimensions”.

502: Input TCP to Mech-Viz

This command sets a dynamically changing waypoint in the Mech-Viz project through the “External Move” Step in the project.

Customized notification

601: Notify

This command does not need to be initiated by the user. It will be executed when the Mech-Viz / Mech-Vision project raises a notification message by the “Notify” Step.

Calibration

701: Calibration

For hand-eye calibration for cameras. This command obtains the calibration points and triggers the camera to take pictures, thus completing the calibration. The calibration points are from Mech-Vision.

System Status Checking

901: Get Software Status

This command gets the status of Mech-Mind Software Suite for checking the project status.

Example Programs

For instructions on using the example programs of the Standard Interface, please see xref:standard-interface-robot:standard-interface.adoc[.

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