FANUC Standard Interface Functions

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When programming the FANUC robot, please pay attention to the following:

  1. Multiple parameters in a function should be separated by commas.

  2. Variable-type parameters should use local variables, which take effect only in the program.

  3. Input or Output parameters can be customized for functions.

A Standard Interface program for FANUC robots supports the following functions. A Standard Interface function is implemented and represented as a procedure for FANUC robots.

Initialize Communication

This function sets the host IP address, port number, and wait time for TCP/IP communication.

Function

MM_INIT_SKT(C_Tag, Ip_Addr, Svr_Port, Time_Out)

Parameter

Parameter Description

Input parameter

C_Tag

The port number string of the robot. Please select a port from ports 1 to 8.

Ip_Addr

The IP address of the IPC as a string.

Svr_Port

Server port number; the default port number is 50000.

Time_Out

Wait time in minutes before stopping the connection attempt.

Example

CALL MM_INIT_SKT('1','192.168.1.20',50000,5)

In this example of calling the function, the specified client port number is 1, the host IP address is 192.168.1.20, the port number is 50000, and the wait time is 5 minutes.

Start Mech-Vision Project

This function starts the Mech-Vision project that executes image capturing and performs vision recognition. It applies for applications that use Mech-Vision but not Mech-Viz.

Function

MM_START_VIS(Job,Pos_Num_Need,SendPos_Type,Pr_Num)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Pos_Num_Need

The expected number of vision points for Mech-Vision to send. The vision point contains the vision pose, corresponding point cloud, label, scaling, etc. Value range: 0–20, in which 0 indicates that all vision points will be received.

SendPos_Type

The type of the robot pose to be sent to Mech-Vision. Value range: 0 to 3.

  • 0: No robot poses need to be sent to the vision system. If the camera is mounted in the Eye To Hand mode, the image capturing process is independent of the robot pose, and therefore the robot pose is not needed.

  • 1: The robot pose in the current joint positions together with the current flange pose will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye In Hand mode. When this parameter is set to this value, the “Path Planning” Step in the Mech-Vision project will use the joint positions sent by the robot. If the flange pose data are all 0, the vision system ignores the flange pose data.

  • 2: The robot pose in the current flange pose will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye In Hand mode or in other scenarios where only the flange pose data is available (such as truss robots).

  • 3: The robot pose in the joint positions defined by the user will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye To Hand mode. When this parameter is set to this value, the “Path Planning” Step in the Mech-Vision project will use the joint positions sent by the robot as the initial pose.

Pr_Num

ID of the Position Register storing the joint positions of the start point when SendPose_Type is 3.

Example

CALL MM_START_VIS(1,1,1,60)

This example triggers the Mech-Vision project whose ID is 1 to run; the Mech-Vision project is expected to send back one vision point; and the robot sends its current joint positions and flange pose as the image-capturing pose to Mech-Vision.

Get Vision Target(s)

This function obtains the vision result from the corresponding Mech-Vision project. It applies for applications that use Mech-Vision but not Mech-Viz.

Function

MM_GET_VIS(Job,Reg_Lst_Data,Reg_Pos_Num,Reg_Status)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Output parameter

Reg_Lst_Data

ID of the Data Register for storing a value (0 or 1) indicating whether all vision points have been sent.

  • 0: NOT all vision points have been sent (more on the way).

  • 1: All vision points have been sent.

Reg_Pos_Num

ID of the Data Register for storing the number of received poses (from 1 to 20)

Reg_Status

ID of the Data Register for storing the received status code. Please see Status Codes and Troubleshooting.

Example

CALL MM_GET_VIS(1,50,51,52)

This example obtains the vision result from Mech-Vision project whose ID is 1. Whether all vision points have been sent is stored in register R[50], the number of received vision points is stored in register R[51], and the received status code is stored in register R[52].

Start Mech-Viz Project

This function starts the Mech-Viz project that triggers the corresponding Mech-Vision project, and therefore the Mech-Viz project can plan the robot path based on the vision points received from Mech-Vision. It is for applications that use both Mech-Vision and Mech-Viz.

Function

MM_START_VIZ(SendPos_Type,Pr_Num)

Parameter

Parameter Description

Input parameter

SendPos_Type

Robot pose type. Value range: 0 to 2.

  • 0: No robot poses need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from joint positions [0,0,0,0,0,0] and move to the first waypoint.

  • 1: The current joint positions and flange pose of the real robot need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from the current joint positions of the real robot and move to the first waypoint.

  • 2: The predefined joint positions of the robot need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from the predefined joint positions and move to the first waypoint.

Pr_Num

ID of the Position Register storing the joint positions of the start point when SendPose_Type is 2.

Example

CALL MM_START_VIZ(1,60)

This function triggers the Mech-Viz project to run and sends the current joint positions and flange pose of the robot to Mech-Viz.

Get Planned Path from Mech-Viz

This function obtains the path planned by a Mech-Viz project.

Function

MM_GET_VIZ(Jps_Pos, Reg_Lst_Data, Reg_Pos_Num, Reg_VPos_Num, Reg_Status)

Parameter

Parameter Description

Input parameter

Jps_Pos

Pose type of the waypoints in the planned path.
1: Mech-Viz sends waypoints in joint positions.
2: Mech-Viz sends waypoints in TCPs.

Output parameter

Reg_Lst_Data

ID of the Data Register for storing a value (0 or 1) indicating whether all waypoints have been sent. 0: NOT all waypoints have been sent (more on the way); 1: All waypoints have been sent.

Reg_Pos_Num

ID of the Data Register for storing the number (1 to 20) of received waypoints.

Reg_VPos_Num

ID of the Data Register for storing the position of the first Vision Move waypoint in the path.
For example, if the workflow is: Fixed-Point Move 1 → Fixed-Point Move 2 → Vision Move → Fixed-Point Move 3, the value of VisPose_Num (the position of the Vision Move Step) is 3. If there is no Vision Move Step in the workflow, the parameter value is 0.

Reg_Status

ID of the Data Register for storing the received status code. Please see Status Codes and Troubleshooting.

Example

CALL MM_GET_VIZ(2,50,51,52,53)

This example obtains the planned path from Mech-Viz in the form of TCPs. Whether all waypoints have been sent is stored in register R[50], the number of waypoints received is stored in register R[51], the position of the Vision Move waypoint is stored in register R[52], and the received status code is stored in register R[53].

Obtain Pose

This function stores a vision point returned by Mech-Vision or a waypoint (in TCP) returned by Mech-Viz in the specified Position Register.

Function

MM_GET_POS(Serial, Pr_Num, Reg_Label, Reg_Speed)

Parameter

Parameter Description

Input parameter

Serial

Specify the index of the pose to be stored.

Output parameter

Pr_Num

ID of the Position Register for storing the specified pose.

Reg_Label

ID of the Data Register for storing the label corresponding to the specified pose.

Reg_Speed

ID of the Data Register for storing the velocity corresponding to the specified pose.

Example

CALL MM_GET_POS(1,60,61,62)

This example stores the first received pose to register PR[60], the corresponding label to register R[61], and the corresponding velocity to register R[62].

Obtain Joint Positions (Available When Mech-Viz Is Used)

This function stores a vision point (in JPs) returned by Mech-Vision or a waypoint (in JPs) returned by Mech-Viz in the specified position variable. It will only take effect when the path is planned by Mech-Viz.

Function

MM_GET_JPS(Serial, Pr_Num, Reg_Label, Reg_Speed)

Parameter

Parameter Description

Input parameter

Serial

Specify the index of the pose to be stored.

Output parameter

Pr_Num

ID of the Position Register for storing the specified set of joint positions.

Reg_Label

ID of the Data Register for storing the label corresponding to the specified pose.

Reg_Speed

ID of the Data Register for storing the velocity corresponding to the specified pose.

Example

CALL MM_GET_JPS(1,60,61,62)

This example stores the first set of received joint positions to PR[60], the corresponding label to register R[61], and the corresponding velocity to register R[62].

Switch Mech-Vision Recipe

This function specifies which parameter recipe of the Mech-Vision project to use. Parameter recipes can be used to switch parameter settings, including point cloud model for matching, ROI, confidence threshold, etc, in the same Mech-Vision project when it is used to recognize different workpieces. This function must be called BEFORE MM_START_VIS.

Function

MM_SET_MOD(Job, Model_Num)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Model_Num

The ID of a parameter recipe in the Mech-Vision project. Value range: 1 to 99.

Example

CALL MM_SET_MOD(2,2)

This example switches the parameter recipe used to recipe 2 in Mech-Vision project whose ID is 2.

Select Mech-Viz Branch

This function selects along which branch the Mech-Viz project should proceed. Such branching is achieved by adding “Branch by Msg” Step(s) to the Mech-Viz project. This function specifies which exit port such Step(s) should take. MM_START_VIZ must be called BEFORE this function. When the Mech-Viz project executes to the “Branch by Msg” Step, it will wait for MM_SET_BCH to send the exit port of the branch.

Function

MM_SET_BCH(Branch_Num, Export_Num)

Parameter

Parameter Description

Input parameter

Branch_Num

Step ID of the “Branch by Msg” Step. Its value is an integer. The Step ID can be viewed in the Step Parameters panel.

Export_Num

The number of the exit port to take + 1. For example, to select exit port 0 in Mech-Viz, set the value of this parameter to 1. Value range: 1 to 99.

Example

CALL MM_SET_BCH(1,3)

This example instructs Mech-Viz to take exit port 3 for the “Branch by Msg” Step whose Step ID is 1.

Set Move Index

This function sets the value of the Current Index parameter of the specified Mech-Viz Step. Steps that have this parameter include “Move by List”, “Move by Grid”, “Custom Pallet Pattern”, and “Predefined Pallet Pattern”. MM_START_VIZ must be called BEFORE this function.

Function

MM_SET_IDX(Skill_Num, Index_Num)

Parameter

Parameter Description

Input parameter

Skill_Num

Step ID of the Step, an integer. The Step ID can be viewed in the Step Parameters panel.

Index_Num

The index value that should be set the next time this Step is executed.

When this function is called successfully, the current index value in Mech-Viz will become the parameter value minus 1.

When the Mech-Viz project runs to the Step specified by this function, the Current Index value in Mech-Viz will be increased by 1 to become the parameter’s value.

Example

CALL MM_SET_IDX(2,10)

This example sets the Current Index parameter to 9 for the Step whose Step ID is 2. When the Step is executed, the Current Index value will be incremented by 1 and become 10.

Get Software Status

This function is used to obtain the software execution status of Mech-Vision, Mech-Viz, and Communication Component. Currently, this function can only be used to check whether Mech-Vision is ready to run.

Function

MM_GET_STAT(MM_Status)

Parameter

Parameter Description

Output parameter

MM_Status

ID of the Data Register for storing the status code. Please see Status Codes and Troubleshooting for detailed information.

Example

CALL MM_GET_STAT(70)

This example obtains the status code indicating the software execution status and stores it in register R[70].

Input Object Dimensions to Mech-Vision

This function dynamically inputs object dimensions into the Mech-Vision project. This function must be called BEFORE MM_START_VIS.

Function

MM_SET_BS(Job, Lenght, Width, Height)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Lenght

Length of the object in mm.

Width

Width of the object in mm.

Height

Height of the object in mm.

Example

CALL MM_SET_BS(1,11.0,12.0,13.0)

This example sets the object dimensions in the “Read Object Dimensions” Step in the Mech-Vision project whose ID is 1 to 11 mm * 12 mm * 13 mm.

Get/Set DO Signal List

This function obtains the planned DO Signal list for controlling multiple sections of a sectioned vacuum gripper. MM_GET_VIZ must be called BEFORE this function.

Please configure the Mech-Viz project based on the example project in XXXX/Communication Component-xxx/tool/viz_project/suction_zone, and set the suction cup configuration file in the project.

Function

  • Get DO Signal List:

    MM_GET_DL

  • Set DO Signal List:

    MM_SET_DL

Parameter

None

Example

CALL MM_GET_DL

CALL MM_SET_DL

These two examples obtain the DO signal list planned by Mech-Viz, store it in Do_Port[i], and input the values to the corresponding digital outputs.

Input TCP to Mech-Viz

Input poses in TCP dynamically. This function should be used in conjunction with the External Move Step in Mech-Viz. Please use this function based on the example project in XXXX/Communication Component-xxx/tool/viz_project/outer_move, and place the External Move Step at a proper position in the workflow. MM_START_VIZ must be called BEFORE this function.

Function

MM_SET_POS(X, Y, Z, W, P, R)

Parameter

Parameter Description

Input parameter

Variable 1

X; mm (float)

Variable 2

Y; mm (float)

Variable 3

Z; mm (float)

Variable 4

W; arc degree (float)

Variable 5

P; arc degree (float)

Variable 6

R; arc degree (float)

Example

CALL MM_SET_POS(100.1,200.2,300.3,90.0,180.0,0.0)

This example sends the TCP (100.1,200.2,300.3,90.0,180.0,0.0) to the “External Move” Step in the Mech-Viz project.

Calibration

This function is used for hand-eye calibration (camera extrinsic parameter calibration). It automates the calibration process in conjunction with the Camera Calibration function in Mech-Vision. For detailed instructions, see FANUC Calibration Process.

Function

MM_CALIB(Move_Type, PosJps, WaitTime, AxisNum, AxisVal, Reg_CalibPos)

Parameter

Parameter Description

Input parameter

Move_Type

Motion type
1: MoveL
2: MoveJ

PosJps

Pose in flange pose or joint positions
1: flange pose
2: JPs

WaitTime

The time that the robot waits to avoid shaking after it moves to the calibration point; the default value is 2 (s).

AxisNum

The number of the robot axes.

AxisVal

Float data of the external 7th axis in mm (Optional; input 0 when there is no external axis).

Reg_CalibPos

ID of the Position Register used in MM_AUTO_CALIB; PR[100] is used by default.

Example

CALL MM_CALIB(2,1,2,6,0,100)

This example moves a 6-axis robot in Joint motion type, receives pose data in the form of flange pose, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. Moreover, the robot does not have an external 7th axis. The register PR[100] is used to store the received pose data.

Get Notification from Mech-Vision

This function obtains the message output by the “Notify” Step in the corresponding Mech-Vision project. MM_START_VIS or MM_START_VIZ must be called BEFORE this function.

Parameters of the “Notify” Step in the Mech-Vision project must be set according to the following requirements:

  • “Service Name” must be set to “Standard Interface Notify”.

  • “Message” must be a positive integer that represents a predetermined message.

Function

MM_RCV_NTFY(MM_NotifyMsg)

Parameter

Parameter Description

Output parameter

MM_NotifyMsg

ID of the Data Register for storing the message.

Example

CALL MM_START_VIS(1,20,2)
CALL MM_RCV_NTFY(60)

This example obtains the message output by the “Notify” Step in Mech-Vision project whose ID is 1 and stores it in register R[60].

Get Custom Output Data from Mech-Vision

This function obtains the custom output data from the corresponding Mech-Vision project. “Custom output data” refers to the data output by ports other than poses and labels of the “Procedure Out” Step. The output ports can be customized if the “Port Type” parameter of the Step is set to “Custom”.

Function

MM_GET_DY_DT(Job,Reg_Pos_Num,Reg_Status)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Output parameter

Reg_Pos_Num

ID of the Data Register for storing the number (1 to 50) of received vision points.

Reg_Status

ID of the Data Register for storing the received status code.

Example

CALL MM_GET_DY_DT(1,50,51)

This example obtains the custom data output from Mech-Vision project whose ID is 1. The number of vision points received is stored in register R[50], and the status code is stored in register R[51].

Save Vision Point to Specified Registers

This function stores the data in a custom output data returned by Mech-Vision in the specified registers. This function should be called AFTER MM_GET_DY_DT.

Function

MM_GET_DYPOS(Serial,Pr_Num,Reg_Label,Reg_UserData)

Parameter

Parameter Description

Input parameter

Serial

Specify the index of the vision point whose custom data need to be obtained.

Output parameter

Pr_Num

ID of the Position Register for storing the pose of the specified vision point.

Reg_Label

ID of the Data Register for storing the label corresponding to the specified vision point.

Reg_UserData

ID of the first Data Register for storing the custom port outputs corresponding to the specified vision point. Output data are stored in consecutive registers from the specified first one.

Example

CALL MM_GET_DYPOS(1,60,61,62)

This example stores the pose of the first received vision point to register PR[60], the corresponding label to register R[61], and the corresponding custom port outputs to consecutive registers starting from R[62].

Get Waypoint from Mech-Viz

This function is used for obtaining the planned path from Mech-Viz. In the planned path, the waypoint may be a Vision Move waypoint or a normal motion waypoint. A waypoint may contain pose, velocity, gripper info, object info, etc.

Waypoints in a planned path can be divided into the following three types.

  1. Normal motion waypoints (not including the Vision Move waypoint): contain information such as motion type (joint motion or linear motion), tool number, and velocity.

  2. Vision Move waypoints, containing information such as label, number of workobjects that have been picked, number of workobjects picked this time, edge/corner ID of the suction cup, the TCP offset, workobject orientation, and workobject dimensions.

  3. Vision Move waypoints including custom data. In this case, the port type of the “Procedure Out” Step in the Mech-Vision project should be “Custom”.

Function

MM_GET_PLNDT(Jps_Pos,Reg_Pos_Num,Reg_VPos_Num,Reg_Status)

Parameter

Parameter Description

Input parameter

Jps_Pos

Expected format of the returned data. See the following table for explanations.

Output parameter

Reg_Pos_Num

ID of the Data Register for storing the number (1 to 50) of received waypoints.

Reg_VPos_Num

ID of the Data Register for storing the position of the first Vision Move waypoint in the planned path.

Reg_Status

ID of the Data Register for storing the received status code.

Below are the explanations of the four possible data formats that can be returned by this function.

Value of the Jps_Pos parameter Format of returned data (Explained below)

1

Pose (joint positions), motion type, tool number, velocity, number of custom ports, custom port output 1, custom port output 2, … custom port output N

2

Pose (TCP), motion type, tool number, velocity, number of custom ports, custom port output 1, custom port output 2, … custom port output N

3

Pose (joint positions), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output 1, custom port output 2, … custom port output N

4

Pose (TCP), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output 1, custom port output 2, … custom port output N

Pose

The pose of the waypoint can be in the form of joint positions (in degree) or TCP, which is composed of Cartesian coordinates (XYZ in mm) and Euler angles (ABC in degree).

Motion type

  • 1: joint motion, MOVEJ

  • 2: linear motion, MOVEL

Tool number

The index number of the tool to be used at this waypoint. -1 indicates no tool is used.

Velocity

Velocity percentage of the waypoint. It is determined by multiplying the velocity setting specified in the corresponding move-type step by the global velocity setting in Mech-Viz. The result is expressed as a percentage.

Depalletizing planning data

Data used in planning multi-pick depalletizing tasks. This data is part of the waypoint of the “Vision Move” Step. The following data are included:

  • Label: composed of 10 integers. If fewer than 10 labels are obtained, the rest of the digits are filled with 0.

  • Number of picked workobjects.

  • Number of workobjects to be picked this time.

  • Edge-corner ID of vacuum gripper: used to specify the gripper corner to which the workobject is aligned. It can be checked by double-clicking the corresponding tool in the Resources panel in Mech-Viz and then selecting Configure control logic.

  • TCP offset: The offset between the tool pose at the center of the to-pick workobjects and the actual tool pose.

  • Workobject orientation: whether the X-axis of the workobject reference frame is aligned with the X-axis of the tool reference frame (value: 0 or 1).

  • Dimensions of the workobjects combined.

Number of custom ports

The number of output ports excluding poses and labels when the “Port Type” parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”.

Custom port outputs

The outputs that exclude poses and labels when the “Port Type” parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”. These data are part of the waypoint of the “Vision Move” Step.

The custom port outputs are arranged in alphabetical order of the custom port names.

Example

CALL MM_GET_PLNDT(3,50,51,52)

This example obtains the planned path that includes depalletizing planning data and custom port outputs from Mech-Viz, and the poses obtained are in the form of joint positions. The number of waypoints received is stored in register R[50], the position of the Vision Move waypoint is stored in register R[51], and the status code is stored in register R[52].

Save Waypoint to Specified Registers

This function is called AFTER MM_GET_PLNDT. This function stores the data in a waypoint returned by Mech-Viz in the specified registers.

Function

MM_GET_PLJOP(Serial,Jps_Pos,Pr_Num,Reg_MoveType,Reg_ToolNum,Reg_Speed,Reg_UserData,Reg_PlanRes)

Parameter

Parameter Description

Input parameter

Serial

Specify the index of the waypoint to be stored.

Jps_Pos

Expected format of the returned data, must be the same as that set in MM_GET_PLNDT.

Output parameter

Pr_Num

ID of the Position Register for storing the pose of the specified waypoint.

Reg_MoveType

ID of the Data Register for storing the motion type corresponding to the specified waypoint. 1 indicates joint motion, while 2 indicates linear motion

Reg_ToolNum

The ID of Data Register for storing the tool number corresponding to the specified waypoint. -1 indicates no tool is used.

Reg_Speed

ID of the Data Register for storing the velocity corresponding to the specified waypoint.

Reg_UserData

ID of the first Data Register for storing the custom port outputs corresponding to the specified waypoint. Custom output data are stored in consecutive registers from the specified first Data Register. One custom output item is stored in one register. Currently, the supported maximum number of custom output items is 50.

Reg_PlanRes

ID of the first Data Register for storing the depalletizing planning data corresponding to the specified waypoint. Depalletizing planning data are stored in consecutive registers from the specified first Data Register. One depalletizing planning data item is stored in one register. Currently, the supported maximum number of depalletizing planning data items is 20.

Example

CALL MM_GET_PLJOP(1,3,60,61,62,63,81,131)

This example stores the joint positions of the first received waypoint to register PR[60], the corresponding motion type to register R[61], the corresponding tool number to register R[62], the corresponding velocity to register R[63], the corresponding custom port outputs to consecutive registers starting from R[81], and the corresponding depalletizing planning data to consecutive registers starting from R[131].

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

This function obtains the collision-free path planned by the “Path Planning” Step from the corresponding Mech-Vision project.

The Port Type parameter of the “Procedure Out” Step in the Mech-Vision project must be set to “Predefined (robot path)”.

Function

MM_GET_VISP(Job,Jps_Pos,Reg_Lst_Data,Reg_Pos_Num,Reg_VPos_Num,Reg_Status)

Parameter

Parameter Description

Input parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Jps_Pos

The pose type of waypoints returned by the “Path Planning” Step.
1: Waypoints in joint positions will be returned.
2: Waypoints in TCPs will be returned.

Output parameter

Reg_Lst_Data

ID of the Data Register for storing a value (0 or 1) indicating whether all waypoints have been sent.
0: NOT all waypoints have been sent (more on the way).
1: All waypoints have been sent.

Reg_Pos_Num

ID of the Data Register for storing the number (1 to 20) of received waypoints.

Reg_VPos_Num

ID of the Data Register for storing the position of the first Vision Move waypoint in the path.
For example, if the planned path is composed of Steps Fixed-Point Move_1, Fixed-Point Move_2, Vision Move sequentially, the position of the Vision Move waypoint is 3. If the path does not contain any Vision Move waypoint, the return value is 0.

Reg_Status

ID of the Data Register for storing the received status code.

Example

CALL MM_GET_VISP(1,1,50,51,52,53)

This example obtains the planned path from the Mech-Vision project whose ID is 1 in the form of joint positions. Whether all waypoints have been sent is stored in register R[50], the number of waypoints received is stored in register R[51], the position of the Vision Move waypoint is stored in register R[52], and the status code is stored in register R[53].

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