Status Codes and Troubleshooting

Mech-Vision was not started.

Autoload Project was not selected.

The Mech-Vision project did not have a “Procedure Out” Step.

Ensure that the Mech-Vision software is started.

Ensure that Autoload Project is selected.

Ensure that the Mech-Vision project contains a “Procedure Out” Step.

The Mech-Vision project was successfully executed, but the “poses” port of the “Procedure Out” Step failed to output data. Possible reasons include exceedingly high confidence threshold for instance segmentation, no matched object in the scene, improper ROI settings, low point cloud quality, improper filtering settings, etc.

The “Procedure Out” Step in the Mech-Vision project did not have a “poses” port. For example, it is possible that users set the port type of the “Procedure Out” Step to “custom” but did not create a port named “poses”.

The Mech-Vision project had a “Path Planning” Step, but the “Procedure Out” Step did not have a “moves” port or the “moves” port did not output data.

Ensure that the “Port Type” parameter and the included keys of the “Procedure Out” Step are correct.

Check the data flow of the Mech-Vision project to ensure that data is passed to the “poses” port of “Procedure Out” Step.

There was no point cloud in the 3D ROI.

Check the ROI setting in the project and ensure the setting is proper.

In the command sent by the robot side to trigger the Mech-Vision project, the value of the “robot pose type” parameter was invalid. The value range of “robot pose type” is 0 to 3.

In the command sent by the robot side to trigger the Mech-Vision project and obtain results, the value of the “returned data format” parameter was invalid. The value range of “returned data format” is 1 to 4.

Ensure the parameter values in the command sent by the robot side are within the valid range.

In the command sent by the robot side to trigger the Mech-Vision project, the value of the “robot pose” parameter was invalid. Possible scenarios are as follows:

Ensure the “robot pose” parameter value is appropriate.

While the Mech-Vision project was running, the robot side sent the command to start it again.

Ensure that the Mech-Vision project ID set in the robot program is correct.

Ensure that the robot program does not contain codes that trigger the same Mech-Vision project in a short period of time.

The DO signal list for the vacuum gripper obtained from Mech-Vision was empty.

Ensure that the “tool type” in the path planning tool is “depalletizing vacuum gripper” and DO signals are configured correctly in the vacuum gripper configuration interface.

In the “Procedure Out” Step of the Mech-Vision project, the number of poses output by the “poses” port was not equal to the number of labels output by the “labels” port.

Check the data flow of the Mech-Vision project to ensure the number of poses and labels are the same.

The project ID specified in the command sent by the robot side did not exist in the project list of Mech-Vision. For example, when there is only a project with an ID of 1 in the project list, and the project ID specified in the command is 2, this error will prompt.

Ensure that Autoload Project is selected.

Ensure that the project ID specified in the command sent by the robot side exists in the project list of Mech-Vision.

The parameter recipe ID specified in the command sent by the robot side did not exist in the Parameter Recipe Editor. For example, when there is only a parameter recipe with an ID of 1 in the Parameter Recipe Editor, and the parameter recipe ID specified in the command is 2, this error will occur.

Ensure that the parameter recipe ID specified in the command sent by the robot side exists in the Parameter Recipe Editor.

The robot side sent the command to switch the parameter recipe of Mech-Vision, but the Mech-Vision project did not have any parameter recipe.

Check the parameter recipe setting in the Mech-Vision project and ensure that the parameter recipe and its ID are correct.

The robot does not necessarily need to send the parameter switching command if not needed by Mech-Vision.

Mech-Vision had exhibited abnormal behavior in Standard Interface communication, which resulted in the failure of parameter recipe switch.

Contact Mech-Mind Technical Support.

A runtime error occurred in the Mech-Vision project.

Check the error message in the log panel of Mech-Vision and modify the project if necessary.

The data output by the “labels” port of the “Procedure Out” Step in Mech-Vision was not a string of numbers.

Check the data output by the “labels” port of the “Procedure Out” Step. If the data is not in the format of numbers, add a “Label Mapping” Step before the “Procedure Out” Step to transform the output of the “labels” port to a string of numbers.

In the command sent by the robot side to trigger the Mech-Vision project, the value of the “expected number of vision points or waypoints” parameter exceeded the maximum number of poses that could be sent each time.

Ensure that the “expected number of vision points or waypoints” parameter value is no greater than maximum number of poses that could be sent each time.

Since the robot side sent the command to get vision results, the Mech-Vision project had not finished execution within the timeout period. The default timeout period is 10s.

Users can add a delay function in the robot program before the function that obtains the vision results.

For Mech-Vision projects that takes a relatively long time to finish running, users may modify the timeout period according to needs.

The robot side sent the command to obtain vision results before sending the command to trigger the Mech-Vision project. For example, there are two projects with IDs 1 and 2 on the project list of Mech-Vision. If the robot side triggers project 1 but requires obtaining vision results from object 2, this error will occur.

The robot side had obtained all vision results but was still sending the command to obtain more vision results.

Check the robot program and ensure that the Mech-Vision project ID in the command sent by the robot side to obtain vision results is correct.

When the “status of transmitting vision points” parameter in the returned data is set to 1, it indicates that all vision points have been obtained. In this case, robot should stop sending the command that obtains vision results.

The Mech-Vision project did not contain a “Read Object Dimensions” Step.

Ensure that there is a “Read Object Dimensions” Step in the Mech-Vision project.

The object dimensions sent to the Mech-Vision project had 0 or a negative value.

Ensure that the object dimensions (length, width, height) are all positive integers.

The “Capture Images from Camera” Step in the Mech-Vision project failed to connect to a camera.

Check the camera power supply and network settings to ensure that both the camera power and network are properly connected.

Ensure that the IP address and port set in the “Capture Images from Camera” Step are correct.

The list length of the “poses” port and list length of the custom port of the “Procedure Out” Step of the Mech-Vision project did not match. For example, consider the pose list as \[[1,1,1,0,1,0,0],[1,1,1,0,0,0,0]]. If the data list output by the custom port is \[[1,1]] or [], the lengths of the two lists are not equal; while if the data list output by the custom port is [1,1], the lengths of the two lists are the same.

Check the poses and the custom port data in the data flow of the Mech-Vision project to ensure the lengths of the two lists match.

In the command sent by the robot side to obtain planned path from Mech-Vision, the value of the “waypoint pose type” parameter was invalid. The value of the “waypoint pose type” parameter can only be 1 or 2.

Ensure the parameter values in the command sent by the robot side are within the valid range.

An error occurred when the Mech-Vision project was executing the “Path Planning” Step.

Open the path planning tool and check the log to identify the root cause.

If there was a bin in the project, the possible cause was that there was no vision point in the bin.

If it was a mixed-case palletizing project, the possible cause was that the Path Planning Tool failed to calculate the position to put the workobject.

The path planning tool might have malfunctioned.

Contact Mech-Mind Technical Support.

The waypoint was out of reach for the robot.

Robot inverse kinematic solution failed.

Open the path planning tool and check the plan history to identify the root cause.

The robot detected an singularity error during path planning. The joint velocity or joint acceleration of the real robot exceeded the threshold values of detecting singularity set in the software.

The robot could not reach the point by moving in the planned straight line.

If the singularity detection threshold is too strict, users may consider reducing the values of “Max velocity” or “Reduction ratio”. To change the threshold of singularity detection, contact Mech-Mind Technical Support.

If the robot cannot reach the point by moving in a straight line, users may consider changing the motion type to joint motion or adding intermediate waypoints.

The robot was at risk of colliding with scene objects.

The robot was at risk of colliding with the point cloud of the object.

If the robot is at risk of colliding with scene objects, users may consider adding intermediate waypoints for the robot to avoid these objects.

If the robot is at risk of colliding with the point cloud of the object, users may consider adjusting the threshold of detecting collision with the point cloud.

If an error occurs in the home position of the planned path, users may consider setting the HOME position.

The input port of the “Path Planning” Step did not receive pose data of vision points.

Check the “Vision Points” port of the “Path Planning” Step, and ensure that the port has received poses.

The tool was invalid.

In the path planning tool interface, check and ensure that the tool settings and the “Global Configuration” settings are correct.

The “Capture Images from Camera” Step did not complete execution within the timeout period set by “Timeout waiting for capture completion(s)”.

Select “Robot Communication Configuration” on the toolbar. Click “Next” and then click “Advanced Settings”. Check the value of “Timeout waiting for capture completion(s)”, which is visible only after “Return ‘1102: Successfully triggered’ after the capture” is selected.

Compare the value of “Timeout waiting for capture completion(s)” and the execution time of the “Capture Images from Camera” Step. If the value of “Timeout waiting for capture completion(s)” is smaller than the execution time of the “Capture Images from Camera” Step, adjust the value of “Timeout waiting for capture completion(s)”.

The Mech-Vision project validated the masks of the box objects with the “Validate Box Object Masks” Step. However, the validation failed because the box objects did not meet the criteria set in the Step Parameters panel, including of All Boxes Must Be Same Dimension, All Boxes Must Be Detected and Rectangularity Validation.

Check the “Validate Box Object Masks” Step and ensure that the input data and parameter values are correct.

The Mech-Vision project validated the masks of the box objects with the “Validate Box Dimensions” Step. However, the validation failed because the dimensions calculated from the masks did not match the data set in the Box Dimension Information in the Step Parameters panel.

Check the “Validate Box Dimensions” Step and ensure that the input data and parameter values are correct.

Mech-Viz was not started.

Multiple Mech-Viz windows were opened under the developer mode.

Ensure that the Mech-Viz software is started.

Exit the developer mode and restart Mech-Viz.

While the Mech-Viz project was running, the robot side sent the command to start it again.

Ensure that the robot program does not contain codes that trigger the same Mech-Viz project in a short period of time.

The waypoint was out of reach for the robot.

Robot inverse kinematic solution failed.

Open Mech-Viz and check the plan history to identify the root cause.

In the command sent by the robot side to trigger the Mech-Viz project, the value of the “robot pose type” parameter was invalid. The value range of “robot pose type” is 0 to 2.

Ensure the parameter values in the command sent by the robot side are within the valid range.

If there was a bin in the project, the possible cause was that there was no vision point in the bin.

If it was a mixed-case palletizing project, the possible cause was that the Path Planning Tool failed to calculate the position to put the workobject.

The path planning tool might have malfunctioned.

Contact Mech-Mind Technical Support.

An error occurred when the Mech-Viz project was running.

Open Mech-Viz and check the log to identify the root cause.

The DO signal list for the vacuum gripper obtained from Mech-Vision was empty.

Ensure that there is a “Set DO” Step following the “Vision Move” Step, and that “Receiver” is set to “Standard Interface” on the Step parameters panel of the “Set DO” Step.

Ensure that the “tool type” is set to “depalletizing vacuum gripper” and DO signals are configured correctly in the vacuum gripper configuration interface.

In the command sent by the robot side to obtain planned path from Mech-Viz, the value of the “waypoint pose type” parameter was invalid. The value of the “waypoint pose type” parameter can only be 1 or 2.

Ensure the parameter values in the command sent by the robot side are within the valid range.

In the command sent by the robot side to trigger the Mech-Viz project, the value of the “robot pose” parameter was invalid. Possible scenarios are as follows:

Ensure the “robot pose” parameter value is appropriate.

The Mech-Viz project was not running.

The Mech-Viz project was not set to autoload.

Ensure the project used by the robot side is open in Mech-Viz and has the Autoload Project option checked.

An error occurred when the robot side sent the command to set Mech-Viz Step parameter value.

Ensure that the Step ID and parameter key name in the “property_config” file are correct.

Since the robot side sent the command to stop the Mech-Viz project, the project had not stopped running in 5s.

Contact Mech-Mind Technical Support.

In the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz, the “exit port” parameter value was equal to or smaller than 0, or the value was larger than the number of the ports of the Branch by Msg Step.

Ensure that the “Branch by Msg” Step has an exit port corresponding to the “exit port” parameter value in the command sent by the robot side.

The “Step ID” parameter in the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz did not have a corresponding “Branch by Msg” Step in the Mech-Viz project.

Ensure that the Step ID in the command sent by the robot side has a corresponding Step in the Mech-Viz project.

The robot detected an singularity error during path planning. The joint velocity or joint acceleration of the real robot exceeded the threshold values of detecting singularity set in Mech-Viz.

The robot could not reach the point by moving in the planned straight line.

If the singularity detection threshold is too strict, users may consider to reduce the values of “Max velocity” or “Reduction ratio” in Mech-Viz. To change the threshold of singularity detection, contact Mech-Mind Technical Support.

If the robot cannot reach the point by moving in a straight line, users may consider changing the motion type to joint motion or adding intermediate waypoints.

When the robot side sent the command to set the exit port for the Branch by Msg Step in Mech-Viz, the Mech-Viz project was not running.

Before sending the command to obtain the planned path, the robot side did not send the command to trigger the Mech-Viz project.

When the robot side sent the command to obtain the planned path from Mech-Viz, Mech-Viz had not output the planned result.

The robot side had obtained all waypoints but was still sending the command to obtain the planned path from Mech-Viz.

Ensure that the Mech-Viz project is running when the robot side sends the command to set the exit port for the Branch by Msg Step.

Ensure that the robot side sends the command to trigger the Mech-Viz project BEFORE sending the command to obtain the planned path.

When the “status of transmitting waypoints” parameter in the returned data is set to 1, it indicates that all waypoints have been obtained. In this case, the robot side should stop sending the command to obtain the planned path from Mech-Viz.

In the command sent by the robot side to set the exit port for the Branch by Msg Step in Mech-Viz, the “Step ID” parameter value was not a positive integer.

Ensure that the Step ID in the command sent by the robot side is a positive integer.

Since the robot side sent the command to get the planned path, the Mech-Viz project had not finished execution within the timeout period. The default timeout period is 10s.

Users can add a delay function in the robot program before the function that obtains the planned path from Mech-Viz.

For Mech-Viz projects that takes a relatively long time to finish running, users may modify the timeout period according to needs.

In the command sent by the robot side to set the Current Index for Mech-Viz, the “Step ID” parameter value was not a positive integer.

Ensure that the Step ID in the command sent by the robot side is a positive integer.

In the command sent by the robot side to set the Current Index for Mech-Viz, the “Current Index” parameter value was not a positive integer.

Ensure that the “Current Index” parameter value in the command sent by the robot is a positive integer.

The “Step ID” parameter in the command sent by the robot side to set the Current Index for Mech-Viz did not have a corresponding index-type Step in the Mech-Viz project.

Ensure that the Step ID in the command sent by the robot side has a corresponding Step in the Mech-Viz project.

The robot was at risk of colliding with scene objects.

The robot was at risk of colliding with the point cloud of the object.

If the robot is at risk of colliding with scene objects, users may consider adding intermediate waypoints for the robot to avoid these objects.

If the robot is at risk of colliding with the point cloud of the object, users may consider adjusting the threshold of detecting collision with the point cloud.

If an error occurs in the home position of the planned path, the robot side should send the robot’s JPs at the starting position to the Mech-Viz project.

The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter was not successfully called. On the other hand, the Mech-Viz project was supposed to exit from the “Not called” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Check the workflow of the Mech-Viz project, and ensure that the “Vision Move” Step before the “Check Look” Step is successfully called.

The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter did not output any vision result. On the other hand, the Mech-Viz project was supposed to exit from the “No result” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Refer to 1002 for troubleshooting.

The vision service set for the “Vision Move” Step through the “Vision Service Name” parameter did not output any vision result. On the other hand, the Mech-Viz project was supposed to exit from the “No CloudInRoi” port of the “Check Look” Step, but this port was not connected to a Step. The Mech-Viz project stopped running as a result.

Refer to 1003 for troubleshooting.

Possible causes concerning the “Vision Move” Step are as follows:

Refer to 1002 for troubleshooting.

Check if the “Check Look” Step is used correctly in the Mech-Viz project.

An error occurred when the robot side sent the command to read the Mech-Viz Step parameter value.

Ensure that the Step ID and parameter key name in the “property_config” file are correct.

An error occurred when the robot side sent the command to obtain Vision Move data or custom output data from Mech-Viz.

Contact Mech-Mind Technical Support.

An error occurred when the robot side sent the command to obtain Vision Move data or custom output data from Mech-Viz.

Refer to 1024 for troubleshooting.

Users did not set a proper value for the “Vision Service Name” parameter of the “Vision Look” Step in the Mech-Viz project.

Ensure that the vision service set for the “Vision Look” Step is correct.

The “Check Tool” Step or the “Change Tool” Step failed to find the tool to check or change.

Ensure that the “Tool” parameter set for the “Check Tool” Step or the “Change Tool” Step is valid.

The Mech-Vision project validated the masks of the box objects with the “Validate Box Dimensions” Step. However, the validation failed because the dimensions calculated from the masks did not match the data set in the Box Dimension Information in the Step Parameters panel.

Check the “Validate Box Dimensions” Step and ensure that the input data and parameter values are correct.

The vision system did not support the command sent by the robot side.

Check the robot program to ensure that the sent commands are correct.

In the command sent by the robot side, the data length was abnormal. For example, the robot pose occupied less than 6 fields.

In the command sent by the robot side, the data format was abnormal. For example, the Chinese comma was used as the delimiter.

Check the robot program to ensure that the sent commands are correct.

The vision system timed out when calling the gRPC service.

Try to restart Mech-Vision.

Unknown error occurred in the vision system.

Contact Mech-Mind Technical Support.

Before the vision system sent new pose data to the robot side, the robot side did not reset the “Data_Acknowledge” signal value to 0 within the timeout period (the value is 10s by default).

After the vision system sent new pose data to the robot side, the robot side did not reset the “Data_Acknowledge” signal value to 1 within the timeout period (the value is 10s by default).

Check the robot program and ensure that the “Data_Acknowledge” signal value is set to 0 before the robot side sends the command to obtain vision results or obtain planned path from Mech-Viz.

Check the robot program and ensure that the “Data_Acknowledge” signal is set to 1 immediately after the program reads the pose data sent by the vision system.

In the “property_config” file, the Config ID or parameter key name, which was used in the command sent by the robot side to read or set Mech-Viz Step parameter value, had an error.

Ensure that the Config ID and parameter key name in the “property_config” file are correct.

Error occurred in the robot pose data in the command sent by the robot side to the vision system during calibration. Possible scenarios are as follows:

Ensure that the robot pose data sent by the robot side is correct.

During calibration, Mech-Vision did not sent the flange pose of the next calibration point to the robot.

Contact Mech-Mind Technical Support.

During calibration, Mech-Vision does not sent the joint positions of the next calibration point to the robot.

Contact Mech-Mind Technical Support.

During calibration, the robot failed to reach the previous calibration point. Consequently, the “status code” parameter value in the calibration command sent by the robot side to the vision system was 2. And the vision system did not return any data to the robot side.

Contact Mech-Mind Technical Support.