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 is used for applications that use Mech-Vision. It runs the corresponding project to acquire and process data. 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 Mech-Vision project No.1 to run, and asks the Mech-Vision project to send over one vision point. The robot sends its current joint positions and flange pose when this job is called as the image-capturing pose.

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_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 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(1,51,52)

This example obtains the vision result from the Mech-Vision project whose ID is 1. The number of returned vision points is stored in register R[51]; and the 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_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_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(2,51,52,53)

This example obtains the planned path from Mech-Viz in the form of TCPs. The number of poses 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 in register PR[60], the corresponding label in register R[61], and the corresponding velocity in 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 in PR[60], the corresponding label in register R[61], and the corresponding velocity in 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 should be called BEFORE this function. When executing the “Branch by Msg” Step, Mech-Viz waits for the exit port No. sent by the function MM_SET_BCH.

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 plus 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 procedure 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

ID of the Step, an integer. The Step ID is displayed in the parameters of the Step.

Index_Num

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

When this function is sent, 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 subprogram, 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 value to 9 for Step 2 in the Mech-Viz project. When the Step is executed, the Current Index value will be added 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 with an ID of 1 to 11×12×13 mm.

Get Gripper DO List

This function obtains the gripper DO list planned by Mech-Vision or Mech-Viz. To apply the DO signals to the gripper, call the MM_SET_DL function.

Function

MM_GET_DL(Resource)

Parameter

Parameter Description

Input parameter

Resource

This parameter specifies the source of the gripper DO list.

  • 0: Get the gripper DO list from Mech-Viz.

  • Positive integer: Get the gripper DO list from Mech-Vision. The positive integer is the Mech-Vision project ID.

Example

CALL MM_GET_DL(0)

This example stores the DO signal list obtained from Mech-Viz in Do_Port[i].

Set Gripper DO List

This function sets the DO signal values on the list returned by Mech-Vision or Mech-Viz to the general-purpose output signals.

MM_GET_DL must be called BEFORE this function.

Function

MM_SET_DL

Example

CALL MM_GET_DL(0)

CALL MM_SET_DL

This example stores the DO signal list obtained from Mech-Viz in Do_Port[i], and then sets the values in Do_Port[i] to the corresponding DO signals in the robot program.

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 Message of Notify Step in 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 from the “Notify” Step.

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 in register PR[60], the corresponding label in register R[61], and the corresponding custom port outputs in consecutive registers starting from R[62].

Get Vision Move Data or Custom Output Data

This function obtains Vision Move output from the Mech-Vision project, or the Vision Move output or custom output from the Mech-Viz project.MM_GET_PLJOP assigns the obtained data to variables.

Function

MM_GET_PLNDT(Resource,Jps_Pos,Reg_Pos_Num,Reg_VPos_Num,Reg_Status)

Parameter

Parameter Description

Input parameter

Resource

This parameter specifies the source of the Vision Move data.

  • 0: Get Vision Move Data from Mech-Viz.

  • Positive integer: Get Vision Move data from Mech-Vision. The positive integer is the Mech-Vision project ID.

Jps_Pos

This parameter specifies the expected format of the returned data. The value range is 1 to 4. See the following table for details.

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.

  • When the value of Resource is 0, the valid value range of Jps_Pos is 1 to 4. Details are provided below.

    Value of Jps_Pos Format of returned data (Explained below)

    1

    Pose (joint positions), motion type, tool ID, velocity, element 1 in custom output data, … element N in custom output data

    2

    Pose (TCP), motion type, tool ID, velocity, element 1 in custom output data, … element N in custom output data

    3

    Pose (joint positions), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom output data, … element N in custom output data

    4

    Pose (TCP), motion type, tool ID, velocity, Mech-Viz Vision Move data, element 1 in custom output data, … element N in custom output data

  • When the value of Resource is a positive integer, the valid value range of Jps_Pos is 1 to 2. Details are provided below.

    Value of Jps_Pos Format of returned data (Explained below)

    1

    Pose (joint positions), motion type, tool ID, velocity, Mech-Vision Vision Move data

    2

    Pose (TCP), motion type, tool ID, velocity, Mech-Vision Vision Move data

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 ID

The ID of the tool to be used at this waypoint. The value “-1” means that no tool will be used at this waypoint.

Velocity

The velocity at this waypoint.

Vision Move data

Vision Move data: Refers to data output by the “Vision Move” Step in Mech-Vision or Mech-Viz, including labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge/corner ID of vacuum gripper, TCP offset, orientation of workobject group, orientation of workobject, dimensions of workobject group.

Element in custom output data

“Custom output data” refers to the data output by ports other than poses and labels of the “Procedure Out” Step in the Mech-Vision project. The output ports can be customized if the “Port Type” parameter of the Step is set to “Custom”. The custom port outputs are arranged in alphabetical order of the custom port names.

Example

CALL MM_GET_PLNDT(0,3,50,51,52)

This example obtains the planned path that includes Vision Move 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 Variables

This function is called AFTER MM_GET_PLANDATA to store the obtained data in variables.

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

The same as the value of Jps_Pos in the Get Vision Move Data or Custom Output Data function.

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 velocity corresponding to the specified waypoint. 1 stands for joint motion, and 2 stands for linear motion.

Reg_ToolNum

The ID of Data Register for storing the tool ID corresponding to the specified waypoint. The value “-1” means that no tool will be used at this waypoint.

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 Vision Move data corresponding to the specified waypoint. Vision Move data are stored in consecutive registers from the specified first Data Register. One Vision Move data item is stored in one register. Currently, the supported maximum number of Vision Move data items is 21.

Details on Vision Move data are in the table below.

Data Description Corresponding Data Register ID

Labels of picked workobjects

Consists of 10 integers. By default, its value is ten 0s.

Reg_PlanRes ~ Reg_PlanRes+9

Number of picked workobjects

The total number of workobjects that have been picked.

Reg_PlanRes+10

The number of workobjects to be picked this time.

The number of workobjects to be picked this time.

Reg_PlanRes+11

Edge/corner ID of vacuum gripper

The ID of the edge/corner used to pick workobjects this time.

Reg_PlanRes+12

TCP offset

The XYZ offset between the center of the workobject group and the tool center point.

Reg_PlanRes+13 ~ Reg_PlanRes+15

Orientation of workobject group

The relative position between the workobject group and the length of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

Reg_PlanRes+16

Orientation of workobject

The relative position between the length of a workobject and that of the vacuum gripper. The value is 0 or 1, where 0 stands for parallel and 1 for vertical.

Reg_PlanRes+17

Dimensions of the workobject group

The length, width and height of the workobject group to be picked this time.

Reg_PlanRes+18 ~ Reg_PlanRes+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 ID 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 procedure 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_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 will be returned in the form of joint positions (JPs).
2: Waypoints will be returned in the form of TCPs.

Output parameter

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 Vision Move waypoint which is set in the path planning tool in the entire 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(1,1,51,52,53)

This example obtains the planned path from the Mech-Vision project whose ID is 1 in the form of joint positions. 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].

Read Mech-Viz Step Parameter

This command reads the parameter value of a specific Step in the Mech-Viz project.

Function

MM_GET_PROP(Read_id,Reg_Status,Reg_Viz_Prop)

Parameter

Parameter Description

Input parameter

Read_id

This parameter corresponds to the Config ID field defined in the property_config file.

Output parameter

Reg_Status

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

Reg_Viz_Prop

ID of the Data Register for storing the returned parameter value of the specified Step. Only INT is supported by now.

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings. Click Property Configuration to open the property_config file.

get property config

Before calling this function, users should define a Config ID and its corresponding Step ID and parameter key name in the following format in the property_config file.

read, Config ID, Step ID, parameter key name

read

Indicates that this line is used to read the parameter value of a Step.

Config ID

Specifies a unique ID, which in a positive integer. One Config ID corresponds to only one parameter value of a Step. To read multiple parameter values, you should set different Config IDs.

Step ID

The Step ID of the Step whose parameter is to be read.

Parameter key name

Specifies the key name of the parameter whose value the robot requires to read.

  • User can check the parameter key name in the Key Query Tool. From the menu bar of Mech-Viz, go to Tools  Key Query Tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.

    parameter key name

  • In the property_config file, lines starting with “#” are comments, which will not be executed by the program.

  • Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

The property_config file can have multiple read commands. The Config ID in these commands must be different.

Example

In the line below, “5” is the Config ID; “3” is the Step ID; and “xCount” is the parameter key name. Add this line to the property_config file. Add this line to the property_config file.

read, 5, 3, xCount

When the robot calls the function below, it receives the value of the parameter whose key name is xCount.

CALL MM_GET_PROP(5,10,11)

This example stores the value of the parameter whose key name is xCount of Step 3 in the Mech-Viz project in register R[11], and stores the status code in register R[10].

Set Mech-Viz Step Parameter

This command sets the parameter value of a specific Step in the Mech-Viz project.

Function

MM_SET_PROP(Write_id,Reg_Status)

Parameter

Parameter Description

Input parameter

Write_id

This parameter corresponds to the Config ID field defined in the property_config file.

Output parameter

Reg_Status

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

From the toolbar of Mech-Vision, go to Robot Communication Configuration  Next  Advanced Settings. Click Property Configuration to open the property_config file.

get property config

Before sending this command, users should define a Config ID and its corresponding Step ID, parameter key name and parameter value in the following format in the property_config file.

write, Config ID, Step ID, parameter key name, parameter value

write

Indicates that this line is used to set the parameter value of a Step.

Config ID

Specifies an ID, which is a positive integer and can be used repeatedly.

Step ID

Specifies the Step whose parameter value the robot requires to read.

Parameter key name

Specifies the key name of the parameter whose value the robot requires to set.

Parameter value

Specifies the value that the robot sets for the parameter.

  • The property_config file can contain more than one “write” command, and these commands can use a Config ID repeatedly. That is, one Config ID can be used to set values for multiple parameters.

  • User can check the parameter key name in the Key Query Tool. From the menu bar of Mech-Viz, go to Tools  Key Query Tool. Click a Step icon, and all key names of the Step will be displayed in the middle column. Each key name corresponds to a Step parameter name displayed in the parameter panel. You can also click a key name and check its corresponding parameter name in the “Details” panel.

    parameter key name

  • In the property_config file, lines starting with “#” are comments, which will not be executed by the program.

  • Remember to save the file after editing, and then restart the interface service on the toolbar of Mech-Vision.

Example

In the line below, “1” is the Config ID, and “3” is the Step ID. “xOffset”, “yOffset” and “zOffset” are parameter key names; and “10”, “20” and “30” are their respective values. Add this line to the property_config file.

write, 1, 3, xOffset, 10
write, 1, 3, yOffset, 20
write, 1, 3, zOffset, 30

When the robot calls the function below, Mech-Viz sets the values of the parameters whose key names are “xOffset”, “yOffset” and “zOffset” respectively to “10”, “20” and “30”.

MM_SET_PROP(1,10)

This example sets the values of the parameters whose key names are “xOffset”, “yOffset” and “zOffset” respectively to “10”, “20” and “30”, and stores the received status code in the register R[10].

Get Message from Notify Step

After the Mech-Vision or Mech-Viz project is triggered, this function can be called to get message from the “Notify” Step.

Function

MM_GET_NTFY(MM_NotifyMsg)

Parameter

Parameter Description

Output parameter

MM_NotifyMsg

ID of the Data Register for storing the message from the “Notify” Step. Only integers are supported by now.

Example

CALL MM_GET_NTFY(60)

In this example, the message from the “Notify” Step is stored in the register R[60].

Stop Mech-Viz Project

This function stops the Mech-Viz project.

Function

MM_Stop_Viz

Example

MM_Stop_Viz

In this example, the robot programs calls the function to stop the Mech-Viz project.

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