api接口说明 ============================ 保持寄存器格式 +++++++++++++++++++++++++++++++++++ 本文所有关于WORD, DWORD等的数据格式描述, 均按下表所述约定。用户需要自己分辨这种描述和特定PLC厂家的区别并进行相应转换。 +---------------------------------------------+----------------------------------+ | 数据类型 | 描述 | +---------------------------------------------+----------------------------------+ | 输入线圈(Input Coils / Discrete Inputs) | 只读的 BOOL 型变量 (1-bit) | +---------------------------------------------+----------------------------------+ | 保持线圈(Holding Coils / Coils of Outputs) | 可读可写的 BOOL 型变量(1-bit) | +---------------------------------------------+----------------------------------+ | 输入寄存器(Input Registers / Input Data) | 可读可写的 WORD 型(16-bit)型变量 | +---------------------------------------------+----------------------------------+ | 保持寄存器(Holding Registers / Output Data) | 可读可写的 WORD 型(16-bit)型变量 | +---------------------------------------------+----------------------------------+ 本协议只用到了 **保持寄存器**，没有用到其他寄存器或线圈。 PLC方需要事先告知/确定其单个保持寄存器(WORD)和双保持寄存器(DWORD)的符号位和字节序，XYZ-Studio-Max需要做相应的配置，否则数据解析会不正确。 +-----------------------------------------------------------------------------------------+ | **单个保持寄存器WORD** | +--------+-----------------------------+--------------------------------------------------+ | 符号位 | 有符号/无符号 | 这个必须是有符号的WORD | | | | | | | | 即数据范围支持-32768 ~ 32767，因为涉及传递负数。 | +--------+-----------------------------+--------------------------------------------------+ | 字节序 | 大端/小端/大端交换/小端交换 | 字节序定义见下文 | | | | | | | | 根据PLC实际情况配置上位机XYZ-Studio-MaX即可 | +--------+-----------------------------+--------------------------------------------------+ +---------------------------------------------------------------------------------------------------------+ | **双保持寄存器DWORD** | +--------+-----------------------------+------------------------------------------------------------------+ | 符号位 | 有符号/无符号 | 这个必须是有符号的DWORD | | | | | | | | 即数据范围支持-2,147,483,648 ~ 2,147,483,647，因为涉及传递负数。 | +--------+-----------------------------+------------------------------------------------------------------+ | 字节序 | 大端/小端/大端交换/小端交换 | 根据PLC实际情况配置上位机XYZ-Studio-Max即可 | +--------+-----------------------------+------------------------------------------------------------------+ 字节序的定义如下： .. code-block:: python class ByteOrder(Enum): """ 2Bytes(word) 4Bytes(dword/float) 8Bytes(double/4word) BIG_ENDIAN AB AB CD AB CD EF GH LITTLE_ENDIAN BA DC BA HG FE DC BA BIG_ENDIAN_SWAP BA BA DC BA DC FE HG LITTLE_ENDIAN_SWAP AB CD AB GH EF CD AB """ BIG_ENDIAN = 0 # 大端 LITTLE_ENDIAN = 1 # 小端 BIG_ENDIAN_SWAP = 2 # 大端交换 LITTLE_ENDIAN_SWAP = 3 # 小端交换 交互标志位寄存器 +++++++++++++++++++++++++++++++++++ +------------------+----------------+------------------------------------------------------------------------+ | 数据内容 | 保持寄存器地址 | 说明 | +------------------+----------------+------------------------------------------------------------------------+ | heart_beat_flag | 0 | 通讯连接后，Max内部定期循环发送0-1-0-1-…(周期1s) | | | | | | (心跳信号) | | | +------------------+----------------+------------------------------------------------------------------------+ | max_ready_flag | 1 | Max端的Ready信号 | | | | | | (Ready信号) | | PLC发送命令前，需要查询此状态： | | | | | | | | - 为1，表示此时Max准备好接收来自plc的命令，plc可以发送命令请求信号 | | | | | | | | - 为0，表示此时Max还未准备好接收来自plc的命令，plc不要发送命令请求信号 | +------------------+----------------+------------------------------------------------------------------------+ | max_done_flag | 2 | Max端的命令执行完成信号 | | | | | | (Done信号) | | PLC发送命令请求信号后，需要查询此状态： | | | | | | | | - 为1，表示此时Max端已经执行完PLC发送的命令 | | | | | | | | - 为0，表示此时Max端处于命令执行的busy状态。 | +------------------+----------------+------------------------------------------------------------------------+ | plc_request_flag | 3 | PLC端的命令请求信号 | | | | | | (命令请求信号) | | | | | | - 设置为1，表示触发命令 | | | | | | | | - PLC需要根据时序要求，在Max命令执行完成后复位为0 | +------------------+----------------+------------------------------------------------------------------------+ | 预留 | 4~9 | 占用，预留 | +------------------+----------------+------------------------------------------------------------------------+ PLC保持寄存器发送区 +++++++++++++++++++++++++++++++++++ .. table:: :widths: auto :class: longtable +-----------------------+----------------+---------------------------------------------------------------------------------------+ | 数据内容 | 保持寄存器地址 | 说明 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | cmd | 10 | 指令码，支持切换工件、获取点位等。 | | | | | | | | 各指令详细信息见下文。 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | token | 11 | 某些指令需要用到该值 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | vs_id | 12 | 视觉服务id | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | tool_id | 13 | 工具id | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | task_codename | 14 | 任务代号 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | item_codename | 15 | 工件代号 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | vision_codename | 16 | 视觉命令代号 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | 系统预留 | 17~24 | 请勿占用 | +------------+----------+----------------+---------------------------------------------------------------------------------------+ | usr_cmd_in | str_5 | 25~29 | 用户指令(xyzUsrCmd)的5个字符串输入参数 | | | | | | | | | | 1个保持寄存器代表1个字符串 | | +----------+----------------+---------------------------------------------------------------------------------------+ | | int_10 | 30~39 | 用户指令(xyzUsrCmd)的10个Int输入参数 | | | | | | | | | | 1个保持寄存器代表1个int值 | | +----------+----------------+---------------------------------------------------------------------------------------+ | | float_10 | 40~59 | 用户指令(xyzUsrCmd)的10个Float输入参数 | | | | | | | | | | 2个保持寄存器代表1个Float值。 | | | | | | | | | | 即2个保持寄存器是对Float值 * 1000后的取整值。小数点位数可以在Max中配置。 | +------------+----------+----------------+---------------------------------------------------------------------------------------+ | cart_pose | x | 60~61 | 占用2个保持寄存器, 数据解析规则是有符号类型的DWORD | | | | | | | | | | 案例:想传递的真实数据是: -123.456, 默认小数点位数为3位 | | | | | | | | | | - 则数据*100后取整为 -123456, 该值的16进制是: FF FE 1D C0 | | | | | | | | | | - [60] → FF FE | | | | | | | | | | - [61] → 1D C0 | | | | | | | | | | 说明： | | | | | | | | | | - 小数点位数可以在Max中进行配置 | | | | | | | | | | - [60]和[61]中字节顺序需要变化的，可以在Max中进行配置。如[60] -> FE FF, [61] -> C0 1D | | +----------+----------------+---------------------------------------------------------------------------------------+ | | y | 62~63 | 格式同x | | +----------+----------------+ | | | z | 64~65 | 如果姿态是欧拉角形式，则d没有用到，填0即可 | | +----------+----------------+ | | | a | 66~67 | | | +----------+----------------+ | | | b | 68~69 | | | +----------+----------------+ | | | c | 70~71 | | | +----------+----------------+ | | | d | 72~73 | | +------------+----------+----------------+---------------------------------------------------------------------------------------+ | joints | j1 | 74~75 | 格式同cart_pose中的x | | +----------+----------------+ | | | j2 | 76~77 | | | +----------+----------------+ | | | j3 | 78~79 | | | +----------+----------------+ | | | j4 | 80~81 | | | +----------+----------------+ | | | j5 | 82~83 | | | +----------+----------------+ | | | j6 | 84~85 | | +------------+----------+----------------+---------------------------------------------------------------------------------------+ | 系统预留 | 86~99 | 请勿使用 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ | 系统预留 | 100~129 | 请勿使用 | +-----------------------+----------------+---------------------------------------------------------------------------------------+ PLC保持寄存器接收区 +++++++++++++++++++++++++++++++++++ .. table:: :widths: auto :class: longtable +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | 数据内容 | 保持寄存器地址 | 说明 | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | xyz_error | error | 130 | 0：没有错误 | | | | | | | | | | 1：有错误 | | +-----------------+----------------+---------------------------------------------------------------------------------------------+ | | error_code | 131~132 | 具体的错误代码 | | | | | | | | | | 占用2个保持寄存器, 数据解析规则是有符号类型的DWORD | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | token | 133 | 会用于某些指令的输入参数 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | pose_num | 134 | 点位数量 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | pipeline_num | 135 | 运动流程编号 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | register_num | 136 | 抓取序号 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | object_name | 137 | 物体名称 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | dint_value_6 | 138~149 | 某些指令的输出参数，可在Max中自定义其含义 | | | | | | | | 2个寄存器代表1个dint值，合计6个dint输出 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ | 系统预留 | 150~159 | 请勿使用 | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | cart_pose | x | 160~161 | 同发送区的cart_pose | | +-----------------+----------------+ | | | y | 162~163 | | | +-----------------+----------------+ | | | z | 164~165 | | | +-----------------+----------------+ | | | a | 166~167 | | | +-----------------+----------------+ | | | b | 168~169 | | | +-----------------+----------------+ | | | c | 170~171 | | | +-----------------+----------------+ | | | d | 172~173 | | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | joints | j1 | 174~175 | 同发送区的joints | | +-----------------+----------------+ | | | j2 | 176~177 | | | +-----------------+----------------+ | | | j3 | 178~179 | | | +-----------------+----------------+ | | | j4 | 180~181 | | | +-----------------+----------------+ | | | j5 | 182~183 | | | +-----------------+----------------+ | | | j6 | 184~185 | | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | trajectory | way_point_num | 186 | 轨迹中的点位数量,一段轨迹最多支持30个点 | | +-----------------+----------------+---------------------------------------------------------------------------------------------+ | | 系统预留 | 187~189 | 请勿使用 | | +-----------------+----------------+---------------------------------------------------------------------------------------------+ | | way_point_types | 190~219 | 存放轨迹中的各个点位和点位的类型，具体分类如下： | | | | | | | | | | 第一个点 | | | | | | | | | | | | | | | wp1_type: [190] | | | | | | | | | | wp1: | | | | | | | | | | data1: [220, 221] | | | | | | | | | | data2: [222, 223] | | | | | | | | | | data3: [224, 225] | | | | | | | | | | data4: [226, 227] | | | | | | | | | | data5: [228, 229] | | | | | | | | | | data6: [230, 231] | | | | | | | | | | --- | | | | | | | | | | 第二个点 | | | | | | | | | | wp2_type: [191] | | | | | | | +-----------------+----------------+ wp2: | | | way_points | 220~579 | data1: [232, 233] | | | | | | | | | | data2: [234, 235] | | | | | | | | | | data3: [236, 237] | | | | | | | | | | data4: [238, 239] | | | | | | | | | | data5: [240, 241] | | | | | | | | | | data6: [242, 243] | | | | | | | | | | 其他点依次类推 | | | | | | | | | | --- | | | | | | | | | | wp_type取值范围和含义如下： | | | | | | | | | | | | | | | - 11：moveJ(joints)，对应点位的6个值是joints。机器人需要用MoveJ方式执行该点位 | | | | | | | | | | - 12：moveL(joints)，对应点位的6个值是joints。机器人需要用MoveL方式执行该点位 | | | | | | | | | | - 21：moveJ(cart_pose)，对应点位的6个值是cart_pose(xyzabc)。机器人需要用MoveJ方式执行该点位 | | | | | | | | | | - 22：moveL(cart_pose)，对应点位的6个值是cart_pose(xyzabc)。机器人需要用MoveL方式执行该点位 | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | 系统预留 | 580~584 | | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | usr_cmd_out | str_5 | 585~589 | 用户指令(xyzUsrCmd)的5个字符串输出参数 | | | | | | | | | | 格式参考 发送区的usr_cmd_in | | +-----------------+----------------+---------------------------------------------------------------------------------------------+ | | int_10 | 590~599 | 用户指令(xyzUsrCmd)的10个Int输出参数 | | | | | | | | | | 格式参考 发送区的usr_cmd_in | | +-----------------+----------------+---------------------------------------------------------------------------------------------+ | | float_10 | 600~619 | 用户指令(xyzUsrCmd)的10个Float输出参数 | | | | | | | | | | 格式参考 发送区的usr_cmd_in | +-------------+-----------------+----------------+---------------------------------------------------------------------------------------------+ | 系统预留 | 620~799 | 请勿占用 | +-------------------------------+----------------+---------------------------------------------------------------------------------------------+ 支持的指令 +++++++++++++++++++++++++++++++++++ 每条指令涉及保持寄存器发送区和保持寄存器接收区。下列指令仅列出数据名称，具体寄存器地址请查阅上文地址表。 +------------------------------------------------------------------------------+ | **心跳信号** | +----------+-------------------------------------------------------------------+ | 功能描述 | 通信连接后，Max定期循环发送1-0-1-…到heart_beat_flag标志位，周期1s | +----------+-------------------------------------------------------------------+ +------------------------------------------------------------------------+ | **切换任务(xyzSwitchTask)** | +---------------+--------------------------------------------------------+ | 功能描述 | 切换Max中的任务流图 | +---------------+----------------------+---------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+---------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``502`` | | +----------------------+---------------------------------+ | | task_codename | Max中的任务代号，后缀".t"不用填 | +---------------+----------------------+---------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+ | | | xyz_error:error_code | | +---------------+----------------------+---------------------------------+ +-----------------------------------------------------------+ | **切换工具(xyzSwitchTool)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``503`` | | +----------------------+--------------------+ | | tool_id | 工具id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+ | | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **呼叫视觉命令(xyzCallVisionCmd)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``504`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | | +----------------------+--------------------+ | | vision_codename | 视觉命令代号 | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+ | | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +------------------------------------------------------------------------------------------+ | **请求抓取目标点位(xyzReqGraspPose)** | +---------------+--------------------------------------------------------------------------+ | 功能描述 | 异步请求 抓取点的位姿 | +---------------+----------------------+---------------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+---------------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``507`` | | +----------------------+---------------------------------------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+---------------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+---------------------------------------------------+ | | xyz_error:error_code | | | +----------------------+---------------------------------------------------+ | | token | 在执行"获取抓取目标点位(xyzGetGraspPose)"时使用到 | +---------------+----------------------+---------------------------------------------------+ +-----------------------------------------------------------------------------------------+ | **获取抓取目标点位(xyzGetGraspPose)** | +---------------+-------------------------------------------------------------------------+ | 功能描述 | 使用该指令前需先调用“请求抓取目标点位(xyzReqGraspPose)” | +---------------+----------------------+--------------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``508`` | | +----------------------+--------------------------------------------------+ | | token | “请求抓取目标点位(xyzReqGraspPose)”中返回的token | +---------------+----------------------+--------------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------------------------------------+ | | xyz_error:error_code | | | +----------------------+--------------------------------------------------+ | | cart_pose | 抓取目标点的位姿数据 | | +----------------------+--------------------------------------------------+ | | pose_num | 当前可供抓取的点位数量 | | +----------------------+--------------------------------------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+--------------------------------------------------+ | | register_num | 抓取序号 | | +----------------------+--------------------------------------------------+ | | dint_value_6 | 可在Max中中自定义含义 | +---------------+----------------------+--------------------------------------------------+ +----------------------------------------------------------------------------------+ | **请求物体位姿(xyzReqObjPose)** | +---------------+------------------------------------------------------------------+ | 功能描述 | 异步请求 物体位姿 | +---------------+----------------------+-------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+-------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``509`` | | +----------------------+-------------------------------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+-------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+-------------------------------------------+ | | xyz_error:error_code | | | +----------------------+-------------------------------------------+ | | token | 在执行“获取物体位姿(xyzGetObjPose)”时用到 | +---------------+----------------------+-------------------------------------------+ +-----------------------------------------------------------------------------------+ | **获取物体位姿(xyzGetObjPose)** | +---------------+-------------------------------------------------------------------+ | 功能描述 | 使用该指令前需先调用“请求物体位姿(xyzReqObjPose)” | +---------------+----------------------+--------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``510`` | | +----------------------+--------------------------------------------+ | | token | “请求物体位姿(xyzReqObjPose)”中返回的token | +---------------+----------------------+--------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------------------------------+ | | xyz_error:error_code | | | +----------------------+--------------------------------------------+ | | cart_pose | 物体的位姿数据 | | +----------------------+--------------------------------------------+ | | pose_num | 当前物体位姿个数 | | +----------------------+--------------------------------------------+ | | object_name | 物体名称 | | +----------------------+--------------------------------------------+ | | dint_value_6 | 可在Max中中自定义含义 | +---------------+----------------------+--------------------------------------------+ +-----------------------------------------------------------+ | **重置任务(xyzResetTask)** | +---------------+-------------------------------------------+ | 功能描述 | 下位机在初始化时需要调用该指令 | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``511`` | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +----------------------------------------------------------------------------------+ | **发送机器人当前关节坐标(xyzSendCurrentJoints)** | +---------------+------------------------------------------------------------------+ | 功能描述 | | +---------------+----------------------+-------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+-------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``512`` | | +----------------------+-------------------------------------------+ | | joints | 机器人当前的角度信息。 | | | | | | | | 如果机器人轴数小于6轴，则需要对应位置补零 | +---------------+----------------------+-------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+-------------------------------------------+ | | xyz_error:error_code | | +---------------+----------------------+-------------------------------------------+ +----------------------------------------------------------------------------------------------+ | **发送机器人当前笛卡尔坐标(xyzSendCurrentCartPose)** | +---------------+------------------------------------------------------------------------------+ | 功能描述 | | +---------------+----------------------+-------------------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+-------------------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``513`` | | +----------------------+-------------------------------------------------------+ | | cart_pose | 机器人当前姿态数据 | | | | | | | | 如果机器人是欧拉角形式，则只需给a,b,c赋值，d赋值0即可 | +---------------+----------------------+-------------------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+-------------------------------------------------------+ | | xyz_error:error_code | | +---------------+----------------------+-------------------------------------------------------+ +---------------------------------------------------------------------------------+ | **发送机器人当前扩展轴坐标(xyzSendCurrentExtJoints)** | +---------------+-----------------------------------------------------------------+ | 功能描述 | | +---------------+----------------------+------------------------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+------------------------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``514`` | | +----------------------+------------------------------------------+ | | joints | 机器人当前扩展轴的角度信息 | | | | | | | | 如果扩展轴数不足6的,需要补零后发送六个数 | +---------------+----------------------+------------------------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+------------------------------------------+ | | xyz_error:error_code | | +---------------+----------------------+------------------------------------------+ +-----------------------------------------------------------+ | **请求抓放规划(xyzReqPickPlace)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``517`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **获取取料入框轨迹(xyzGetPickin)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``518`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | | +----------------------+--------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+--------------------+ | | register_num | 抓取序号 | | +----------------------+--------------------+ | | Trajectory | 轨迹 | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **获取取料出框轨迹(xyzGetPickout)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``519`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | | +----------------------+--------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+--------------------+ | | register_num | 抓取序号 | | +----------------------+--------------------+ | | Trajectory | 轨迹 | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **获取放料入框轨迹(xyzGetPlacein)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``520`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | | +----------------------+--------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+--------------------+ | | register_num | 抓取序号 | | +----------------------+--------------------+ | | Trajectory | 轨迹 | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **获取放料出框轨迹(xyzGetPlaceout)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``521`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | | +----------------------+--------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+--------------------+ | | register_num | 抓取序号 | | +----------------------+--------------------+ | | Trajectory | 轨迹 | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **料箱重定位(xyzUpdateTotePose)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``523`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **工件在手上的二次定位(xyzUpdateObjPoseInHand)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``524`` | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | | +----------------------+--------------------+ | | cart_pose | 放置位姿数据 | +---------------+----------------------+--------------------+ +-----------------------------------------------------------+ | **切换工件(xyzSwitchItem)** | +---------------+-------------------------------------------+ | 功能描述 | | +---------------+----------------------+--------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+--------------------+ | PLC数据发送区 | cmd | 用户需要填 ``528`` | | +----------------------+--------------------+ | | vs_id | 视觉服务id | | +----------------------+--------------------+ | | item_codename | 工件代号 | +---------------+----------------------+--------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+--------------------+ | | xyz_error:error_code | | +---------------+----------------------+--------------------+ +---------------------------------------------------------------+ | **计算抓取目标点位(xyzCalculateGraspPose)** | +---------------+-----------------------------------------------+ | 功能描述 | 该指令等价于xyzReqGraspPose + xyzGetGraspPose | +---------------+----------------------+------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``529`` | | +----------------------+------------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+------------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+------------------------+ | | xyz_error:error_code | | | +----------------------+------------------------+ | | cart_pose | 抓取目标点的位姿数据 | | +----------------------+------------------------+ | | pose_num | 当前可供抓取的点位数量 | | +----------------------+------------------------+ | | pipeline_num | 运动流程编号 | | +----------------------+------------------------+ | | register_num | 抓取序号 | | +----------------------+------------------------+ | | dint_value_6 | 可在Max中中自定义含义 | +---------------+----------------------+------------------------+ +--------------------------------------------------------------+ | **计算物体位姿(xyzCalculateObjectPose)** | +---------------+----------------------------------------------+ | 功能描述 | 该指令等价于xyzReqObjPose+xyzGetObjPose | +---------------+----------------------+-----------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+----------------------+-----------------------+ | PLC数据发送区 | cmd | 用户需要填 ``530`` | | +----------------------+-----------------------+ | | vs_id | 视觉服务id | +---------------+----------------------+-----------------------+ | PLC数据接收区 | xyz_error:error | | | +----------------------+-----------------------+ | | xyz_error:error_code | | | +----------------------+-----------------------+ | | cart_pose | 物体的位姿数据 | | +----------------------+-----------------------+ | | pose_num | 当前物体位姿个数 | | +----------------------+-----------------------+ | | object_name | 物体名称 | | +----------------------+-----------------------+ | | dint_value_6 | 可在Max中中自定义含义 | +---------------+----------------------+-----------------------+ +----------------------------------------------------------------------------+ | **用户指令(xyzUsrCmd)** | +---------------+------------------------------------------------------------+ | 功能描述 | 用于基础指令不支持的情况下，配合任务流图完成用户特定功能。 | | | 各个参数的含义取决于任务流图中设定的输入输出 | +---------------+-------------------------------+----------------------------+ | 相关参数 | 数据内容 | 说明 | +---------------+-------------------------------+----------------------------+ | PLC数据发送区 | cmd | 用户需要填 ``600`` | | +-------------------------------+----------------------------+ | | usr_cmd_in | 自定义输入参数 | +---------------+-------------------------------+----------------------------+ | PLC数据接收区 | xyz_error:error | | | +-------------------------------+----------------------------+ | | xyz_error:error_code | | | +-------------------------------+----------------------------+ | | usr_cmd_out | 自定义输出参数 | +---------------+-------------------------------+----------------------------+