Interface communication command instructions

Introduction

Automation Communication Protocol - Epic Pro as the server (port 5700).

Instruction Description

Single Command

Action	Command	Return information
Take Photo	110, Camera ID 110, Camera ID1, Camera ID2… (If only 110 is entered, the first camera is used by default)	Success: 110, Camera ID Failure: 000, Failure Code, Camera ID
Detection	120, Number of requested pose points (If only 120 is entered, 1 pose point is requested by default)	Success: Command Code = 120 Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index (index in the total grasp points list), Current grasp point sequence (index in the grasp point editing tool), 0, 0, 0, Posen Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index (index in the total grasp points list), Current grasp point sequence (index in the grasp point editing tool), 0, 0, 0, Posen Interface point cloud changes, if collision detection or path planning, the robot also changes. Failure: 000, Return status code.
Switch Gripped Object in Space	130, Space ID, Gripped Object ID	Success: 130 Failure: 000, Return status code.
Robot Take Photo Pose (Used for EIH)	140, Camera ID, X, Y, Z, Pose (Quaternions parsed in W, X, Y, Z order)	Success: 140, Camera ID Failure: 000, Return status code
Restart Vision Software	307	Command Received: 307
Shutdown Industrial PC	886	Command Received: 886

Action

Command

Return information

Take Photo

110, Camera ID

110, Camera ID1, Camera ID2…

(If only 110 is entered, the first camera is used by default)

Success: 110, Camera ID

Failure: 000, Failure Code, Camera ID

Detection

120, Number of requested pose points

(If only 120 is entered, 1 pose point is requested by default)

Success: Command Code = 120

Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index (index in the total grasp points list), Current grasp point sequence (index in the grasp point editing tool), 0, 0, 0, Pose*n

Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index (index in the total grasp points list), Current grasp point sequence (index in the grasp point editing tool), 0, 0, 0, Pose*n

Interface point cloud changes, if collision detection or path planning, the robot also changes.

Failure: 000, Return status code.

Switch Gripped Object in Space

130, Space ID, Gripped Object ID

Success: 130

Failure: 000, Return status code.

Robot Take Photo Pose (Used for EIH)

140, Camera ID, X, Y, Z, Pose

(Quaternions parsed in W, X, Y, Z order)

Success: 140, Camera ID

Failure: 000, Return status code

Restart Vision Software

307

Command Received: 307

Shutdown Industrial PC

886

Command Received: 886

Shortcut Commands

Action	Command	Return information
Take Photo + Detection	220, Camera ID1, Camera ID2… (If no Camera ID, default to first camera)	Success: Command Code = 220 Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Interface point cloud changes, if collision detection or path planning, the robot also changes. Failure: 000, Return status code
Take Photo + Robot Pose	240, Camera ID, X, Y, Z, Pose	Success: 240, Camera ID Failure: 000, Return status code
Take Photo + Robot Pose + Detection	250, Camera ID, X, Y, Z, Pose	Success: Command Code = 250 Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Interface point cloud changes, if collision detection or path planning, the robot also changes. Failure: 000, Return status code
Switch Gripped Object + Take Photo	310, Space ID, Gripped Object ID, Camera ID1, Camera ID2… (If no Camera ID, default to first camera)	Success: 240, Camera ID Failure: 000, Return status code
Switch Gripped Object + Take Photo + Detection	320, Space ID, Gripped Object ID, Camera ID1, Camera ID2… (If no Camera ID, default to first camera)	Success: Command Code = 320 Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Posen Interface point cloud changes, if collision detection or path planning, the robot also changes. Failure: 000, Return status code
Switch Gripped Object + Take Photo + Robot Pose	340, Space ID, Gripped Object ID, Camera ID, X, Y, Z, Pose
Switch Gripped Object + Take Photo + Robot Pose + Detection	350, Space ID, Gripped Object ID, Camera ID, X, Y, Z, Pose

Action

Command

Return information

Take Photo + Detection

220, Camera ID1, Camera ID2…

(If no Camera ID, default to first camera)

Success: Command Code = 220

Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Interface point cloud changes, if collision detection or path planning, the robot also changes.

Failure: 000, Return status code

Take Photo + Robot Pose

240, Camera ID, X, Y, Z, Pose

Success: 240, Camera ID

Failure: 000, Return status code

Take Photo + Robot Pose + Detection

250, Camera ID, X, Y, Z, Pose

Success: Command Code = 250

Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Interface point cloud changes, if collision detection or path planning, the robot also changes.

Failure: 000, Return status code

Switch Gripped Object + Take Photo

310, Space ID, Gripped Object ID, Camera ID1, Camera ID2…

(If no Camera ID, default to first camera)

Success: 240, Camera ID

Failure: 000, Return status code

Switch Gripped Object + Take Photo + Detection

320, Space ID, Gripped Object ID, Camera ID1, Camera ID2…

(If no Camera ID, default to first camera)

Success: Command Code = 320

Case 1 (Normal Detection/Collision Detection): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Case 2 (Path Planning): Command Code, Pose Type (Cartesian 0/Joint 1), Number of pose points sent n, Number of gripped objects, Total number of detected grasp points, Current space ID, Current object ID, Current grasp point index, Current grasp point sequence, 0, 0, 0, Pose*n

Interface point cloud changes, if collision detection or path planning, the robot also changes.

Failure: 000, Return status code

Switch Gripped Object + Take Photo + Robot Pose

340, Space ID, Gripped Object ID, Camera ID, X, Y, Z, Pose

Switch Gripped Object + Take Photo + Robot Pose + Detection

350, Space ID, Gripped Object ID, Camera ID, X, Y, Z, Pose

Combination Commands

Basic Principles:

Combine individual commands by separating them with a semicolon (;).
For Eye-in-Hand configuration, ensure the camera ID for capturing matches the camera ID for sending the capture point pose, and trigger the corresponding camera capture before sending the capture point.

Command Order:

Command Order	Example Command
Eye-in-Hand: Switch to Grasping Object in Space → Capture → Detection	130,0,0;110,0;120
Eye-to-Hand: Switch to Grasping Object in Space → Capture → Current Camera Capture Point → Detection	130,0,0;110,0;140,0,0,0,0,0,0,0;120
Stitched Eye-in-Hand: Switch to Grasping Object in Space → Camera 0 Capture → Camera 1 Capture → Detection	130,0,0;110,0;110,1;120
Stitched Eye-to-Hand: Switch to Grasping Object in Space → Camera 0 Capture → Current Camera 0 Capture Point → Camera 1 Capture → Current Camera 1 Capture Point → Detection	130,0,0;110,0;140,0,0,0,0,0,0,0;110,1;140,1,0,0,0,0,0,0;120

Command Order

Example Command

Eye-in-Hand: Switch to Grasping Object in Space → Capture → Detection

130,0,0;110,0;120

Eye-to-Hand: Switch to Grasping Object in Space → Capture → Current Camera Capture Point → Detection

130,0,0;110,0;140,0,0,0,0,0,0,0;120

Stitched Eye-in-Hand: Switch to Grasping Object in Space → Camera 0 Capture → Camera 1 Capture → Detection

130,0,0;110,0;110,1;120

Stitched Eye-to-Hand: Switch to Grasping Object in Space → Camera 0 Capture → Current Camera 0 Capture Point → Camera 1 Capture → Current Camera 1 Capture Point → Detection

130,0,0;110,0;140,0,0,0,0,0,0,0;110,1;140,1,0,0,0,0,0,0;120

Simple Example:

Action	Command	Return information
Take Photo + Detection	110, Camera ID1, Camera ID2…;120 or 110;120	Return result as above
Take Photo + Robot Pose	110, Camera ID1;140, X, Y, Z, Pose	Return result as above
Take Photo + Robot Pose + Detection	110, Camera ID1;140, X, Y, Z, Pose;120	Return result as above

Action

Command

Return information

Take Photo + Detection

110, Camera ID1, Camera ID2…;120 or 110;120

Return result as above

Take Photo + Robot Pose

110, Camera ID1;140, X, Y, Z, Pose

Return result as above

Take Photo + Robot Pose + Detection

110, Camera ID1;140, X, Y, Z, Pose;120

Return result as above

Return status code

Failure status code

Status code	Description
3000	Initialization failed
3001	Robot initialization failed
3002	Switch pick configuration failed
3003, Camera group ID	Switch camera group failed, and return the failed camera group ID
3004	Set camera parameters failed
3005	Capture failed
3006	ATOM detection failed
3007	Path planning data preparation failed
3008	Collision detection data preparation failed
3009	Failed to set the robot’s current position when the eye is on hand
3010	ResponseHook compilation failed
3011	ExtendPage compilation failed
3012	ParserMonitorData compilation failed
3013	Failed to set ATOM parameters
3014	Failed to start communication service
3015	Command execution failed
3016	Hook initialization failed

Abnormal status code

Status code	Description
4000	ATOM abnormal
4001	ATOM detection abnormal
4002	Epic Pro operation abnormal
4003	Collision detection abnormal
4004	Path planning abnormal
4005	Set robot current posture abnormal
4006	Incorrect number of requested parameters
4007	Failed to set camera capture point data

Warning status code

Status code	Description
5000	Operation is not completed yet, please try again later
5001	Current position of the robot has not been received
5002	Pose list is exhausted
5003	No available points after collision detection
5004	No available trajectory is planned
5005	ATOMGraph name is empty
5006	ATOMReturned grab point result is empty
5007	Incoming EIH data has incorrect digits
5008	No tool data
5009	Bound model name is empty
5010	Incoming parameter contains null value
5011	No camera data
5012	Number of requested path points exceeds the set limit
5013	Robot’s last capture pose not sent, please re-capture and send the pose