Info data

Besides the error code, many responses from the vision controller contain additional values. Examples are the gripping point ID of the picked object, the dimensions of a localized object, or the number of objects that are ready for picking. These values are called Info data.

This page describes how Info data are sent since Bin Picking Studio (BPS) 1.12 and Locator Studio (LS) 1.5. It lists the available values, which request returns which value, and where each Robot module stores them.

Contents

1 How Info data are sent
2 Info data table
3 Which request returns which Info data
4 Where the Robot module stores Info data
5 Differences to older versions

1 How Info data are sent

Each value is sent as a separate Info data item. The item has a key - the operation number (oper_num) - which tells the Robot module what the value means. The Robot module reads the key and stores the value in the variable or register assigned to it.

Because every value carries its own key:

values that do not apply to the deployed solution are simply not sent (for example, object dimensions are only sent by AI-based localization),
the Robot module never has to depend on the position of a value in the response,
new values can be added in future versions without breaking existing Robot modules - unknown keys are ignored.

Note: What happens to Info data that is not sent in a response depends on the Robot module. Some modules keep the earlier value, others reset it (for example, to -1) or return 0. Check the integration guide of your Robot module before you use optional values. Always check the error code of the request first. The values are valid only if the request finished with No error (0).

2 Info data table

The table lists all Info data keys and their unit as sent by the vision controller. Some Robot modules convert the value to a unit that is native to the robot (for example, milliradians to degrees) - see section 4.

Key	Name	Unit sent	Product	Meaning
1	Tool point invariance	index	BPS	Index of the tool point invariance (symmetry) used for the picked object.
2	Gripping point ID	index	BPS	ID of the gripping point used for the picked object.
3	Gripping point invariance	index	BPS	Index of the gripping point invariance used for the picked object.
4	Dimension X	mm	BPS, LS	Size of the localized object along its X axis. Sent only by solutions that measure the object (AI localization).
5	Dimension Y	mm	BPS, LS	Size of the localized object along its Y axis. Sent together with key 4.
6	Rotation Z	mrad	BPS, LS	Rotation of the localized object around Z. Sent together with key 4.
7	Neural network label	integer	BPS, LS	Class assigned to the object by the neural network. See Neural network labels.
8	Max Z height	mm	LS	Height of the highest point of the localized layer.
9	Tilt	mrad	LS	Tilt of the localized layer.
10	Calibration accuracy	µm	BPS, LS	Accuracy of the calibration that was just saved.
11	Running solution ID	integer	BPS, LS	ID of the solution that is currently running in deployment.
12	Number of localized objects	integer	BPS, LS	Number of objects localized after the last scan.
13	Number of ready objects	integer	BPS, LS	BPS: number of objects with a successfully planned trajectory. LS: number of objects ready to be sent.
14	Processing state	0 / 1	BPS, LS	1 = localization or path planning is still running, 0 = processing has finished.

Note: Currently, only LS sends keys 8 and 9. Robot modules for BPS already reserve a variable for them, so that the data can be added in a future version without a change to the Robot module.

3 Which request returns which Info data

Response layout of the requests that return Info data

Request	Keys	Notes
Trajectory request (BPS, ID 2), received by Receive trajectory	1, 2, 3, (4, 5, 6), (7)	Keys 1-3 are always sent. Keys 4-6 and 7 are sent only when the solution provides them.
Object pose request (BPS, ID 8)	(4, 5, 6), (7)	Sent after the object pose, only when the solution provides them.
Get objects request (LS, ID 20)	(4, 5, 6), (8, 9), (7)	Sent after each object pose, so they belong to the object received just before them.
Get vision system status request (BPS ID 21, LS ID 22)	12, 13, 14	Always all three.
Get running solution request (ID 12)	11
Save automatic calibration result request (ID 27)	10	Sent before the calibration result (camera pose).

4 Where the Robot module stores Info data

Every Robot module stores Info data in its own variables or registers. Select your robot brand below. The unit in the tables is the unit of the value in the robot variable. If it differs from the unit sent, the Robot module converts the value.

A dash (-) means the value is not used by that product.

ABB IRC5 and OmniCore use the same variables. They are declared in PHO_BPS_BASE.sys / PHO_LS_BASE.sys (.sysx on OmniCore).

Key	BPS 1.12	LS 1.5	Unit in robot
1	`pho_tool_point_invariance`	-	index
2	`pho_gripping_point_id`	-	index
3	`pho_gripping_point_invariance`	-	index
4	`pho_dimension_x`	`pho_dimensions_x{n}`	mm
5	`pho_dimension_y`	`pho_dimensions_y{n}`	mm
6	`pho_dimension_rot`	`pho_dimensions_rot{n}`	deg
7	`pho_nn_label`	`pho_nn_label`	integer
8	`pho_max_z_height`	`pho_max_height`	mm
9	`pho_tilt`	`pho_angle`	deg (LS)
10	`pho_calib_acc`	`pho_calib_acc`	µm
11	`current_solution_id`	`current_solution_id`	integer
12	`pho_num_localized`	`pho_num_localized`	integer
13	`pho_num_ready`	`pho_num_ready`	integer
14	`pho_process_state`	`pho_process_state`	0 / 1

In LS, {n} is the index of the object in the list returned by the Get objects request.

The variables are declared in prjglobal.erd. Estun keeps all values in the unit in which they were sent.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`INFO_TOOL_INV`	-	index
2	`INFO_GP_ID`	-	index
3	`INFO_GP_INV`	-	index
4	`INFO_OBJ_DIM_X`	`INFO_OBJ_DIM_X`	mm
5	`INFO_OBJ_DIM_Y`	`INFO_OBJ_DIM_Y`	mm
6	`INFO_OBJ_ROT_Z`	`INFO_OBJ_ROT_Z`	mrad
7	`INFO_NN_LABEL`	`INFO_NN_LABEL`	integer
8	`INFO_LAYER_MAX_Z`	`INFO_LAYER_MAX_Z`	mm
9	`INFO_LAYER_TILT`	`INFO_LAYER_TILT`	mrad
10	`INFO_CALIB_ACC`	`INFO_CALIB_ACCURACY`	µm
11	`INFO_RUNN_SOL`	`INFO_RUNNING_SOL`	integer
12	`INFO_NUM_LOC`	`INFO_NUM_LOCALIZED`	integer
13	`INFO_NUM_PICKABLE`	`INFO_NUM_PICKABLE`	integer
14	`INFO_VS_STATUS`	`INFO_VS_STATUS`	0 / 1

In LS, the object values (keys 4-9) hold the values of the last object received.

FANUC stores Info data in numeric registers. LS additionally appends the object values (keys 4-9) to a string register for each received object. The text next to each register is the register comment that the Robot module writes on the teach pendant.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`R[20]` - `PHO TOOL PT INV`	-	index
2	`R[21]` - `PHO GRIP PT ID`	-	index
3	`R[22]` - `PHO GRIP PT INV`	-	index
4	`R[23]` - `PHO OBJ DIM X`	`R[24]` - `PHO OBJ DIM X`	mm
5	`R[24]` - `PHO OBJ DIM Y`	`R[25]` - `PHO OBJ DIM Y`	mm
6	`R[25]` - `PHO OBJ ROT Z`	`R[26]` - `PHO OBJ ROT Z`	deg
7	`R[26]` - `PHO NN LABEL`	`R[27]` - `PHO NN LABEL`	integer
8	`R[27]` - `PHO LAYER MAX Z HEIGHT`	`R[28]` - `PHO LAYER TILT`	mm
9	`R[28]` - `PHO LAYER TILT`	`R[29]` - `PHO RESERVED`	deg
10	`R[32]` - `PHO CALIB ACCURACY`	`R[19]` - `PHO CAL ACCURACY`	mm
11	`R[31]` - `PHO SOLUTION ID`	`R[3]` - `PHO SOLUTION_ID`	integer
12	`R[7]` - `PHO NUM LOCALIZED`	`R[16]` - `PHO NUM LOCALIZED`	integer
13	`R[8]` - `PHO NUM PLANNED`	`R[17]` - `PHO NUM PLANNED`	integer
14	`R[9]` - `PHO CURR VS STATE`	`R[18]` - `PHO VS RUNNING`	0 / 1

Note: In LS 1.5, the comments of R[28] and R[29] do not match their content. R[28] holds the max Z height (key 8) and R[29] holds the tilt (key 9).

The Kassow CBun exposes Info data as outputs of the CBun commands and through getter functions.

Key	BPS 1.12	LS 1.5
1-3	`pho_fce_get_gripping_point_id` (key 2)	outputs of `pho_req_get_single_object`
4-6	`pho_fce_get_dim_x`, `pho_fce_get_dim_y`, `pho_fce_get_dim_rot`	outputs of `pho_req_get_single_object`
7-9	-	outputs of `pho_req_get_single_object`
10	Calibration Accuracy output of `pho_calib_save`	Calibration Accuracy output of `pho_calib_save`
11	`pho_req_get_run_sol`, `pho_fce_get_run_sol`	`pho_req_get_run_sol`, `pho_fce_get_run_sol`
12-14	outputs of `pho_req_get_status`; `pho_fce_get_loc_count`, `pho_fce_get_num_ready`, `pho_fce_get_proc_state`	outputs of `pho_req_get_status`; `pho_fce_get_loc_count`, `pho_fce_get_num_ready`, `pho_fce_get_proc_state`

The values are passed in the unit in which they were sent (dimensions in mm, angles in mrad, calibration accuracy in µm).

Variables are declared in photoneo_common.pg / photoneo_locator.pg.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`tp_invariance`	-	index
2	`gp_id`	-	index
3	`gp_invariance`	-	index
4	`dimension_x`	`dimensions_x[n]`	mm
5	`dimension_y`	`dimensions_y[n]`	mm
6	`dimension_rot`	`dimensions_rot[n]`	rad
7	`nn_label`	`nn_label`	integer
8	`max_z_height`	`max_height`	mm
9	`pho_tilt`	`angle`	rad
10	`calib_acc`	`calib_acc`	µm
11	`running_sol_id`	`running_sol_id`	integer
12	`num_localized`	`num_localized`	integer
13	`num_ready`	`num_ready`	integer
14	`process_state`	`process_state`	0 / 1

Global variables are declared in pho_common.dat.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`tool_point_inv`	-	index
2	`gripping_point_id`	-	index
3	`gripping_point_inv`	-	index
4	`dimension_x`	`dimension_x`	mm
5	`dimension_y`	`dimension_y`	mm
6	`dimension_angle`	`rot_z_angle_deg`	deg
7	`nn_label`	`nn_label`	integer
8	`max_z_height`	`max_z_height`	mm
9	`tilt`	`tilt_angle_deg`	deg (LS)
10	`calib_error_um`	`calib_error_um`	µm
11	`running_sol_id`	`running_sol_id`	integer
12	`num_of_localized_objects`	`num_of_localized_objects`	integer
13	`num_of_ready_objects`	`num_of_ready_objects`	integer
14	`vs_still_processing`	`vs_still_processing`	0 / 1

Global variables are declared in photoneo_main_bps.script / photoneo_main_ls.script.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`g_tool_point_inv`	-	index
2	`g_gripping_point_id`	-	index
3	`g_gripping_point_inv`	-	index
4	`g_dim_x`	`g_obj_dim_x`	mm
5	`g_dim_y`	`g_obj_dim_y`	mm
6	`g_rot_z`	`g_obj_rot_z`	BPS: rad, LS: deg
7	`g_nn_label`	`g_obj_nn_label`	integer
8	`g_max_z_height`	`g_obj_max_z`	mm
9	`g_tilt`	`g_obj_tilt`	BPS: rad, LS: deg
10	`g_calib_err`	`g_calib_err`	mm
11	`g_running_sol`	`g_running_sol`	integer
12	`g_num_of_localized`	`g_num_of_localized`	integer
13	`g_num_of_planned`	`g_num_of_planned`	integer
14	`g_vs_status`	`g_vs_status`	0 / 1

In LS, the object values (keys 4-9) hold the values of the last object received.

PolyScope 5 (CB-Series, e-Series) and PolyScope X use the same variable names. They are declared in photoneo_common.script / photoneo_locator.script (*_X.script on PolyScope X).

Key	BPS 1.12	LS 1.5	Unit in robot
1	`pho_tool_point_invariance`	-	index
2	`pho_gripping_point_id`	-	index
3	`pho_gripping_point_invariance`	-	index
4	`pho_dimension_x`	`pho_dimensions_x[n]`	mm
5	`pho_dimension_y`	`pho_dimensions_y[n]`	mm
6	`pho_dimension_rot`	`pho_dimensions_rot[n]`	BPS: deg. LS: rad (PolyScope 5), deg (PolyScope X)
7	`pho_nn_label`	`pho_nn_label`	integer
8	`pho_max_z_height`	`pho_max_height`	mm
9	`pho_tilt`	`pho_angle`	LS: rad (PolyScope 5), deg (PolyScope X)
10	`pho_calib_acc`	`pho_calib_acc`	µm
11	`pho_running_solution`	`pho_running_solution`	integer
12	`pho_num_localized`	`pho_num_localized`	integer
13	`pho_num_ready`	`pho_num_ready`	integer
14	`pho_process_state`	`pho_process_state`	0 / 1

In LS, [n] is the index of the object in pho_object_poses (starting from 0).

Yaskawa stores Info data in integer variables (I). The names shown on the teach pendant are loaded from VARNAME.DAT. The text next to each variable is its name from VARNAME.DAT.

Key	BPS 1.12	LS 1.5	Unit in robot
1	`I021` - `PHO_TOOL_INV`	-	index
2	`I022` - `PHO_GRIP_ID`	-	index
3	`I023` - `PHO_GRIP_INV`	-	index
4	`I024` - `PHO_DIM_X`	`I024` - `PHO_INFO_DATA_4`	mm
5	`I025` - `PHO_DIM_Y`	`I025` - `PHO_INFO_DATA_5`	mm
6	`I026` - `PHO_DIM_ROT_Z`	`I026` - `PHO_INFO_DATA_6`	deg (whole degrees)
7	`I027` - `PHO_INFO_DATA_7`	`I027` - `PHO_INFO_DATA_7`	integer
8	`I028` - `PHO_INFO_DATA_8`	`I028` - `PHO_INFO_DATA_8`	mm
9	`I029` - `PHO_INFO_DATA_9`	`I029` - `PHO_INFO_DATA_9`	mrad
10	`I033` - `PHO_CALIB_ERROR`	`I015` - `PHO_CALIB_ERROR`	µm
11	`I034` - `PHO_RUNNING_SOL`	`I034` - no name in `VARNAME.DAT`	integer
12	`I016` - `PHO_NUM_OF_LOC`	`I016` - `PHO_NUM_OF_LOC`	integer
13	`I017` - `PHO_NUM_OF_PLAN`	`I017` - `PHO_NUM_PICKABLE`	integer
14	`I018` - `PHO_VS_CUR_STATE`	`I018` - `PHO_CURR_VS_STAT`	0 / 1

Note: Robot modules for Doosan, Hyundai Robotics, KUKA LBR iiwa and Stäubli are documented for older versions only. See the integration guide for the brand.

5 Differences to older versions

Robot modules older than BPS 1.12 / LS 1.5 receive Info data in the previous format. The vision controller detects the version from the brand ID that the Robot module sends after it connects.

Subject	BPS ≤ 1.11 / LS ≤ 1.4	BPS 1.12 / LS 1.5
Identification of a value	By its position in the response.	By its key (`oper_num`).
Get vision system status	One Info data item with three values.	Three Info data items (keys 12, 13, 14).
Object dimensions (LS)	Two Info data items per object: (X, Y, rotation Z) and (max Z height, tilt).	One Info data item per value (keys 4, 5, 6, 8, 9).
Neural network label	Not sent.	Key 7.

In most cases, existing robot programs do not need any change - you only have to update the Robot module. A few Robot modules also renamed or moved variables (for example Yaskawa LS and Kassow). For details, see the BPS migration guide and the LS migration guide.