LS Migration guides for robot modules

Note:
The Robot modules for Locator Studio (LS) use the flexible communication interface. This interface is backward compatible - an older Robot module still works with a newer version of LS.
For the list of changes in each version of the communication interface, see the LS Communication interface changelog. This page describes what changes in an existing robot program when you update the Robot module.

Contents

Migration from LS 1.4.x to LS 1.5.x

Migration from LS 1.4.x to LS 1.5.x

You need the Robot module 1.5 to receive the new data of LS 1.5 - mainly the neural network label of the localized objects. A Robot module 1.4 still works with LS 1.5 without any change, but it does not receive the new data.

The main change is the new format of Info data: every value is sent with a key, so the Robot module no longer depends on the order of the values in the response. The Robot module handles this change internally. Robot programs that only read the variables / registers of the Robot module usually do not need any change. For exceptions, see the table below.

Behavior

Subject	Locator Studio 1.4.x	Locator Studio 1.5.x	Version compatibility
Info data	Identified by the position in the response. Object dimensions are sent as two groups per object.	Identified by a key (operation number). Each value is sent separately after the object pose. See Info data.	Changed. Handled by the Robot module.
Neural network label	Not available.	Sent with every object of the Get objects response (key 7).	New.
Brand ID	`<BRAND>/L/1.4.0...`	`<BRAND>/L/1.5.0...`	Changed. Requires Locator Studio 1.5.

Robot module changes per brand

This table lists only the changes that affect an existing robot program. For the place where each Info data value is stored, see Info data - Where the Robot module stores Info data.

Robot brand	Changes
ABB	New variable `pho_nn_label` (holds the label of the last object received). Max Z height and tilt stay in `pho_max_height` and `pho_angle`. The internal counter `info_recv` was removed. New example program `PHO_LS_Comm_Check.mod`.
Estun	The module folder was renamed to `ESTUN_LS_1_5_0.er`. Info data are stored in named variables (`INFO_OBJ_DIM_X`, `INFO_NN_LABEL`, `INFO_RUNNING_SOL`, …) instead of `INFO_DATA_ARR`. New requests `ReuseScanRequest`, `StartSolRequest`, `StopSolRequest` and the `HAND_EYE_ENABLE` switch.
FANUC	Registers `R[24]`-`R[29]` now hold dimension X, dimension Y, rotation Z, neural network label, max Z height and tilt of the last object. The values of every object are also appended to the string registers. New program `PHO_MAIN_LOC_GET_STATUS`.
Kassow Robots	All CBun commands were renamed to `pho_` - every saved program must be rebuilt. `getObject` is now `pho_req_get_single_object` with nine optional Info data outputs placed before* the response code. `pho_req_get_objects` has new parameters `num_requested` and `num_returned`. New function `pho_calc_approach_pose`. The default IP address is 192.168.1.1.
Kawasaki	New variable `nn_label`. Max Z height and tilt stay in `max_height` and `angle`. The internal counter `info_recv` was removed. New example programs `multiview_dynamic` and `calibration_expert`.
KUKA KRC	New variable `nn_label`. `max_z_height` and `tilt_angle_deg` are unchanged. New example programs `comm_check` and `reuse_scan`.
Techman Robot	New variable `g_obj_nn_label`. New request `comm_check_request()`.
Universal Robots	New variable `pho_nn_label` and constants `PHO_INFO_` (4-14). `pho_max_height` and `pho_angle` are unchanged. Reload the scripts* in existing programs - the example programs and saved programs contain their own copy of the scripts.
Yaskawa	The running solution ID moved from `I006` to `I034` - jobs that read `I006` after `PHO_GET_RUNNING_SOLUTION` must be changed. Object values are stored in `I024`-`I029` (values of the last object). The per-object string variables `S011` and up are no longer written.

The Robot module for Universal Robots PolyScope X was first released with version 1.5, so there is nothing to migrate.