4. Troubleshooting¶

Communication errors¶

Verify the values of WG_CAM_IP and WG_CAM_PORT in Program → Before Start → User Config.
Ensure the robot server on the Machine Vision Device is active: navigate to the device website → Jobs → Processing Instance → Robot Server.
Check network connectivity and firewall rules between the robot controller and the Machine Vision Device.
If the socket cannot be opened at all, wenglor_helpers.connect_with_vision_device shows "No connection to vision device. Program stopped." and halts — this points to a network- or address-level issue rather than a protocol error.

Insufficient calibration accuracy¶

You can improve calibration accuracy by using more than five calibration poses. Add additional calibration movements — each followed by a call to wenglor_api.add_calibration_pose — in Program → wenglor_api → run_calibration, after the existing WG_CALIB_POSE_5 step and before calibration:calculate[...] is sent.

Note

See the wenglor Robot Server overview in the wenglor robot vision manual for calibration-plate selection, pose-variation recommendations, and how to interpret the reprojection error returned by calibration:calculate.

Error codes returned by the device¶

If the robot server returns a negative error code (-5001 … -5010), wenglor_helpers.check_camera_reply detects it (reply starts with -) and wenglor_helpers.set_return_error maps it to a readable popup message before the program halts. For the meaning of each code, see the Generic Robot Vision Interface → Error codes in the wenglor robot vision manual.

Program exits unexpectedly¶

Cause	Detail	Message shown
`g_detection_pose` not set	The example routines compare it against `WIG_EMPTY_POSE` and halt if it still matches.	—
Calibration poses not set	`WG_CALIB_POSE_1` … `WG_CALIB_POSE_5` must not equal `WIG_EMPTY_POSE`; `wenglor_helpers.are_calibration_poses_set` checks each of them before `run_calibration` proceeds.	—
No reply from the camera, or an empty socket read	`wenglor_helpers.check_camera_reply` detects the missing reply. Check the device state via `state[WG_USE_CASE];`.	"No reply from camera. Exiting program."
Unknown use case	`WG_USE_CASE` must be exactly `camera_on_robot` or `camera_not_on_robot`; any other value halts `run_calibration`.	"Unknown use case. Program was aborted."

Documentation revision note¶

Earlier revisions used lowercase variable names; see User Configuration for the current names.