ABB Standard Interface Functions

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When programming the ABB robot, please pay attention to the following:

  1. Multiple parameters in a function should be separated by commas.

  2. Variable-type parameters should use local variables, which take effect only in the program.

  3. Input or Output parameters can be customized for functions.

  4. Arguments in the program: the input arguments can be constants, global variables or local variables, and the output arguments can be global variables or local variables.

The ABB Standard Interface provides the following functions.

Initialize Communication

This function sets the host IP address, port number, and wait time for TCP/IP communication.

Function

MM_Init_Socket "IP_Address",Server_Port,Time_Out;

Input Parameter

IP_Address

The IP address of the host

Server_Port

TCP/IP port number; the default port number is 50000

Time_Out

Wait time in minutes before stopping connection attempt

Example

MM_Init_Socket "192.168.1.20",50000,60;

When running the example, the host IP address should be set to 192.168.1.20, the port number should be set to 50000, and the wait time is 60 seconds.

Start Mech-Vision Project

This function is used for applications that use Mech-Vision but not Mech-Viz. This function starts the Mech-Vision project that executes image capturing and performs vision recognition.

Function

MM_Start_Vis Job,Pos_Num_Need,SendPos_Type,MM_J;

Input Parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Pos_Num_Need

The expected number of vision points for Mech-Vision to send. The vision point contains the vision pose, corresponding point cloud, label, scaling, etc.

  • 0: The sender expects to receive all vision points in the recognition result from the Mech-Vision project.

  • Integer greater than 0: The sender expects to receive the specified number of vision points in the recognition result from the Mech-Vision project.

    • If the total number of vision points is less than the parameter value, all vision points in the recognition result will be sent.

    • If the total number of vision points is greater than or equal to the parameter value, the specified number of vision points will be sent.

  • The command used to obtain the vision points is command 102. Command 102 can only fetch at most 20 vision points at a time.

  • One of the returned parameter of command 102 indicates if all the requested vision points have been obtained. If not, please execute command 102 repeatedly.

SendPos_Type

The type of the robot pose to be sent to Mech-Vision. Value range: 0–3

  • 0: No robot poses need to be sent to the vision system. If the camera is mounted in the Eye To Hand mode, the image capturing process is independent of the robot pose, and therefore the robot pose is not needed.

  • 1: The robot pose in the current joint positions together with the current flange pose will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye In Hand mode. When this parameter is set to this value, the “Path Planning” Step in the Mech-Vision project will use the joint positions sent by the robot. If the flange pose data are all 0, the vision system ignores the flange pose data.

  • 2: The robot pose in the current flange pose will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye In Hand mode or in other scenarios where only the flange pose data is available (such as truss robots).

  • 3: The robot pose in the joint positions defined by the user will be sent to the vision system. It is recommended to set this value when the camera is mounted in the Eye To Hand mode. When this parameter is set to this value, the “Path Planning” Step in the Mech-Vision project will use the joint positions sent by the robot as the initial pose.

MM_J

User-defined joint positions. When the value of SendPos_Type is set to 3, this set of joint positions will be used as the first waypoint in the path planned by the “Path Planning” Step in the Mech-Vision project. If the value of SendPos_Type is set to values other than 3, the joint positions set here will not take effect, but it has to be set.

Example

MM_Start_Vis 1, 1, 1,MM_J

This example triggers the Mech-Vision project whose ID is 1 to run; the Mech-Vision project is expected to send back one vision point; and the robot sends its current joint positions and flange pose as the image-capturing pose to Mech-Vision.

Get Vision Target(s)

This function should be used after executing the “Start Mech-Vision Project” function. It obtains the vision result, which contains the robot pose (in TCP format) and label, from the corresponding Mech-Vision project.

Mech-Center will automatically convert the vision point information into the corresponding robot TCP. The process includes the following steps:

  • Rotate the poses around their X axes by 180 degrees.

  • Determine whether the definition of the reference frame used by the robot model involves robot base height, and add a vertical offset accordingly.

By default, command 102 can only fetch at most 20 TCPs at a time. Therefore, command 102 may need to be repeatedly executed until all the TCPs required are obtained.

Function

MM_Get_VisData Job,Last_Data,Pos_Num,MM_Status;

Input Parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Output Parameter

Last_Data

This parameter indicates whether all TCPs requested have been obtained. The value is 0 or 1.

  • 0: NOT all required TCPs have been sent (more on the way). Please execute command 102 repeatedly until the value turns to 1.

  • 1: All required TCPs have been sent.

If the expected number of TCPs set in “Start Mech-Vision Project” function is greater than 20 (default value length for sending and receiving data), this parameter can be used to determine whether there is any TCP that has not been sent. If not all data have been sent, you can call command 102 repeatedly until all TCPs have been received.

If not all TCPs have been received, and command 101 is called to re-capture an image at this time, the unreceived TCPs will be cleared.

Variable type: num

Pos_Num

The number of received TCPs.

  • If the required number of TCPs is greater than or equal to the number of vision points recognized by Mech-Vision, the number of recognized vision points will be sent.

  • If the required number of TCPs is less than the number of the recognized vision points, the required number of vision points will be sent.

Value range: 0–20

Variable type: num

MM_Status

If there is no error, status code 1100 will be returned. Otherwise, the corresponding error code will be returned.

When calling this function, Mech-Center will wait for the result from Mech-Vision and then send it to the robot. The default wait time is 10 seconds. If a timeout occurs, a timeout error code will be returned to the robot.

Variable type: num

Example

MM_Get_VisData 1,LastData,PoseNum,MMStatus;

This example obtains the vision result from Mech-Vision project whose ID is 1. Whether all TCPs have been sent is stored in LastData, the number of TCPs received is stored in PoseNum, and the status code is stored in MMStatus.

Start Mech-Viz Project

This function applies for applications that use both Mech-Vision and Mech-Viz. It runs the corresponding Mech-Viz project (which triggers the corresponding Mech-Vision project to run), and sets the initial joint positions of the simulated robot in Mech-Viz.

Please right-click the Mech-Viz project to be started in Resources panel and select Autoload Project in the context menu.

There are some example projects of typical applications stored in Mech-Center/tool/viz_project in the installation directory of Mech-Mind Software Suite. You can modify the example projects according to actual requirements for real applications.

Function

MM_Start_Viz SendPos_Type,MM_J;

Input Parameter

SendPos_Type

Robot pose type. Value range: 0–2

0: No robot poses need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from joint positions [0,0,0,0,0,0] and move to the first waypoint.

1: The current joint positions and flange pose of the real robot need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from the current joint positions of the real robot and move to the first waypoint.

2:The predefined joint positions of the robot need to be sent to Mech-Viz. The simulated robot in Mech-Viz will start from the predefined joint positions and move to the first waypoint.

When the scene contains object models that obstruct the robot to move from [0, 0, 0, 0, 0, 0] to the first waypoint, this parameter must be set to 1.

MM_J

User-defined joint positions. User-defined joint positions. When the value of SendPos_Type is set to 2, this set of joint positions will be used as the first waypoint in the path planned by Mech-Viz. If the value of SendPos_Type is set to values other than 2, the joint positions set here will not take effect, but it has to be set.

Example

MM_Start_Viz 1,MM_J;

This function triggers the Mech-Viz project to run and sends the current joint positions and flange pose of the robot to Mech-Viz.

Get Planned Path from Mech-Viz

This function obtains the planned path from Mech-Viz. It should be called after “Start Mech-Viz Project”. After the planned path is obtained, the pose data can only be accessed by calling Transfer the Obtained Robot TCP data or Transfer the Obtained Joint Positions.

By default, this function can only fetch at most 20 waypoints at a time. Therefore, it may need to be repeatedly executed until all the waypoints are obtained.

If the waypoint of a move-type Step should not be sent to the robot, please clear the “Send Waypoint” option in the parameters of this Step.

Function

MM_Get_VizData GetPos_Type,Last_Data,Pos_Num,VisPos_Num,MM_Status;

Input Parameter

GetPos_Type

This parameter specifies the type of waypoint pose returned by Mech-Viz.

Output Parameter

Last_Data

Variable indicating whether all waypoints have been sent.

  • 0: NOT all waypoints have been sent (more on the way). Please repeat the execution of this function until the value of this parameter becomes 1.

  • 1: All waypoints have been sent.

Pos_Num

Number of waypoints. Variable for storing the number of received waypoints which contains the corresponding pose, label, velocity.

If the planned path contains more than 20 waypoints, please repeat executing this function.

Value range: 0–20

VisPos_Num

The position of the waypoint in the “Vision Move” Step in the entire planned path. The “Vision Move” waypoint is the one where the robot performs the picking.

For example, if the planned path consists of waypoints “Fixed-Point Move_1”, “Fixed-Point Move_2”, “Vision Move”, and “Fixed-Point Move_3” sequentially, the position of “Vision Move” is 3.

If the path does not contain any Vision Move waypoint, the return value is 0.

MM_Status

Status code.

If there is no error, status code 2100 will be returned. Otherwise, the corresponding error code will be returned.

After executing this function, if the result from Mech-Viz is not returned within 10 seconds, the error code for timeout will be returned.

Example

MM_Get_VizData 2,Last,Pos_Num,Vis_Index,StatusCode;

This example obtains the planned path from Mech-Viz in the form of TCPs. Whether all waypoints have been sent is stored in variable Last, the number of waypoints received is stored in variable Pos_Num, the position of the Vision Move waypoint is stored in variable Vis_Index, and the received status code is stored in variable StatusCode.

Transfer the Obtained Robot TCP data

This function transfer the TCP pose data in the vision point (returned by Mech-Vision) or waypoint (returned by Mech-Vision or Mech-Viz) to the specified variable.

Function

MM_Get_Pose Index,P90,Label,Pose_Speed;

Input Parameter

Index: Specify the index of the TCP pose to be transferred.

Output Parameter

P90

The name of the pose variable for storing the specified TCP pose.

Label

Variable for storing the label corresponding to the specified pose.

Pose_Speed

Variable for storing the velocity corresponding to the specified pose.

Example

MM_Get_Pose 1,P90,Label,PoseSpeed1;

This example stores the first received pose to P90, the corresponding label to Label, and the corresponding velocity to PoseSpeed1.

Transfer the Obtained Joint Positions

This function transfers a set of joint positions in the waypoint returned by Mech-Vision or Mech-Viz in the specified Position Registers.

Function

MM_Get_Jps Index,Jointtarget,Label,Pose_Speed;

Input Parameter

Index: Specify the index of the waypoint whose joint positions that will be transferred.

Output Parameter

Jointtarget

Variable for storing the specified set of joint positions.

Label

Variable for storing the label corresponding to the specified waypoint.

Pose_Speed

Variable for storing the velocity corresponding to the specified waypoint.

Example

MM_Get_Jps 1,jpose1,Label1,PoseSpeed1;

This example stores the JPs data of the first received waypoint to jpose1, the corresponding label to Label1, and the corresponding velocity to PoseSpeed1.

Switch Mech-Vision Recipe

This function specifies the parameter recipe to be used in the Mech-Vision project.

In Mech-Vision, you can change the values of Step parameters by switching the parameter recipe in use.

The parameters that can be altered by switching parameter recipes usually include the point cloud matching model, image matching template, ROI, and confidence threshold.

This procedure must be called BEFORE “Start Mech-Vision Project”.

Function

MM_Switch_Model Job,Model_Number;

Input Parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Model_Number

Parameter recipe number.

The ID of the parameter recipe in the Mech-Vision project. The ID is a positive integer in the range of 1 to 99. Click Project Assistant  Parameter Recipe to edit the parameter recipe. Value range: 1 to 99.

Example

MM_Switch_Model 1,1;

This example switches the parameter recipe used to No.1 in Mech-Vision project No.1.

Select Mech-Viz Branch

This function selects along which branch the Mech-Viz project should proceed. Such branching is achieved by adding the “Branch by Msg” Step(s) to the Mech-Viz project.

“Start Mech-Viz Project” must be called BEFORE this function.

When the next Step to execute is a “Branch by Msg” Step, the Mech-Viz project will wait for this function to specify the exit port to take.

Function

MM_Set_Branch Branch_Num,Exit_Num;

Input Parameter

Branch_Num

Step ID of the “Branch by Msg” Step

Exit_Num

Exit port number in integers

This parameter value should be 1 greater than the exit port number displayed in the Step. For example, if the specified exit port is the second exit port of the Step from left to right, the exit port number is 2.

Example

MM_Set_Branch 1,3;

This example instructs Mech-Viz to take the 3rd exit port for the “Branch by Msg” Step whose Step ID is 1.

Set Move Index

This function sets the value of the Current Index parameter of the specified Mech-Viz Step. Steps that have this parameter include “Move by List”, “Move by Grid”, “Custom Pallet Pattern”, and “Predefined Pallet Pattern”.

“Start Mech-Viz Project” must be called BEFORE this function.

Function

MM_Set_Index Skill_Num,Index_Num;

Input Parameter

Skill_Num

Step ID.

The Step ID of the Step whose Current Index value needs to be set.

The value of this parameter should be a positive integer. The Step ID can be viewed in the Step Parameters panel.

Index_Num

The Current Index value that should be set the next time this Step is executed.

When this function is sent, the Current Index value in Mech-Viz will become the parameter value minus 1.

When the Mech-Viz project runs to the Step specified by this function, the Current Index value in Mech-Viz will be increased by 1 to become the parameter’s value.

Example

MM_Set_Index 2,10;

This example sets the Current Index value to 9 for the Step whose Step ID is 2. When the Step is executed, the Current Index value will be added 1 and become 10.

Get Software Status

This function obtains the execution status of Mech-Vision, Mech-Viz, and Mech-Center.

Currently, this function is capable of checking whether Mech-Vision is ready to run projects.

Function

MM_Get_Status MM_Status;

Output Parameter

MM_Status

Variable for storing status code. Status code 1101 indicates that Mech-Vision is ready to run projects. Other status codes indicate that Mech-Vision is not ready. The function is currently capable of checking whether Mech-Vision is ready to run projects.

Example

MM_Get_Status StatusCode;

This example obtains the status code and stores it in StatusCode.

Input Object Dimensions to Mech-Vision

This function is used for dynamically inputting object dimensions into the Mech-Vision project. Please confirm the actual object dimensions before running the Mech-Vision project.

The Mech-Vision project should contain the “Read Object Dimensions” Step, and the Read Sizes from Properties checkbox of this Step should be selected.

Function

MM_Set_BoxSize Job,Lenght,Width,Height;

Input Parameter

Job

Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Length, Width, Height

The object dimensions (length, width, height) to be input to the Mech-Vision project. The dimensions will be read into the “Read Object Dimensions” Step.

The unit is millimeters.

Example

MM_Set_BoxSize 1,500,300,200

This example sets the object dimensions in the Read Object Dimensions Step in the Mech-Vision project No.1 to 500 × 300 × 200 mm.

Get DO List

This function gets the planned DO signal list. The DO signal list is used to control multiple grippers or multiple suction cup sections.

MM_Start_Viz must be called BEFORE this function to obtain the planned path from Mech-Viz.

Please deploy the Mech-Viz project based on the example project and set the corresponding suction cup configuration file. The example project is stored in tool\viz_project\suction_zone in the installation directory of Mech-Center.

Function

MM_Get_DoList Status;

Output Parameter

Status

Status code. Please refer to Status Codes and Troubleshooting for detailed information.

Example

MM_Get_DoList Status;

This function stores the status code indicating whether the DO signal is received successfully in Status.

Set DO Signal List

This function sets the DO list sent by Mech-Viz to GO signals. It supports 4 groups of 16-bit GO signals in maximum. If you need to set multiple groups of GO signals, please run this function for several times.

MM_Get_DoList must be called BEFORE this function.

Function

MM_Set_DoList Serial,GO16;

Input Parameter

Serial

Serial number of the signal group, from 1 to 4.

Output Parameter

GO16

Name of the signal group for storing the DO signal value to be set.

Example

MM_Set_DoList 1,GO16;

MM_Set_DoList 2,GO32;

The first example sets the 0–15 values in the DO list calculated by Mech-Viz to corresponding GO16 signals, and the second example sets the 16–32 values in the DO list to corresponding GO32 signals.

Input TCP to Mech-Viz

This function is used for dynamically inputting robot TCP into the Mech-Viz project. The input TCP is read by the “External Move” Step.

Please deploy the Mech-Viz project based on the example project. The example project is stored in tool/viz_project/outer_move in the installation directory of Mech-Center.

Place the “External Move” Step in an appropriate position in the workflow.

This function must be called BEFORE “Start Mech-Viz Project”.

Function

MM_Set_Pos Pos;

Input Parameter

Pos

Robot TCP

The robot TCP used to set the waypoint of the “External Move” Step.

Example

MM_Set_Pos P10;

This example sends the TCP data stored in P10 to the External Move Step in the Mech-Viz project.

Calibration

This function is used for hand-eye calibration (camera extrinsic parameter calibration).

This function synchronizes the calibration status with Mech-Vision and obtains the next calibration point that the robot needs to reach from Mech-Vision.

This function must be executed multiple times to complete the calibration.

Function

MM_Calib Move_Type,Pos_Jps,Wait_time,\num Ext;

Input Parameter

Move_Type

Motion Type

1: linear motion, MoveL

2: joint motion, MoveJ

Pos_Jps

Parameter Description

Move_Type

The motion type of the robot. 1: MoveL. 2: MoveJ.

Pos_Jps

Pose as flange pose or joint positions. 1: TCP. 2: Joint positions.

Wait_time

The time the robot waits to avoid shaking after it moves to the calibration point; the default value is 2 (s).

Ext

Data of the external 7th axis in mm, optional.

Example

  • Example 1:

    MM_Calib 2,1,2;

    This example moves the robot in MoveJ type, receives pose data in the form of TCP, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. In addition, this robot does not have an external axis installed.

  • Example 2:

    MM_Calib 2,1,2\EXT:=Axis7;

    This example moves the robot in MoveJ type, receives pose data in the form of TCP, and sets the wait time to 2 seconds to avoid the robot from shaking after it moves to the calibration point. Moreover, the 7th axis value of this robot is Axis7.

Get Custom Output Data from Mech-Vision

This function obtains the custom output data from the corresponding Mech-Vision project. “Custom output data” refers to the data output by ports other than poses and labels of the “Procedure Out” Step. The output ports can be customized if the “Port Type” parameter of the Step is set to “Custom”.

Calling this function once will store all the obtained data to the robot.

Function

MM_GET_DY_DATA job,Pos_Num,MM_Status;

Input Parameter

job

Variable type: num Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Output Parameter

Pos_Num

Variable type: num Variable for storing the number of received vision points.

MM_Status

Variable type: num Variable for storing the status code.

Example

MM_GET_DY_DATA 2,Pos_Num,StatusCode;

This example obtains the vision result that includes custom port outputs from Mech-Vision project No. 2. The number of vision points received is stored in Pose_Num, and the status code is stored in Status. The obtained poses and corresponding labels are stored in the global variable MMvis2_Pose, and the corresponding custom port outputs are stored in the global variable UserData.

Save Custom Output Data to Specified Variables

This function stores the data in a vision point returned by Get Custom Output Data from Mech-Vision in the specified variables.

Function

MM_Get_DyPose Serial,MM_P,MM_Label;

Input Parameter

Serial

Variable type: num Specify the index of the vision point in which the custom data you want to store. The index is defined by the sequence that Mech-Vision sends the data.

Output Parameter

MM_P

Variable type: robtarget. Variable for storing the pose in the specified vision point.

MM_Label

Variable type: num Variable for storing the label in the specified vision point (If there is not a label port in Mech-Vision, 0 will be filled in automatically).

MM_UserData

Variable type: num Global array variable for storing the custom port outputs in the specified vision point. You can read the array directly without the need to pass the parameter.

Example

MM_Get_DyPose 2,MM_P_VISION,MM_Label;

This example stores the pose in the second received vision point to MM_P_VISION, the corresponding label to MM_Label, and the corresponding custom port outputs to MM_UserData.

Get Waypoint from Mech-Viz

This function is used for obtaining the planned path from Mech-Viz. The waypoint may be for a Vision Move Step, or for one of the other move-type Steps. A waypoint may contain pose, velocity, gripper info, object info, etc. Calling this function once will store all the obtained data to the robot.

Waypoints in a planned path can be divided into the following three types.

  1. All waypoints contain the following data: motion type (joint motion or linear motion), tool number and velocity.

  2. Vision Move waypoints, containing information such as label, number of workobjects that have been picked, number of workobjects picked this time, edge/corner ID of the suction cup, the TCP offset, workobject orientation, and workobject dimensions.

  3. Vision Move waypoints including custom data. In this case, the port type of the “Procedure Out” Step in the Mech-Vision project should be “Custom”.

Function

MM_GET_PLANDATA Jps_Pos,Pos_Num,VisPos_Num,MM_Status;

Input Parameter

Jps_Pos

Variable type: num Expected format of the returned data. See the following table for explanations.

Below are the explanations of the four possible data formats that can be returned by this function.

Expected data format Format of returned data (Explained below)

1

Pose (joint positions), motion type, tool number, velocity, number of custom ports, custom port output 1, custom port output 2, … custom port output N

2

Pose (TCP), motion type, tool number, velocity, number of custom ports, custom port output 1, custom port output 2, … custom port output N

3

Pose (joint positions), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output 1, custom port output 2, … custom port output N

4

Pose (TCP), motion type, tool number, velocity, depalletizing planning data, number of custom ports, custom port output 1, custom port output 2, … custom port output N

Poses

The pose of the waypoint can be in the form of joint positions (in degree) or TCP, which is composed of Cartesian coordinates (XYZ in mm) and Euler angles (ABC in degree).

Motion type

  • 1: joint motion, MoveJ

  • 2: linear motion, MoveL

Tool number

The index number of the tool to be used at this waypoint. -1 indicates that no tool is used.

Velocity

Velocity percentage of the waypoint. It is determined by multiplying the velocity setting specified in the corresponding move-type step by the global velocity setting in Mech-Viz. The result is expressed as a percentage.

Depalletizing planning data

Data used in planning multi-pick depalletizing tasks. This data is part of the waypoint of the “Vision Move” Step. The following data are included:

  • Label: composed of 10 integers. If fewer than 10 labels are obtained, the rest of the digits are filled with 0.

  • Number of picked workobjects.

  • Number of workobjects to be picked this time.

  • Edge-corner ID of vacuum gripper: used to specify the gripper corner to which the workobject is aligned. It can be checked by double-clicking the corresponding tool in the Resources panel in Mech-Viz and then selecting Configure control logic.

  • TCP offset: The offset between the tool pose at the center of the to-pick workobjects and the actual tool pose.

  • Workobject orientation: Whether the X-axis of the workobject reference frame is aligned with the X-axis of the tool reference frame (value: 0 or 1).

  • Dimensions of the workobjects combined.

Number of custom ports

The number of output ports excluding poses and labels when the “Port Type” parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”.

Custom port outputs

The outputs that exclude poses and labels when the “Port Type” parameter of the “Procedure Out” Step in the Mech-Vision project is set to “Custom”. These data are part of the waypoint of the “Vision Move” Step.

The custom data items are arranged in alphabetical order of the custom port names.

Output Parameter

Pos_Num

Variable type: num. Variable for storing the number of received waypoints.

VisPos_Num

Variable type: num. Variable for storing the position of the first Vision Move waypoint in the path. For example, if the planned path is composed of Steps Fixed-Point Move_1, Fixed-Point Move_2, Vision Move sequentially, the position of the Vision Move waypoint is 3. If the path does not contain any Vision Move waypoint, the return value is 0.

MM_Status

Variable type: num. Variable for storing the status code.

Example

MM_GET_PLANDATA 4,PosNum,Vis_Index,StatusCode;

This example obtains the planned path that includes depalletizing planning data and custom port outputs from Mech-Viz, and the poses obtained are in the form of TCPs. The number of waypoints received is stored in PosNum, the position of the Vision Move waypoint is stored in Vis_Index, and the status code is stored in StatusCode.

Save Custom Output Data to Specified Variables

This procedure should be called after Get Waypoint from Mech-Viz. It stores the corresponding set of data to different variables according to the specified index. The code will be slightly different according to the value of Jps_Pos.

Function

MM_Get_PlanPose Serial,Jps_Pos,MM_P,MM_MoveType,MM_ToolNum,MM_Speed; (when the value of Jps_Pos is 2 or 4)
MM_Get_PlanJps Serial,Jps_Pos,MM_J,MM_MoveType,MM_ToolNum,MM_Speed; (when the value of Jps_Pos is 1 or 3)

Input Parameter

Serial

Variable type: num. Specify the index of the waypoint to be stored. The index of the waypoint is determined by the order in which Mech-Viz sends data.

Jps_Pos

Variable type: num. The parameter value should be the same as that of Jps_Pos in MM_GET_PLANDATA.

Output Parameter

MM_P

Variable type: robtarget. Variable for storing the TCP in the specified waypoint.

MM_J

Variable type: Jointtarget. Variable for storing the joint positions in the specified waypoint.

MM_MoveType

Variable type: num. Variable for storing the motion type in the specified waypoint.

MM_ToolNum

Variable type: num. Variable for storing the tool number in the specified waypoint.

MM_Speed

Variable type: num. Variable for storing the velocity in the specified waypoint.

MM_UserData

Global array variable that can be read directly without the need for parameter passing. Used for storing the custom port outputs in the specified waypoint.

MM_Plan_Results

Global array variable that can be read directly without the need for parameter passing. Used for storing the depalletizing planning data corresponding to the specified waypoint.

Example

  • Example 1:

    MM_Get_PlanPose 2,4,P10,MoveType,ToolNum,Speed;

    This example stores the TCP in the second received waypoint to P10, the corresponding motion type to MoveType, the corresponding tool number to ToolNum, the corresponding velocity to Speed. If the waypoint is a “Vision Move” waypoint, the depalletizing planning data will be stored in the MM_Plan_Results global array, and the custom port outputs will be stored in the MM_UserData global array. If it is not, no value will be assigned to the two global array variables mentioned before.

  • Example 2:

    MM_Get_PlanJps 1,3,jpose1,MoveType,ToolNum,Speed;

    This example stores the joint position in the first received waypoint to jpose1, the corresponding motion type to MoveType, the corresponding tool number to ToolNum, the corresponding velocity to Speed. If the waypoint is a “Vision Move” waypoint, the depalletizing planning data will be stored in the MM_Plan_Results global array, and the custom port outputs will be stored in the MM_UserData global array. If it is not, no value will be assigned to the two global array variables mentioned before.

Get Result of Step “Path Planning” in Mech-Vision

This function obtains the collision-free path planned by the “Path Planning” Step from the corresponding Mech-Vision project.

The Port Type parameter of the “Procedure Out” Step in the Mech-Vision project must be set to “Predefined (robot path)”.

Function

MM_Get_VisPath  Job,Jps_Pos,Last_Data,Pos_Num,VisPos_Num,MM_Status;

Input Parameter

Job

Variable type: num. Mech-Vision project ID, which can be viewed before the project name in the Project List panel in Mech-Vision.

Jps_Pos

Variable type: num. The pose type of waypoints returned by the “Path Planning” Step.

  • 1: Waypoints in joint positions will be returned.

  • 2: Waypoints in TCPs will be returned.

Output Parameter

Last_Data

Variable type: num. Variable indicating whether all waypoints have been sent.

  • 0: NOT all waypoints have been sent (more on the way). Please repeat the execution of this function until the value of this parameter becomes 1.

  • 1: All waypoints have been sent.

Pos_Num

Variable type: num. Variable for storing the number of received waypoints.

VisPos_Num

Variable type: num. The position of the “Vision Move” waypoint in the entire planned path in the Path Planning tool. For example, if the planned path is composed of Steps Fixed-Point Move_1, Fixed-Point Move_2, Vision Move sequentially, the position of the Vision Move waypoint is 3. If the path does not contain any Vision Move waypoint, the return value is 0.

MM_Status

Variable type: num. Variable for storing the status code.

Example

MM_Get_VisPath  2,2,LastData,PosNum,Vis_Index,StatusCode;

This example obtains the planned path from Mech-Vision project No. 2 in the form of TCPs. Whether all waypoints have been sent is stored in LastData, the number of waypoints received is stored in PosNum, the position of the Vision Move waypoint is stored in Vis_Index, and the status code is stored in StatusCode.

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