Example program 3: Sample_3

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Program Introduction

Description

The robot triggers the Mech-Vision project to run, and then obtains the planned path for picking and placing.

File path

Mech-Vision and Mech-Viz are located in Mech-Center/Robot_Interface/DENSO/sample.pcs.

This file contains three subprograms: Sample_1, Sample_2, and Sample_3. This section only introduces the Sample_3 subprogram.

Project

Mech-Vision project

Prerequisites

  1. You have set up the standard interface communication.

  2. Automatic calibration is completed.
This example program is provided for reference only. Before using the program, please modify the program according to the actual scenario.

Program Description

This part provides and explains the code of the Sample_3 example program.

Sub Sample_3
'-------------------------------
'FUNCTION:simple pick and place
'with Mech-Vision
'Mech-Mind, 2022-8-4
'-------------------------------
'Getting control of the robot.
	TakeArm Keep = 0
'move to the home position
	Move P, P[1],speed=80
'move to the camera position
	Move P,@C P[2],speed=80
	Open_socket
'set vision recipe
	MM_Set_Model 1,1
	Delay 100
'Run vision project
	MM_Start_Vis 1,0,1,2
	Delay 100
'get planned path from Mech-Vision Path Planning Step
	MM_Get_VisPath 1,2,1,2,3
	IF I[3]<>1103 THEN
		stop
	END IF
'set the first pos to P20
'set lables to I11
'set speed to I12
	MM_Get_Pose 1,20,11,12
'set the second pos to P21
'set lables to I13
'set speed to I14
	MM_Get_Pose 2,21,13,14
''set the third pos to P22
'set lables to I15
'set speed to I16
	MM_Get_Pose 3,22,15,16
	Move P, P[20],speed=80
	Move L,@C P[21],speed=80
'enable girpper
	Set IO[24]
	Move P, P[22],speed=80
	Move P, P[3],speed=80
'drop point
	Move L,@C P[4],speed=80
'release gripper
	Reset IO[24]
'Giving up control of the robot
	GiveArm
	Close_socket
End Sub

The workflow corresponding to the above example program code is shown in the figure below.

sample3

The table below explains the above program. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Obtain the control

 
TakeArm Keep = 0

Obtain the control of the robot arm group and perform the following initialization operations:

  • Set the internal velocity of the robot arm group to 100. Meanwhile, set the internal acceleration and internal deceleration to 100.

  • Initialize the current tool reference frame ID to Tool0.

  • Initialize the current workobject reference frame ID to Work0.

Move to the home position

 
Move P,P[1],speed=80

The robot moves from the current position to the home position (P[1]) at 80% of its velocity. The P parameter indicates the point-to point movement.

You should teach the home position in advance. For detailed instructions, see Teach Calibration Starting Point in the calibration document.

Move to the image-capturing position

 
Move P,@C P[2],speed=80

The robot moves from its current position to the image-capturing position (P[2]) at 80% of its velocity. @C indicates that the robot will execute the next command when it confirms that the transformed position and pose of the forearm have reached the desired objectives based on the encoded value.

You should teach the image-capturing position in advance. For detailed instructions, see Teach Calibration Starting Point in the calibration document.

Establish the communication

 
Open_socket

The robot establishes TCP communication with the vision system through the Open_socket command.

Switch the Mech-Vision parameter recipe

 
MM_Set_Model 1,1

  • MM_Set_Model: The command to switch the Mech-Vision parameter recipe.

  • 1: The Mech-Vision project ID.

  • 1: The ID of the parameter recipe in the Mech-Vision project.

In this entire statement, the parameter recipe of the Mech-Vision project whose ID is 1 is switched to recipe 1.

If no parameter recipe is used in the Mech-Vision project, delete or comment out this line. 
Delay 100

Delay indicates that the task will be put on standby within the specified delay time. The delay time is measured in milliseconds (ms). The preceding statement indicates that the robot is on standby for 100 ms to ensure that the Mech-Vision has enough time to switch the parameter recipe.

Trigger the Mech-Vision project to run

 
MM_Start_Vis 1,0,1,2

  • MM_Start_Vis: The command to trigger the Mech-Vision project to run.

  • 1: The Mech-Vision project ID.

  • 0: The Mech-Vision project is expected to return all waypoints.

  • 1: The current joint positions and flange pose of the robot are sent to the Mech-Vision project. In this case, the camera mounting mode is Eye In Hand.

  • 2: The ID of a variable J. The variable J that corresponds to the ID stores custom joint position data. The joint positions represented by the J variable in this example are useless, but the ID of the J variable must be set.

The entire statement indicates that the robot triggers the vision system to run the Mech-Vision project with an ID of 1 and expects the Mech-Vision project to return all waypoints.

Delay 100

The above statement indicates that the robot is on standby for 100 ms to ensure that the camera has enough time to capture images.

Get the planned path

 
MM_Get_VisPath 1,2,1,2,3

  • MM_Get_VisPath: The command to obtain the planned path.

  • 1: The Mech-Vision project ID.

  • 2: The pose type of the waypoint is set to TCP.

  • 1: The ID of a variable I. I[1] is used to store the number of obtained waypoints.

  • 2: The ID of a variable I. I[2] is used to store the position ID of the Vision Move waypoint (picking point) in the path.

  • 3: The ID of a variable I. I[3] is used to store the status code.

The entire statement indicates that the robot obtains the planned path from the Mech-Vision project that has an ID of 1.

The returned planned path is saved to the robot memory and cannot be directly obtained. To access the planned path, you must store the planned path in a subsequent step. 
IF I[3]<>1103 THEN
	stop
END IF

When the status code is 1103 in I[3], the robot has successfully obtained all planned path. Otherwise, an error may be returned in the vision system. You can perform the corresponding operation based on the specific exception code.

Store the planned path
This example assumes that the first waypoint that is the approach waypoint of picking, the second waypoint that is the picking waypoint, and the third waypoint that is the departure waypoint of picking. 
MM_Get_Pose 1,20,11,12

  • MM_Get_Pose: The command to store the planned path.

  • 1: The first waypoint is stored.

  • 20: The ID of a variable P. P[20] stores the TCP pose corresponding to the first waypoint.

  • 11: The ID of a variable I. I[11] stores the label corresponding to the first waypoint.

  • 12: The ID of a variable I. I[12] stores the velocity corresponding to the first waypoint.

The entire statement stores the TCP pose, label, and velocity of the first waypoint in P[20], I[11], and I[12].

MM_Get_Pose 2,21,13,14
MM_Get_Pose 3,22,15,16

The above code stores the TCP pose, label, and velocity of the second waypoint in P[21], I[13], and I[14], respectively, and the TCP pose, label, and velocity of the third waypoint in P[22], I[15], and I[16], respectively.

Move to the approach waypoint of picking

 
Move P,P[20],speed=80

The robot moves to the approach waypoint of picking (P[20]) in point-to-point mode.

Adding approach waypoints of picking can prevent the robot from colliding with objects (such as bins) in the scene when moving.

Move to the picking waypoint

 
Move L,@C P[21],speed=80

The robot moves from the approach waypoint of picking to the picking waypoint (P[21]) in linear motion.

Set DO to perform picking

 
Set IO[24]

After the robot moves to the picking waypoint, you can set a DO (such as Set IO[24]) to control the robot to use the tool to perform picking. Please add the operation of setting DOs according to the actual situation.

Move to the departure waypoint of picking

 
Move P,P[22],speed=80

The robot moves to the departure waypoint of picking (P[22]) in point-to-point mode.

Adding departure waypoints of picking can prevent the robot from colliding with objects (such as bins) in the scene when moving.

Move to the intermediate waypoint

 
Move P,P[3],speed=80

The robot moves to a intermediate waypoint between the departure waypoint of picking and the placing waypoint (P[3]).

  • Adding intermediate waypoints can ensure smooth robot motion and avoid unnecessary collisions. You can add multiple intermediate waypoints according to the actual situation.

  • You need to teach the intermediate waypoint in advance. For information about how to teach the waypoint, see Teach Calibration Starting Point in the calibration document.

Move to the placing waypoint

 
Move L,@C P[4],speed=80

The robot moves from the intermediate waypoint to the placing waypoint (P[4]).

You need to teach the placing waypoint in advance. For information about how to teach the waypoint, see Teach Calibration Starting Point in the calibration document.

Set DO to perform placing

 
Reset IO[24]

After the robot moves to the placing waypoint, you can set a DO (such as Reset IO[24]) to control the robot to use the tool to perform placing. Please add the operation of setting DOs according to the actual situation.

Release the control

 
GiveArm

Release the control on the robot arm group.

Close the communication

 
Close_socket

The TCP communication between the robot and the vision system is closed by using the Close_socket command.

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