ABB Example Programs

This section describes 20 example programs that are applicable to different scenarios. This helps you learn how to write robot programs and allows the vision system to guide robots to pick and place objects. The main feature of each example program is to trigger the 3D camera to capture images to obtain the information of the target object and then plan the robot path for picking and placing the target object. In addition, you can modify the example programs according to your actual application scenarios. This allows you to quickly write your own robot programs.

The following table briefly introduces the 20 example programs. You can choose the example program that you want to work with based on your Mech-Vision or Mech-Viz project.

We recommend that you familiarize yourself with how Standard Interface communicates with the vision system before choosing the example program that you want to work with.

Example program name	Description
MM_S1_Vis_Basic	The robot triggers the Mech-Vision project to run and then obtains the vision result.
MM_S2_Viz_Basic	The robot triggers the Mech-Viz project to run and then obtains the planned path.
MM_S3_Vis_Path	The robot triggers the Mech-Vision project to run and then obtains the planned path.
MM_S4_Vis_ChangeModel	The feature to switch the parameter recipe in Mech-Vision is added based on the MM_S1_Vis_Basic example program.
MM_S5_Viz_SetBranch	The feature to set the exit port for the Branch by Msg Step in Mech-Viz is added based on the MM_S2_Viz_Basic example program.
MM_S6_Viz_ErrorHandle	The feature to handle different error codes is added based on the MM_S2_Viz_Basic example program.
MM_S7_Viz_SwitchTCP	The feature to change the tool based on the tool ID is added based on the MM_S2_Viz_Basic example program.
MM_S8_Viz_Subtask	The secondary program triggers the Mech-Viz project to run and then obtains the planned path. The primary task moves the robot based on the planned path. Then, the primary program triggers the secondary program to run when the robot places the object to plan the next path, shortening the cycle time.
MM_S9_Viz_RunInAdvance	The Mech-Viz project is triggered when the robot performs picking. Then, the camera is triggered to capture an image by the Branch by Msg Step of the project when the robot places the object to plan the next path, shortening the cycle time.
MM_S10_Viz_Subtask	The secondary program triggers the Mech-Viz project to run and then obtains the planned path. The primary program moves the robot based on the planned path. Then, the primary program triggers the secondary program to run when the robot leaves the picking area to plan the next path, shortening the cycle time.
MM_S11_Viz_Timer	The robot triggers the Mech-Viz project to run to obtain the planned path and calculate the time taken from establishing the communication to completing picking and placing each time.
MM_S12_Viz_ForLoop	The feature to store the planned paths by looping is added based on the MM_S2_Viz_Basic example program.
MM_S13_Vis_MoveInAdvance	After the Mech-Vision project is triggered to run, the robot moves in advance after the camera finishes capturing images without waiting for the Mech-Vision project to stop running. This example program is applicable to scenarios where the camera mounting method is eye in hand.
MM_S14_Vis_GetUserData	When the robot obtains the vision result, the robot also obtains the custom data from the Mech-Vision project.
MM_S15_Viz_GetDoList	The robot triggers the Mech-Viz project to run, obtains the planned picking path and DO signals, and then repeatedly moves to the picking waypoint and sets the DO signals in a loop. This example program is used in depalletizing scenarios, and the tool used by the robot is a multi-section vacuum gripper.
MM_S16_Viz_GetDirection	The feature to adopt different placing strategies based on the orientation of the workobject group is added based on the MM_S15_Viz_GetDoList example program.
MM_S17_Vis_ParseLabel	The feature to parse labels is added based on the MM_S1_Vis_Basic example program.
MM_S18_Viz_GetUserData	The robot triggers the Mech-Viz project to run to obtain the Vision Move data and custom data.
MM_S19_Vis_PlanAllVision	The feature to use loops to obtain all planned paths and perform picking and placing is added based on the MM_S3_Vis_Path example program.
MM_S20_Viz_PlanAllVision	The robot use loops to obtain all paths planned by the Mech-Viz project and perform picking and placing.

Example program name

Description

MM_S1_Vis_Basic

The robot triggers the Mech-Vision project to run and then obtains the vision result.

MM_S2_Viz_Basic

The robot triggers the Mech-Viz project to run and then obtains the planned path.

MM_S3_Vis_Path

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

MM_S4_Vis_ChangeModel

The feature to switch the parameter recipe in Mech-Vision is added based on the MM_S1_Vis_Basic example program.

MM_S5_Viz_SetBranch

The feature to set the exit port for the Branch by Msg Step in Mech-Viz is added based on the MM_S2_Viz_Basic example program.

MM_S6_Viz_ErrorHandle

The feature to handle different error codes is added based on the MM_S2_Viz_Basic example program.

MM_S7_Viz_SwitchTCP

The feature to change the tool based on the tool ID is added based on the MM_S2_Viz_Basic example program.

MM_S8_Viz_Subtask

The secondary program triggers the Mech-Viz project to run and then obtains the planned path. The primary task moves the robot based on the planned path. Then, the primary program triggers the secondary program to run when the robot places the object to plan the next path, shortening the cycle time.

MM_S9_Viz_RunInAdvance

The Mech-Viz project is triggered when the robot performs picking. Then, the camera is triggered to capture an image by the Branch by Msg Step of the project when the robot places the object to plan the next path, shortening the cycle time.

MM_S10_Viz_Subtask

The secondary program triggers the Mech-Viz project to run and then obtains the planned path. The primary program moves the robot based on the planned path. Then, the primary program triggers the secondary program to run when the robot leaves the picking area to plan the next path, shortening the cycle time.

MM_S11_Viz_Timer

The robot triggers the Mech-Viz project to run to obtain the planned path and calculate the time taken from establishing the communication to completing picking and placing each time.

MM_S12_Viz_ForLoop

The feature to store the planned paths by looping is added based on the MM_S2_Viz_Basic example program.

MM_S13_Vis_MoveInAdvance

After the Mech-Vision project is triggered to run, the robot moves in advance after the camera finishes capturing images without waiting for the Mech-Vision project to stop running. This example program is applicable to scenarios where the camera mounting method is eye in hand.

MM_S14_Vis_GetUserData

When the robot obtains the vision result, the robot also obtains the custom data from the Mech-Vision project.

MM_S15_Viz_GetDoList

The robot triggers the Mech-Viz project to run, obtains the planned picking path and DO signals, and then repeatedly moves to the picking waypoint and sets the DO signals in a loop. This example program is used in depalletizing scenarios, and the tool used by the robot is a multi-section vacuum gripper.

MM_S16_Viz_GetDirection

The feature to adopt different placing strategies based on the orientation of the workobject group is added based on the MM_S15_Viz_GetDoList example program.

MM_S17_Vis_ParseLabel

The feature to parse labels is added based on the MM_S1_Vis_Basic example program.

MM_S18_Viz_GetUserData

The robot triggers the Mech-Viz project to run to obtain the Vision Move data and custom data.

MM_S19_Vis_PlanAllVision

The feature to use loops to obtain all planned paths and perform picking and placing is added based on the MM_S3_Vis_Path example program.

MM_S20_Viz_PlanAllVision

The robot use loops to obtain all paths planned by the Mech-Viz project and perform picking and placing.

ABB Example Programs

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