Example Program 12: MM_S12_Viz_ForLoop

Program Introduction

Description

The robot triggers the Mech-Viz project to run, obtains the planned path, and then stores the planned path by looping for picking and placing.

File path

You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the Communication Component/Robot_Interface/ABB/sample/MM_S12_Viz_ForLoop path.

For RobotWare6, the file extension is .mod. For RobotWare7, please modify the file extension from .mod to .modx.

Project

Mech-Vision and Mech-Viz projects

Prerequisites

You have set up the standard interface communication.
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 describes the MM_S12_Viz_ForLoop example program.

The MM_S12_Viz_ForLoop example program is similar to the MM_S2_Viz_Basic example program, except that MM_S2_Viz_Basic stores waypoints one by one and MM_S12_Viz_ForLoop stores waypoints by looping (the code of this feature is bolded). As such, only the feature of storing waypoints by looping is described in the following section. For information about the parts of MM_S12_Viz_ForLoop that are consistent with those of MM_S2_Viz_Basic, see Example Program 2: MM_S2_Viz_Basic.

MODULE MM_S12_Viz_ForLoop
!----------------------------------------------------------
! FUNCTION: trigger Mech-Viz project and get planned path,
! get poses using for-loop structure
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num toolid{5}:=[0,0,0,0,0];
LOCAL VAR num vis_pose_num:=0;
LOCAL VAR num count:=0;
LOCAL VAR num label{5}:=[0,0,0,0,0];
!define local joint&pose variables
LOCAL CONST jointtarget home:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL CONST jointtarget snap_jps:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget camera_capture:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop_waypoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS jointtarget jps{5}:=
[
    [[0,0,0,0,89,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.2355,52.1281,-23.3996,0.5938,62.6295,-169.548],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]
];
!define local tooldata variables
LOCAL PERS tooldata gripper1:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

PROC Sample_12()
    !set the acceleration parameters
    AccSet 50, 50;
    !set the velocity parameters
    VelSet 50, 1000;
    !move to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
    !initialize communication parameters (initialization is required only once)
    MM_Init_Socket "127.0.0.1",50000,300;
    !move to image-capturing position
    MoveL camera_capture,v1000,fine,gripper1;
    !open socket connection
    MM_Open_Socket;
    !trigger Mech-Viz project
    MM_Start_Viz 2,snap_jps;
    !get planned path, 1st argument (1) means getting pose in JPs
    MM_Get_VizData 1, pose_num, vis_pose_num, status;
    !check whether planned path has been got from Mech-Viz successfully
    IF status <> 2100 THEN
        !add error handling logic here according to different error codes
        !e.g.: status=2038 means no point cloud in ROI
        Stop;
    ENDIF
    !close socket connection
    MM_Close_Socket;
    !save waypoints of planned path to local variables using for-loop structure
    FOR i FROM 1 TO pose_num DO
        count:=i;
        MM_Get_Jps count,jps{count},label{count},toolid{count};
    ENDFOR
    !follow the planned path to pick, in this example waypoint 2 (jps{2}) is picking waypoint
    !move to approach waypoint of picking
    MoveAbsJ jps{1},v1000,fine,gripper1;
    !move to picking waypoint
    MoveAbsJ jps{2},v300,fine,gripper1;
    !add object grasping logic here, such as "setdo DO_1, 1;"
    Stop;
    !move to departure waypoint of picking
    MoveAbsJ jps{3},v1000,fine,gripper1;
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move to placing waypoint
    MoveL drop,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move back to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
ENDPROC
ENDMODULE

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

The table below describes the feature of storing the planed path in waypoints by looping. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Feature	Code and description
Store the planned path by looping	`FOR i FROM 1 TO pose_num DO count:=i; MM_Get_JPS count,jps{count},label{count},toolid{count}; ENDFOR` Line 1: FOR indicates a for loop. i is used to control the number of iterations in the loop (i.e., i starts from 1 and increments by 1 after each loop iteration until it exceeds the value of pose_num, at which point the loop ends). pose_num is the second parameter of the MM_Get_VizData command, which represents the number of waypoints returned by the vision system. Line 2: Assign the value of i to count, where count represents the ID of the current waypoint in the planned path. Line 3: The MM_Get_Jps command stores the joint positions, label, and tool ID of a specific waypoint in the specific variables. The entire command stores the joint positions, label, and tool ID of the waypoint with an ID of count in the jps{count}, label{count}, and toolid{count} variables respectively. Assuming that the path planned in this example program contains three waypoints, the above for loop is equivalent to the following three commands in the MM_S2_Viz_Basic example program: `MM_Get_JPS 1,jps{1},label{1},toolid{1}; MM_Get_JPS 2,jps{2},label{2},toolid{2}; MM_Get_JPS 3,jps{3},label{3},toolid{3};`

Store the planned path by looping

FOR i FROM 1 TO pose_num DO
    count:=i;
    MM_Get_JPS count,jps{count},label{count},toolid{count};
ENDFOR

Line 1: FOR indicates a for loop. i is used to control the number of iterations in the loop (i.e., i starts from 1 and increments by 1 after each loop iteration until it exceeds the value of pose_num, at which point the loop ends). pose_num is the second parameter of the MM_Get_VizData command, which represents the number of waypoints returned by the vision system.
Line 2: Assign the value of i to count, where count represents the ID of the current waypoint in the planned path.
Line 3: The MM_Get_Jps command stores the joint positions, label, and tool ID of a specific waypoint in the specific variables. The entire command stores the joint positions, label, and tool ID of the waypoint with an ID of count in the jps{count}, label{count}, and toolid{count} variables respectively.

Assuming that the path planned in this example program contains three waypoints, the above for loop is equivalent to the following three commands in the MM_S2_Viz_Basic example program:

MM_Get_JPS 1,jps{1},label{1},toolid{1};
MM_Get_JPS 2,jps{2},label{2},toolid{2};
MM_Get_JPS 3,jps{3},label{3},toolid{3};

Example Program 12: MM_S12_Viz_ForLoop

Program Introduction

Program Description

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