Example Program 16: MM_S16_Viz_GetDirection

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Program Introduction

Description

After the robot obtains the planned path and finishes picking, the robot adopts different placement strategies according to the orientation of the workobject group.

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_S16_Viz_GetDirection path.

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

Project

Mech-Vision project and Mech-Viz project (the tool is a depalletizing vacuum gripper)

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 describes the MM_S16_Viz_GetDirection example program.

Compared with the MM_S15_Viz_GetDoList example program, this example program contains only the following modification (the code of this modification is bolded). As such, only the modification is described in the following section. For information about the parts of MM_S16_Viz_GetDirection that are consistent with those of MM_S15_Viz_GetDoList, see Example Program 15: MM_S15_Viz_GetDoList. 
MODULE MM_S16_Viz_GetDirection
!----------------------------------------------------------
! FUNCTION: trigger Mech-Viz project, then get planned path
! and get box direction using command 210
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num vis_pose_num:=0;
LOCAL VAR num count:=0;
LOCAL VAR num box_direction:=0;
LOCAL VAR num movetype{5}:=[0,0,0,0,0];
LOCAL VAR num toolnum{5}:=[0,0,0,0,0];
LOCAL VAR num speed{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 VAR robtarget pickpoint:=[[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 VAR robtarget drop_waypoint_1:=[[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 VAR robtarget drop_1:=[[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 VAR robtarget drop_waypoint_2:=[[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 VAR robtarget drop_2:=[[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}:=
[
    [[1.1835,39.2938,-17.0883,0.1382,67.7901,176.701],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[1.2008,45.8522,-13.6729,0.1512,57.8163,176.689],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[1.1835,39.2938,-17.0883,0.1382,67.7901,176.701],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[36.2634,-36.6956,48.5019,-1.0197,78.1304,356.473],[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_16()
    !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
    MM_Get_PlanData 0, 3, 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
    !get gripper control signal list
    MM_Get_Dolist 0,0;
    !close socket connection
    MM_Close_Socket;
    !save waypoints of the planned path to local variables one by one
    FOR i FROM 1 TO pose_num DO
        count:=i;
        MM_Get_PlanJps count,3,JPS{count},movetype{count},toolnum{count},speed{count};
    ENDFOR
    !follow the planned path to pick
    FOR j FROM 1 TO pose_num DO
        count:=j;
        MoveAbsJ jps{count},v1000,fine,gripper1;
        !set gripper control signal when current waypoint is picking waypoint
        IF count=vis_pose_num THEN
            !add object grasping logic here
            Stop;
            !set gripper control signal
            !MM_Set_DoList 0, 1, go16_1;
            !MM_Set_DoList 0, 2, go16_2;
            !MM_Set_DoList 0, 3, go16_3;
            !MM_Set_DoList 0, 4, go16_4;
        ENDIF
    ENDFOR
    !get box direction status from planned results
    box_direction:=MM_Plan_Results{17};
    !place the box according to its direction
    IF box_direction=0 THEN
        !move to intermediate waypoint of placing
        MoveJ drop_waypoint_1,v1000,z50,gripper1;
        !move to approach waypoint of placing
        MoveL RelTool(drop_1,0,0,-100),v1000,fine,gripper1;
        !move to placing waypoint
        MoveL drop_1,v300,fine,gripper1;
        !add object releasing logic here, such as "setdo DO_1, 0;"
        Stop;
        !move to departure waypoint of placing
        MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
    ELSE
        !move to intermediate waypoint of placing
        MoveJ drop_waypoint_2,v1000,z50,gripper1;
        !move to approach waypoint of placing
        MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
        !move to placing waypoint
        MoveL drop_2,v300,fine,gripper1;
        !add object releasing logic here, such as "setdo DO_1, 0;"
        Stop;
        !move to departure waypoint of placing
        MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
    ENDIF
    !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.

sample16

The table below describes the bolded code. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Obtain the orientation of workobject group

 
!get box direction status from planned results
box_direction:=MM_Plan_Results{17};
In the Mech-Viz project, Vision Move data refers to data output by the Vision Move Step, including the labels of picked workobjects, number of picked workobjects, number of workobjects to be picked this time, edge or corner ID of the vacuum gripper, TCP offset, orientation of the workobject group, orientation of the workobject, and dimensions of the workobject group.

The robot obtains the Vision Move data of waypoints by running the MM_Get_PlanData command, and then saves the Vision Move data of waypoints that is stored in the robot memory to the global array of MM_Plan_Results by running the MM_Get_PlanJps command.

In the global array MM_Plan_Results, MM_Plan_Results{17} specifies the orientation relationship between the workobject group and the long side of the vacuum gripper. 0 indicates parallel, while 1 indicates vertical.

The above code indicates that if MM_Plan_Results{17} is assigned to the box_direction variable, the box_direction variable will indicate the orientation of the workobject group.

Adopt a placement strategy based on the orientation of the workobject group

 
IF box_direction=0 THEN
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint_1,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop_1,0,0,-100),v1000,fine,gripper1;
    !move to placing waypoint
    MoveL drop_1,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
ELSE
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint_2,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
    !move to placing waypoint
    MoveL drop_2,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop_2,0,0,-100),v1000,fine,gripper1;
ENDIF

The above code indicates that if the workobject group is parallel to the long side of the vacuum gripper (i.e., box_direction is set to 0), the workobject group will be placed at drop_1; otherwise, the workobject group will be placed at drop_2.

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