YASKAWA Example Programs
This section describes 16 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 16 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 |
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The robot triggers the Mech-Vision project to run and then obtains the vision result. |
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The robot triggers the Mech-Viz project to run and then obtains the planned path. |
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The robot triggers the Mech-Vision project to run and then obtains the planned path. |
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The feature to switch the parameter recipe in Mech-Vision is added based on the MM_S1_Vis_Basic example program. |
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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. |
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The feature to handle different error codes is added based on the MM_S2_Viz_Basic example program. |
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The feature to change the tool based on the tool ID is added based on the MM_S2_Viz_Basic example program. |
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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. |
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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. |
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The feature to store the planned paths by looping is added based on the MM_S2_Viz_Basic example program. |
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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. |
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When the robot obtains the vision result, the robot also obtains the custom data from the Mech-Vision project. |
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The robot triggers the Mech-Viz project to run, obtains the planned picking path and DO signals, and then moves to the picking waypoint and set DO signals. This example program is used in depalletizing scenarios, and the tool used by the robot is a multi-section vacuum gripper. |
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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. |
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The feature to parse labels is added based on the MM_S1_Vis_Basic example program. |
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The robot triggers the Mech-Viz project to run to obtain the Vision Move data and custom data. |