Example Program 21: MM_S21_Vis_As_Uframe
Program Introduction
Description |
The robot triggers the Mech-Vision project to run, and then obtains the vision result for picking and placing the object. |
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File Name |
You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the
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Project |
Mech-Vision project |
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Prerequisites |
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| 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_S21_Vis_As_Uframe example program.
| The only difference between the MM_S21_Vis_As_Uframe example program and the MM_S1_Vis_Basic example program is that MM_S21_Vis_As_Uframe can use for loops to obtain all planned paths and perform picking and placing (this code of this feature is bolded). As such, only the feature of switching the parameter recipe is described in the following section. For information about the parts of MM_S21_Vis_As_Uframe that are consistent with those of MM_S1_Vis_Basic, see Example Program 1: MM_S1_Vis_Basic. |
MODULE MM_S21_Vis_As_Uframe
!----------------------------------------------------------
! FUNCTION: trigger Mech-Vision project and get vision result
! Mech-Mind, 2026-1-28
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num label:=0;
LOCAL VAR num toolid:=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:=[[1462.50,0.00,1905.00],[2.93133E-9,0,1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget pick_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 pickpoint:=[[500,100,300],[0.00226227,-0.99991,-0.00439596,0.0124994],[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]];
!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]];
!define LOCAL wobjdata variables
TASK PERS wobjdata MM_Wobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PROC Sample_21()
!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\WObj:=MM_Wobj;
!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 status;
IF status=3099 THEN
TPWrite "MM: Communication Error";
STOP;
ENDIF
!trigger NO.1 Mech-Vision project
MM_Start_Vis 1,0,2,snap_jps,status;
IF status<>1102 THEN
!add error handling logic here according to different error codes
TPWrite "MM: Status Error";
STOP;
ENDIF
!get vision result from NO.1 Mech-Vision project
stop;
MM_Get_VisData 1,pose_num,status;
!check whether vision result has been got from Mech-Vision successfully
IF status<>1100 THEN
!add error handling logic here according to different error codes
!e.g.: status=1003 means no point cloud in ROI
!e.g.: status=1002 means no vision result
Stop;
ENDIF
!close socket connection
MM_Close_Socket;
!save first vision point data to local variables
MM_Get_Pose 1,pickpoint,label,toolid;
!Convert the visual points to the workpiece coordinates
MM_Wobj.oframe.trans:=pickpoint.trans;
MM_Wobj.oframe.rot:=pickpoint.rot;
!move to intermediate waypoint of picking
MoveJ pick_waypoint,v1000,z50,gripper1;
!move to approach waypoint of picking
MoveL RelTool(pickpoint,0,0,-100), v1000, fine, gripper1\WObj:=MM_Wobj;
!move to picking waypoint
MoveL pickpoint, v300, fine, gripper1\WObj:=MM_Wobj;
!add object grasping logic here, such as "setdo DO_1, 1;"
Stop;
!move to departure waypoint of picking
MoveL RelTool(pickpoint,0,0,-100), v1000, fine, gripper1\WObj:=MM_Wobj;
!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
ENDMODULEThe workflow corresponding to the above example program code is shown in the figure below.
The table below describes the feature of using for loops to obtain all planned paths and perform picking and placing. You can click the hyperlink to the command name to view its detailed description.
| Feature | Code and description |
|---|---|
Save the tool pose as the coordinate frame origin |
MM_Wobj: Parses the acquired tool pose into coordinates and stores them in the specified variable; trans is the translation component and rot is the rotation component. |
Picking and Placing Process |
The code indicates that the robot first moves to the transition waypoint, then to the approach waypoint (offset 100 mm in the negative Z direction from the picking waypoint), and then makes a low-speed, precise move to the picking waypoint. At the picking waypoint, gripper-close logic can be added; after a pause, it returns to the retreat waypoint (i.e., the approach waypoint). The robot then moves to the placement transition point, proceeds to the placement approach point (offset 100 mm in the negative Z direction from the placement point), and makes a low-speed, precise move to the placement point. At the placement point, gripper-release logic can be added; after a pause, it returns to the placement retreat point (i.e., the placement approach point). Finally, the robot performs an absolute joint move back to the initial zero position, completing a single pick-and-place cycle. |