Sample Program 22: MM_S22_Vis_As_Uframe
Program Introduction
Function description |
The robot triggers the Mech-Vision project to run and obtain vision results, uses the result as a coordinate system, and performs the pick-and-place workflow. |
File path |
Under the installation directory of Mech-Vision and Mech-Viz: |
Required project |
Mech-Vision project |
Prerequisites |
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| This sample program is for reference only. Modify it according to your actual situation. Do not use it directly. |
Program Explanation
The following shows the code of the MM_S22_Vis_As_Uframe sample program and related explanations.
| Compared with the MM_S3_Vis_Path sample, this sample only adds the function of using the obtained result as a user frame to perform the pick-and-place process (the bold code). Therefore, the following content does not repeat the explanation of the code parts identical to MM_S3_Vis_Path (for details, see MM_S3_Vis_Path sample description). |
1: !-------------------------------- ;
2: !FUNCTION: trigger Mech-Vision ;
3: !project and get vision result ;
4: !as the uframe 7 ;
5: !Mech-Mind, 2026-1-23 ;
6: !-------------------------------- ;
7: ;
8: !set current uframe NO. to 0 ;
9: UFRAME_NUM=0 ;
10: !set current tool NO. to 1 ;
11: UTOOL_NUM=1 ;
12: !move to robot home position ;
13:J P[1] 100% FINE ;
14: !initialize communication ;
15: !parameters(initialization is ;
16: !required only once) ;
17: CALL MM_INIT_SKT('8','192.168.1.20',30000,5) ;
18: !move to image-capturing position ;
19:L P[2] 1000mm/sec FINE ;
20: !trigger NO.1 Mech-Vision project ;
21: CALL MM_START_VIS(1,0,2,10,53) ;
22: !check whether vision project has ;
23: !been triggered successfully ;
24: IF (R[53]<>1102),JMP LBL[99] ;
25: !get vision result from NO.1 ;
26: !Mech-Vision project ;
27: CALL MM_GET_VIS(1,51,53) ;
28: !check whether vision result has ;
29: !been got from Mech-Vision ;
30: !successfully ;
31: IF (R[53]<>1100),JMP LBL[99] ;
32: !save first vision point data to ;
33: !local variables ;
34: CALL MM_GET_POS(1,60,70,80) ;
35: !move to intermediate waypoint ;
36: !of picking ;
37:J P[3] 50% CNT100 ;
38: ;
39: !set the uframe for camera ;
40: UFRAME[7]=PR[60] ;
41: UFRAME_NUM=7 ;
42: ;
43: !move to approach waypoint ;
44: !of picking ;
45:L P[6] 1000mm/sec FINE Tool_Offset,PR[1] ;
46: !move to picking waypoint ;
47:L P[6] 300mm/sec FINE ;
48: !add object grasping logic here, ;
49: !such as "DO[1]=ON" ;
50: PAUSE ;
51: !move to departure waypoint ;
52: !of picking ;
53:L P[6] 1000mm/sec FINE Tool_Offset,PR[1] ;
54: ;
55: !change the uframe ;
56: UFRAME_NUM=0 ;
57: ;
58: !move to intermediate waypoint ;
59: !of placing ;
60:J P[4] 50% CNT100 ;
61: !move to approach waypoint ;
62: !of placing ;
63:L P[5] 1000mm/sec FINE Tool_Offset,PR[2] ;
64: !move to placing waypoint ;
65:L P[5] 300mm/sec FINE ;
66: !add object releasing logic here, ;
67: !such as "DO[1]=OFF" ;
68: PAUSE ;
69: !move to departure waypoint ;
70: !of placing ;
71:L P[5] 1000mm/sec FINE Tool_Offset,PR[2] ;
72: !move back to robot home position ;
73:J P[1] 100% FINE ;
74: END ;
75: ;
76: LBL[99:handling error] ;
77: !add error handling logic here ;
78: !according to different ;
79: !error codes ;
80: !e.g.: mm_status=1003 means no ;
81: !point cloud in ROI ;
82: !e.g.: mm_status=1002 means no ;
83: !vision results ;
84: !e.g.: mm_status=3099 means ;
85: !failed to open socket ;
86: PAUSE ;The workflow corresponding to the sample program code above is shown in the following figure.
The following table explains the logic of the added function. Click the hyperlink of a command to view its detailed description.
| Workflow | Code and description |
|---|---|
Set the vision user frame |
|
Pick and place |
The preceding code means that the robot first switches to the vision-matched user frame to complete the picking operation, then switches back to the default frame to perform the placing operation, and finally returns to the origin to end the program. |