Sample Program 21: MM_S21_Vis_As_Uframe

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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: Communication Component/Robot_Interface/KUKA/sample/MM_S21_Vis_As_Uframe.

Required project

Mech-Vision project

Prerequisites

  1. Standard interface communication has been configured in Set up Standard Interface Communication with KUKA.

  2. Automatic calibration has been completed in KUKA Automatic Calibration.
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_S21_Vis_As_Uframe sample program and related explanations.

Compared with the MM_S1_Vis_Basic sample, this sample only adds the function of using the obtained result as a workpiece coordinate system to execute the pick-and-place process (the bold code). Therefore, the following content does not repeat the explanation of the code parts identical to MM_S1_Vis_Basic (for details, see MM_S1_Vis_Basic sample description). 
&ACCESS RVO
&REL 20
&PARAM DISKPATH = KRC:\R1\KUKA_MM\sample
DEF MM_S21_Vis_As_Uframe ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Vision project and get
; vision result
; Mech-Mind, 2026-12-29
;---------------------------------------------------
   ;set current tool no. to 1
   BAS(#TOOL,1)
   ;set current base no. to 0
   BAS(#BASE,0)
   ;move to robot home position
  ;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
  ;ENDFOLD
   ;initialize communication parameters (initialization is required only once)
   MM_Init_Socket("XML_Kuka_MMIND",873,871,60)
   ;move to image-capturing position
;FOLD LIN camera_capture Vel=1 m/s CPDAT1 Tool[1] Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=camera_capture; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.VelocityPath=1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = Fcamera_capture
BAS(#CP_PARAMS, 1.0)

LIN Xcamera_capture
;ENDFOLD
   ;trigger NO.1 Mech-Vision project
   MM_Start_Vis(1,0,2,init_jps,status)
   IF status <> 1102 THEN
       ;add error handling logic here according to different error codes
       MM_LOG("Status ERROR")
       HALT
   ENDIF
   ;get vision result from NO.1 Mech-Vision project
   MM_Get_VisData(1,pos_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
      halt
   ENDIF
   ;save first base point data to local variables
   MM_Get_Pose(1,Xpick_point,label,toolid)
   ;Convert the visual points to the workpiece coordinates
   BASE_DATA[10]=Xpick_point
   ;calculate pick approach point based on pick point
   tool_offset={X 0,Y 0,Z -100,A 0,B 0,C 0}
   Xpick_app=Xpick_point:tool_offset
   ;move to intermediate waypoint of picking
;FOLD PTP pick_waypoint CONT Vel=50 % PDAT1 Tool[1] Base[0];%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=pick_waypoint; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=50; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = Fpick_waypoint
BAS(#PTP_PARAMS, 50.0)

PTP Xpick_waypoint C_Dis
;ENDFOLD
   ;move to approach waypoint of picking
;FOLD LIN pick_app Vel=1 m/s CPDAT2 Tool[1]:Tool1 Base[10] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=pick_app; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = Fpick_app
BAS(#CP_PARAMS, 1.0)
SET_CD_PARAMS (0)
LIN Xpick_app
;ENDFOLD
   ;move to picking waypoint
;FOLD LIN pick_point Vel=0.3 m/s CPDAT3 Tool[1]:Tool1 Base[10] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=pick_point; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=0.3; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT3
FDAT_ACT = Fpick_point
BAS(#CP_PARAMS, 0.3)
SET_CD_PARAMS (0)
LIN Xpick_point
;ENDFOLD
   ;add object grasping logic here, such as "$OUT[1]=TRUE"
   halt
   ;move to departure waypoint of picking
;FOLD LIN pick_app Vel=1 m/s CPDAT2 Tool[1]:Tool1 Base[10] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=pick_app; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = Fpick_app
BAS(#CP_PARAMS, 1.0)
SET_CD_PARAMS (0)
LIN Xpick_app
;ENDFOLD
   ;move to intermediate waypoint of placing
;FOLD PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0];%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=drop_waypoint; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = Fdrop_waypoint
BAS(#PTP_PARAMS, 100.0)

PTP Xdrop_waypoint C_Dis
;ENDFOLD
   ;move to approach waypoint of placing
;FOLD LIN drop_app Vel=1 m/s CPDAT4 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=drop_app; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.VelocityPath=1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT4
FDAT_ACT = Fdrop_app
BAS(#CP_PARAMS, 1.0)
SET_CD_PARAMS (0)
LIN Xdrop_app
;ENDFOLD
   ;move to placing waypoint
;FOLD LIN drop Vel=0.3 m/s CPDAT5 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=drop; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=0.3; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT5
FDAT_ACT = Fdrop
BAS(#CP_PARAMS, 0.3)
SET_CD_PARAMS (0)
LIN Xdrop
;ENDFOLD
   ;add object releasing logic here, such as "$OUT[1]=FALSE"
   halt
   ;move to departure waypoint of placing
;FOLD LIN drop_app Vel=1 m/s CPDAT4 Tool[1]:Tool1 Base[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=drop_app; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.VelocityPath=1; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT4
FDAT_ACT = Fdrop_app
BAS(#CP_PARAMS, 1.0)

LIN Xdrop_app
;ENDFOLD
   ;move back to robot home position
    ;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,100)
$H_POS=XHOME
PTP XHOME
  ;ENDFOLD
END

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

Store the vision result

 
;save first base point data to local variables
MM_Get_Pose(1,Xpick_point,label,toolid)

  • MM_Get_Pose: Command for storing the vision result.

  • 1: Store the first vision point.

  • Xpick_point: This variable stores the tool pose of the first vision point, that is, the tool pose of the pick point.

  • label: This variable stores the label corresponding to the first vision point.

  • toolid: This variable stores the tool ID corresponding to the first vision point.

Therefore, this command stores the tool pose, label, and end-tool ID of the first vision point in the specified variables respectively.

;Convert the visual points to the workpiece coordinates
BASE_DATA[10]=Xpick_point

  • BASE_DATA[10]=Xpick_point: Maps the vision pose to the workpiece coordinate system.

;calculate pick approach point based on pick point
tool_offset={X 0,Y 0,Z -100,A 0,B 0,C 0}
Xpick_app=Xpick_point:tool_offset

  • tool_offset={X 0,Y 0,Z -100,A 0,B 0,C 0}: Calculates the pick approach point by lifting 100 mm along the Z-axis.

  • Xpick_app=Xpick_point:tool_offset: Pose superposition: pick point + offset = approach point.

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