Example Program 5: MMS5VIZUSER

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Program Introduction

Description

The robot triggers the Mech-Vision project to run, and then obtains the planned path for picking and placing.

File Name

You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the Communication Component/Robot_Interface/MELFA/MMS5VIZUSER path.

Project

Mech-Vision project

The Mech-Vision project should contain a Path Planning Step, and the Port Type parameter of the Output Step should be set to Predefined (robot path).

Prerequisites

You have set up the Standard Interface communication.
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 MMS5VIZUSER example program.

  #Include "MMMODULE"
  MM_DROP_COM()
  Mcomnum = 7
  MM_INIT_COM(Mcomnum)
  Tool P_NTool
  PMTool=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)
  Tool PMTool
  MM_SET_MOD(1,1,MM_Status)
  If MM_Status <> 1107 Then
    Hlt
  EndIf
  MM_START_VIZ(1,JntSend,MM_Status)
  If MM_Status <> 2103 Then
    Hlt
  EndIf
  MM_SET_BCH(1,1,MM_Status)
  If MM_Status <> 2105 Then
    Hlt
  EndIf
  Dim MM_Result(10,9)
  Dim MM_VisionInfo(10,21)
  Dim MM_VisionData(21)
  MM_GET_VMD (0,2,4,MM_Status,MM_VisionPt_Num,MM_VPos_Num,MM_Result,MM_VisionInfo)
  If MM_Status <> 2100 Then
    Hlt
  EndIf
  MM_GET_VMP(MM_Result,MM_VisionInfo,1,PPick,MM_MotionType,MM_ToolID,MM_Velocity,MM_VisionData)
  MM_DROP_COM()
  PPick_pre=PPick
  PPick_pre.Z=PPick_pre.Z+100
  Mov PPick_pre
  Fine 0,P
  Mvs PPick
  Hlt
  Mvs PPick_pre

The workflow corresponding to the above example program code is shown in the figure below.

The table below explains the above program. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Include the MM_Module header file

  #Include "MMMODULE"

Initialize communication parameters

  MM_DROP_COM()
  Mcomnum = 7
  MM_INT_COM(Mcomnum)

MM_DROP_COM: command to terminate the communication.
MM_INIT_SKT: The command to initialize the communication.

Close the communication first, then reconnect to ensure no project is currently connected.

Reset the control points to their initial values and declare the tool variables

  Tool P_NTool
  PMTool=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)
  Tool PMTool

Switch the Mech-Vision system’s parameter recipe and verify the status code

  MM_SET_MOD(1,1,MM_Status)
  If MM_Status <> 1107 Then
    Hlt
  EndIf

MM_SET_MOD: The command to switch the Mech-Vision parameter recipe.
First 1: The Mech-Vision project ID.
Second 1: The ID of the parameter recipe in the Mech-Vision project.
<>: Not equal. When MM_Status is 1107, the robot has successfully switched the parameter recipe.

Trigger the Mech-Viz project to run

  MM_START_VIZ(1,JntSend,MM_Status)
  If MM_Status <> 2103 Then
    Hlt
  EndIf

MM_Start_Viz: The command to trigger the Mech-Viz project to run.
2: Pass the joint angle data represented by the JntSend variable into the Mech-Viz project.

The entire command indicates that the robot triggers the vision system to run the Mech-Viz project, and then Mech-Viz plans the robot’s picking path base on the vision result output by Mech-Vision.

<>: Not equal. When MM_Status is 2103, the robot has successfully executed the project.

Set the Exit Port for the Branch by Msg Step in Mech-Viz

  MM_SET_BCH(1,1,MM_Status)
  If MM_Status <> 2105 Then
    Hlt
  EndIf

MM_SET_BCH: The command to set the exit port for the Branch by Msg Step in Mech-Viz.
First 1: The Step ID of the Branch by Msg Step.
Second 1: The Mech-Viz project takes exit port 0 of the Branch by Msg Step. Note that if this parameter is set to N, the exit port is N-1.
<>: Not equal. When MM_Status is 2105, the robot has successfully set the Mech-Viz message branch exit.

Define and declare the storage containers

  Dim MM_Result(10, 9)
  Dim MM_VisionInfo(10, 21)
  Dim MM_VisionData(21)

Dim MM_Result(10,8): Define a two-dimensional array for storing path points.
Dim MM_VisionInfo(10, 21): Define a two-dimensional array used to receive the vision-guided motion planning results.
Dim MM_VisionData(21): Define a two-dimensional array used to store the planning results for vision-guided motion.

Obtain the planned path

  MM_GET_VMD(0,2,4,MM_Status,MM_VisionPt_Num,MM_VPos_Num,MM_Result,MM_VisionInfo)
  If MM_Status <> 2100 Then
    Hlt
  EndIf

MM_GET_VMD: The command to obtain the vision result. The vision point retrieved by this command includes not only pose and label, but also custom data.
0: Specify the Mech-Vision project ID.
2: Specifies the waypoint pose.
4: Expected waypoint data and the planning results for vision-guided motion as a response.
MM_Status: The variable that stores the command execution status code.
MM_VisionPt_Num: This variable stores the number of vision points returned by the vision system.
MM_VPos_Num: This variable stores the path point position index.
MM_Result: This variable stores a two-dimensional array for the planned path.
MM_VisionInfo: This variable stores the planning results for vision-guided motion.

This command retrieves the planned path and the planning path for vision-guided motion from Mech-Vision project 0.

<>: Not equal. When MM_Status is 2100, the robot has successfully obtained the planning result.

Store the planned path

  MM_GET_VMP(MM_Result,MM_VisionInfo,1,PPick,MM_MotionType,MM_ToolID,MM_Velocity,MM_VisionData)

MM_GET_VMP: The command to store the planned path. Take the first item as an example
MM_Result: This variable stores a two-dimensional array for the planned path.
MM_VisionInfo: This variable stores the planning results for vision-guided motion.
1: Specifies the index number for saving the data.
PPick: This variable stores the tool pose of the first waypoint.
MM_MotionType: This variable stores the robot’s motion type.
MM_ToolID: The variable that stores the tool ID corresponding to the first waypoint.

The entire statement stores the TCP, label, and tool ID of the first vision point in the specified variables.

Disconnect the communication

  MM_DROP_COM()

Set the approach and the departure waypoint

  PPick_pre=PPick
  PPick_pre.Z=PPick_pre.Z+100

Assign the value of PPick to PPick_pre, and increase the Z-axis height of PPick_pre by 200 to serve as the approach and departure point.

Move to the approach waypoint of picking

  Mov PPick_pre
  Fine 0,P

Move to the approach point and set absolute positioning for arrival.

Move to the picking waypoint

  Mov PPick
  Hlt

The robot moves from the approach waypoint of picking to the picking waypoint linearly.

Hlt indicates to stop the program execution. If you have added a statement to set a DO command, you can delete the PAUSE statement here.

Move to the departure waypoint of picking

  Mvs PPick_after

The robot moves to position above the picking waypoint and reaches the departure waypoint of picking.

Adding departure waypoints of picking can prevent the robot from colliding with objects (such as bins) in the scene when moving. You can modify the Z-axis negative offset based on the actual scenario to ensure that no collision occurs during the departing process.

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