Example Program 3: MM_S3_Vis_Path

You are currently viewing the documentation for the latest version (2.2.0). To access a different version, click the "Switch version" button located in the upper-right corner of the page.

■ If you are not sure which version of the product you are currently using, please feel free to contact Mech-Mind Technical Support.

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/EFORT/sample/MM_S3_Vis_Path.

Project

Mech-Vision project

Prerequisites

  1. You have set up the Standard Interface communication.

  2. 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 MM_S3_Vis_Path example program.

 1. MJOINT(POINTC(264.2282,-217.9533,359.1164,-83.989165,1.303953,176.0864,CFG1,0,0,1), v100perc, fine, tool0);
 2. MM_Init_Socket(1);
 3. CALL: MM_Open_Socket();
 4. CALL: MM_Status := MM_Switch_Model(1, 1);
 5. CALL: MM_Status := MM_Start_Vis(1, 0, 1, MM_J);
 6. CALL: MM_Status, MM_LastData, MM_POS_NUM, MM_VisPosNum := MM_Get_VisPath(1, 2);
 7. IF MM_Status <> 1103 THEN
 8.     STOPPROG;
 9. END_IF;
10. CALL: MM_Pose[1], MM_Label[1], MM_Tool[1] := MM_Get_Pose(1);
11. CALL: MM_Pose[2], MM_Label[2], MM_Tool[2] := MM_Get_Pose(2);
12. CALL: MM_Pose[3], MM_Label[3], MM_Tool[3] := MM_Get_Pose(3);
13. CALL: MM_Pose[4], MM_Label[4], MM_Tool[4] := MM_Get_Pose(4);
14. CALL: MM_Pose[5], MM_Label[5], MM_Tool[5] := MM_Get_Pose(5);
15. MJOINT(MM_Pose[1], v500, fine, tool0);
16. MJOINT(MM_Pose[2], v500, fine, tool0);
17. MJOINT(MM_Pose[3], v500, fine, tool0);
18. MJOINT(MM_Pose[4], v500, fine, tool0);
19. MJOINT(MM_Pose[5], v500, fine, tool0);
20. CALL: MM_Close_Socket();

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

Feature Code and description

Move to the image-capturing position

 
MJOINT(POINTC(264.2282,-217.9533,359.1164,-83.989165,1.303953,176.0864,CFG1,0,0,1), v100perc, fine, tool0);

  • MJOINT: A robot joint-motion command that directs the robot’s joints to move along a specified trajectory to the target position.

  • POINTC: Specify the target position to which the robot moves, i.e., the image-capturing position that is taught. The image-capturing position refers to the position of the robot where the camera on the robot captures images. At this position, the robot arm should not block the camera’s FOV.

  • v100perc: Specifies the upper limit of the robot’s motion speed.

  • fine: Specifies the robot’s cornering radius during motion.

  • tool0: The tool used by the robot when it moves.

The entire statement indicates that the robot moves to the taught image-capturing position by using joint position movement.

Initialize communication parameters

 
MM_Init_Socket(1)

The robot uses the MM_Init_Socket instruction to set the socket number for communication with the IPC.

The user must modify the socket number here according to the actual system configuration.

Establish the communication

 
CALL: MM_Open_Socket();

The TCP communication between the robot and the vision system is established by using the MM_Open_Socket command.

Switch Mech-Vision Parameter Recipe

 
CALL: MM_Status := MM_Switch_Model(1, 1);

  • MM_Switch_Model: The command to switch the Mech-Vision parameter recipe.

  • First 1: The Mech-Vision project ID.

  • Second1: The ID of the parameter recipe in the Mech-Vision project.

  • status: The variable that stores the command execution status code.

In this entire statement, the parameter recipe of the Mech-Vision project whose ID is 1 is switched to recipe 1.

Trigger the Mech-Vision project to run

 
CALL: MM_Status := MM_Start_Vis(1, 0, 1, MM_J);

  • MM_Start_Vis: The command to trigger the Mech-Vision project to run.

  • 1: The Mech-Vision project ID.

  • 0: The Mech-Vision project is expected to return all waypoints.

  • 1: Robot sends its current joint positions and flange pose to the Mech-Vision project.

  • MM_J: Custom joint positions. The joint positions in this example program are of no practical use but must be set.

  • MM_Status: The variable that stores the command execution status code.

The entire statement indicates that the robot triggers the vision system to run the Mech-Vision project with an ID of 1 and expects the Mech-Vision project to return all waypoints.

Obtain the planned path

 
CALL: MM_Status, MM_LastData, MM_POS_NUM, MM_VisPosNum := MM_Get_VisPath(1, 2);

  • MM_Get_VisPath: The command to obtain the planned path from Mech-Vision.

  • 1: The Mech-Vision project ID.

  • 2: The pose type of the obtained waypoint is set to TCP.

  • MM_Status: This parameter stores the command status code.

  • MM_LastData: Indicates whether all waypoints have been acquired.

  • MM_POS_NUM: The variable that stores the number of waypoints returned by the vision system.

  • MM_VisPosNum: The variable that stores the sequence number of the Vision Move waypoint (picking waypoint) in the path.

The entire statement indicates that the robot obtains the planned path from the Mech-Vision project that has an ID of 1.

The returned planned path is saved to the robot memory and cannot be directly obtained. To access the planned path, you must store the planned path in a subsequent step. 
IF MM_Status <> 1103 THEN
    STOPPROG;
END_IF;

When the status code is 1103, the robot has successfully obtained the planned path. Otherwise, an error has occurred in the vision system. You can perform the corresponding operation based on the specific error code.

Store the planned path

 
CALL: MM_Pose[1], MM_Label[1], MM_Tool[1] := MM_Get_Pose(1);
CALL: MM_Pose[2], MM_Label[2], MM_Tool[2] := MM_Get_Pose(2);
CALL: MM_Pose[3], MM_Label[3], MM_Tool[3] := MM_Get_Pose(3);
CALL: MM_Pose[4], MM_Label[4], MM_Tool[4] := MM_Get_Pose(4);
CALL: MM_Pose[5], MM_Label[5], MM_Tool[5] := MM_Get_Pose(5);

  • MM_Get_Pose: The command to store the planned path.

  • 1: Store the first waypoint.

  • MM_Pose[1]: The variable that stores the TCP of the first waypoint.

  • MM_Label[1]: The variable that stores the label of the first waypoint.

  • MM_Tool[1]: The variable that stores the tool ID corresponding to the first waypoint.

The entire statement “CALL:MM_Pose[1],MM_Label[1],MM_Tool[1]:=MM_Get_Pose(1);” stores the TCP, label, and tool ID of the first waypoint in the specified variables.

This sample assumes that the path planned by Mech-Vision contains five waypoints. Please store the planned path based on the actual Mech-Vision project.

Move to each waypoint in the planned path

 
MJOINT(MM_Pose[1], v500, fine, tool0);
MJOINT(MM_Pose[2], v500, fine, tool0);
MJOINT(MM_Pose[3], v500, fine, tool0);
MJOINT(MM_Pose[4], v500, fine, tool0);
MJOINT(MM_Pose[5], v500, fine, tool0);

The robot sequentially moves to each waypoint using joint position movement.

Close the communication

 
CALL: MM_Close_Socket();

The TCP communication between the robot and the vision system is closed by using the MM_Close_Socket command.

Is this page helpful?

You can give a feedback in any of the following ways:

We Value Your Privacy

We use cookies to provide you with the best possible experience on our website. By continuing to use the site, you acknowledge that you agree to the use of cookies. If you decline, a single cookie will be used to ensure you're not tracked or remembered when you visit this website.

  • Preference
  • I accept
  • I don't accept