Example Program 5: MM_S5_Viz_SetBranch
Program Introduction
Description |
The robot triggers the Mech-Viz project to run, sets the exit port for the Branch by Msg Step in the Mech-Viz project, and then obtains the planned path for picking and placing. |
File path |
You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the |
Project |
Mech-Vision and Mech-Viz projects |
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_S5_Viz_SetBranch example program.
| The only difference between the MM_S5_Viz_SetBranch example program and the MM_S2_Viz_Basic example program is that MM_S5_Viz_SetBranch can set the exit port of the Branch by Msg Step in the Mech-Viz project (this code of this feature is bolded). As such, only the feature of handling errors based on the different error codes is described in the following part. For information about the parts of MM_S6_Viz_ErrorHandle that are consistent with those of MM_S2_Viz_Basic, see Example Program 2: MM_S2_Viz_Basic. |
1: !-------------------------------- ;
2: !FUNCTION: trigger Mech-Viz ;
3: !project then set branch and get ;
4: !planned path ;
5: !Mech-Mind, 2023-12-25 ;
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','127.0.0.1',50000,5) ;
18: !move to image-capturing position ;
19:L P[2] 1000mm/sec FINE ;
20: !trigger Mech-Viz project ;
21: CALL MM_START_VIZ(2,10) ;
22: !set branch, "MM_SET_BCH ;
23: !(Branch_Num,Exit_Num)" ;
24: CALL MM_SET_BCH(1,1) ;
25: !get planned path, 1st argument ;
26: !(1) means getting pose in JPs ;
27: CALL MM_GET_VIZ(1,51,52,53) ;
28: !check whether planned path has ;
29: !been got from Mech-Viz ;
30: !successfully ;
31: IF R[53]<>2100,JMP LBL[99] ;
32: !save waypoints of the planned ;
33: !path to local variables one ;
34: !by one ;
35: CALL MM_GET_JPS(1,60,70,80) ;
36: CALL MM_GET_JPS(2,61,71,81) ;
37: CALL MM_GET_JPS(3,62,72,82) ;
38: !follow the planned path to pick ;
39: !move to approach waypoint ;
40: !of picking ;
41:J PR[60] 50% FINE ;
42: !move to picking waypoint ;
43:J PR[61] 10% FINE ;
44: !add object grasping logic here, ;
45: !such as "DO[1]=ON" ;
46: PAUSE ;
47: !move to departure waypoint ;
48: !of picking ;
49:J PR[62] 50% FINE ;
50: !move to intermediate waypoint ;
51: !of placing ;
52:J P[3] 50% CNT100 ;
53: !move to approach waypoint ;
54: !of placing ;
55:L P[4] 1000mm/sec FINE Tool_Offset,PR[2] ;
56: !move to placing waypoint ;
57:L P[4] 300mm/sec FINE ;
58: !add object releasing logic here, ;
59: !such as "DO[1]=OFF" ;
60: PAUSE ;
61: !move to departure waypoint ;
62: !of placing ;
63:L P[4] 1000mm/sec FINE Tool_Offset,PR[2] ;
64: !move back to robot home position ;
65:J P[1] 100% FINE ;
66: END ;
67: ;
68: LBL[99:vision error] ;
69: !add error handling logic here ;
70: !according to different ;
71: !error codes ;
72: !e.g.: status=2038 means no ;
73: !point cloud in ROI ;
74: PAUSE ;The workflow corresponding to the above example program code is shown in the figure below.
The table below describes the process of setting the exit port of the Branch by Msg Step in the Mech-Viz project. You can click the hyperlink to the command name to view its detailed description.
| Feature | Code and description |
|---|---|
Set the exit port for the Branch by Msg Step in Mech-Viz |
In the entire statement, the Mech-Viz project with an ID of 1 takes the port 0 of the Branch by Msg Step, as shown in the following figure. 
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