サンプルプログラム7：MM_S7_Viz_SwitchTCP

   1:  !-------------------------------- ;
   2:  !FUNCTION: trigger Mech-Viz ;
   3:  !project and get planned path, ;
   4:  !switch TCP according to ;
   5:  !the tool NO. ;
   6:  !Mech-Mind, 2023-12-25 ;
   7:  !-------------------------------- ;
   8:   ;
   9:  !set current uframe NO. to 0 ;
  10:  ﾕｰｻﾞｻﾞﾋｮｳﾊﾞﾝｺﾞｳ=0 ;
  11:  !set current tool NO. to 1 ;
  12:  ﾂｰﾙｻﾞﾋｮｳﾊﾞﾝｺﾞｳ=1 ;
  13:  !move to robot home position ;
  14:ｶｸｼﾞｸ ｲﾁ[1] 100% ｲﾁｷﾞﾒ    ;
  15:  !initialize communication ;
  16:  !parameters(initialization is ;
  17:  !required only once) ;
  18:  ﾖﾋﾞﾀﾞｼ MM_INIT_SKT('8','192.168.1.20',30000,5) ;
  19:  !move to image-capturing position ;
  20:ﾁｮｸｾﾝ ｲﾁ[2] 1000mm/sec ｲﾁｷﾞﾒ    ;
  21:  !trigger Mech-Viz project ;
  22:  ﾖﾋﾞﾀﾞｼ MM_START_VIZ(2,10,53) ;
  23:  !check whether viz project has ;
  24:  !been triggered successfully ;
  25:  ﾓｼ (ﾚｼﾞ[53]<>2103),ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[99] ;
  26:  !get planned path, 1st argument ;
  27:  !(2) means getting pose in TCP ;
  28:  ﾖﾋﾞﾀﾞｼ MM_GET_VIZ(2,51,52,53) ;
  29:  !check whether planned path has ;
  30:  !been got from Mech-Viz ;
  31:  !successfully ;
  32:  ﾓｼ (ﾚｼﾞ[53]<>2100),ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[99] ;
  33:  !save waypoints of the planned ;
  34:  !path to local variables one ;
  35:  !by one ;
  36:  ﾖﾋﾞﾀﾞｼ MM_GET_POS(1,60,70,80) ;
  37:  ﾖﾋﾞﾀﾞｼ MM_GET_POS(2,61,71,81) ;
  38:  ﾖﾋﾞﾀﾞｼ MM_GET_POS(3,62,72,82) ;
  39:  !switch TCP according to the ;
  40:  !received tool NO. ;
  41:  ﾓｼ ﾚｼﾞ[81]=1,ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[1] ;
  42:  ﾓｼ ﾚｼﾞ[81]=2,ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[2] ;
  43:  ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[999] ;
  44:   ;
  45:  ﾗﾍﾞﾙ[1:use tool NO.1] ;
  46:  !set current tool NO. to 1 ;
  47:  ﾂｰﾙｻﾞﾋｮｳﾊﾞﾝｺﾞｳ=1 ;
  48:  !reset tool signal ;
  49:  !DO[1]=OFF ;
  50:  !set a Flag ;
  51:  F[1]=(ｵﾝ) ;
  52:  ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[3] ;
  53:   ;
  54:  ﾗﾍﾞﾙ[2:use tool NO.2] ;
  55:  !set current tool NO. to 2 ;
  56:  ﾂｰﾙｻﾞﾋｮｳﾊﾞﾝｺﾞｳ=2 ;
  57:  !reset tool signal ;
  58:  !DO[2]=OFF ;
  59:  !set a Flag ;
  60:  F[2]=(ｵﾝ) ;
  61:  ｼﾞｬﾝﾌﾟ ﾗﾍﾞﾙ[3] ;
  62:   ;
  63:  ﾗﾍﾞﾙ[3:pick path] ;
  64:  !follow the planned path to pick ;
  65:  !move to approach waypoint ;
  66:  !of picking ;
  67:ﾁｮｸｾﾝ ｲﾁﾚｼﾞ[60] 1000mm/sec ｲﾁｷﾞﾒ    ;
  68:  !move to picking waypoint ;
  69:ﾁｮｸｾﾝ ｲﾁﾚｼﾞ[61] 300mm/sec ｲﾁｷﾞﾒ    ;
  70:  !add object grasping logic here, ;
  71:  !IF (F[1]),DO[1]=(ON) ;
  72:  !IF (F[2]),DO[2]=(ON) ;
  73:  ｲﾁｼﾞﾃｲｼ ;
  74:  !move to departure waypoint ;
  75:  !of picking ;
  76:ﾁｮｸｾﾝ ｲﾁﾚｼﾞ[62] 1000mm/sec ｲﾁｷﾞﾒ    ;
  77:  !move to intermediate waypoint ;
  78:  !of placing ;
  79:ｶｸｼﾞｸ ｲﾁ[3] 50% ﾅﾒﾗｶ100    ;
  80:  !move to approach waypoint ;
  81:  !of placing ;
  82:ﾁｮｸｾﾝ ｲﾁ[4] 1000mm/sec ｲﾁｷﾞﾒ ﾂｰﾙﾎｾｲ,ｲﾁﾚｼﾞ[2]    ;
  83:  !move to placing waypoint ;
  84:ﾁｮｸｾﾝ ｲﾁ[4] 300mm/sec ｲﾁｷﾞﾒ    ;
  85:  !add object releasing logic here, ;
  86:  !IF (F[1]),DO[1]=(OFF) ;
  87:  !IF (F[2]),DO[2]=(OFF) ;
  88:  ｲﾁｼﾞﾃｲｼ ;
  89:  !move to departure waypoint ;
  90:  !of placing ;
  91:ﾁｮｸｾﾝ ｲﾁ[4] 1000mm/sec ｲﾁｷﾞﾒ ﾂｰﾙﾎｾｲ,ｲﾁﾚｼﾞ[2]    ;
  92:  !move back to robot home position ;
  93:ｶｸｼﾞｸ ｲﾁ[1] 100% ｲﾁｷﾞﾒ    ;
  94:  !reset the Flags ;
  95:  F[1]=(ｵﾌ) ;
  96:  F[2]=(ｵﾌ) ;
  97:  ｼｭｳﾘｮｳ ;
  98:   ;
  99:  ﾗﾍﾞﾙ[99:handling error] ;
 100:  !add error handling logic here ;
 101:  !according to different ;
 102:  !error codes ;
 103:  !e.g.: mm_status=2038 means no ;
 104:  !point cloud in ROI ;
 105:  !e.g.: mm_status=3099 means ;
 106:  !failed to open socket ;
 107:   ;
 108:  ﾗﾍﾞﾙ[999:label error] ;
 109:  !add handling logic here if the ;
 110:  !label is invalid ;
 111:  ｲﾁｼﾞﾃｲｼ ;