샘플 프로그램6: MM_S6_Viz_ErrorHandle

   1:  !-------------------------------- ;
   2:  !FUNCTION: trigger Mech-Viz ;
   3:  !project and get planned path, ;
   4:  !handle errors according to ;
   5:  !status codes (if no point cloud ;
   6:  !in ROI, retry several times ;
   7:  !before exit loop) ;
   8:  !Mech-Mind, 2023-12-25 ;
   9:  !-------------------------------- ;
  10:   ;
  11:  !set current uframe NO. to 0 ;
  12:  UFRAME_NUM=0 ;
  13:  !set current tool NO. to 1 ;
  14:  UTOOL_NUM=1 ;
  15:  !reset counter ;
  16:  R[99]=0    ;
  17:  !move to robot home position ;
  18:J P[1] 100% FINE    ;
  19:  !initialize communication ;
  20:  !parameters(initialization is ;
  21:  !required only once) ;
  22:  CALL MM_INIT_SKT('8','127.0.0.1',50000,5) ;
  23:  !move to image-capturing position ;
  24:L P[2] 1000mm/sec FINE    ;
  25:  LBL[1:vision] ;
  26:  !trigger Mech-Viz project ;
  27:  CALL MM_START_VIZ(2,10) ;
  28:  !get planned path, 1st argument ;
  29:  !(1) means getting pose in JPs ;
  30:  CALL MM_GET_VIZ(1,51,52,53) ;
  31:  !check whether planned path has ;
  32:  !been got from Mech-Viz ;
  33:  !successfully ;
  34:  IF R[53]<>2100,JMP LBL[99] ;
  35:  !save waypoints of the planned ;
  36:  !path to local variables one ;
  37:  !by one ;
  38:  CALL MM_GET_JPS(1,60,70,80) ;
  39:  CALL MM_GET_JPS(2,61,71,81) ;
  40:  CALL MM_GET_JPS(3,62,72,82) ;
  41:  !follow the planned path to pick ;
  42:  !move to approach waypoint ;
  43:  !of picking ;
  44:J PR[60] 50% FINE    ;
  45:  !move to picking waypoint ;
  46:J PR[61] 10% FINE    ;
  47:  !add object grasping logic here, ;
  48:  !such as "DO[1]=ON" ;
  49:  PAUSE ;
  50:  !move to departure waypoint ;
  51:  !of picking ;
  52:J PR[62] 50% FINE    ;
  53:  !move to intermediate waypoint ;
  54:  !of placing ;
  55:J P[3] 50% CNT100    ;
  56:  !move to approach waypoint ;
  57:  !of placing ;
  58:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  59:  !move to placing waypoint ;
  60:L P[4] 300mm/sec FINE    ;
  61:  !add object releasing logic here, ;
  62:  !such as "DO[1]=OFF" ;
  63:  PAUSE ;
  64:  !move to departure waypoint ;
  65:  !of placing ;
  66:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  67:  !move back to robot home position ;
  68:J P[1] 100% FINE    ;
  69:  END ;
  70:   ;
  71:  LBL[99:vision error] ;
  72:  IF R[53]=2038,JMP LBL[2] ;
  73:  JMP LBL[999] ;
  74:   ;
  75:  LBL[2] ;
  76:  !no point cloud in ROI, add ;
  77:  !handling logic here ;
  78:  !self-adding then check retry ;
  79:  !counter ;
  80:  R[99]=R[99]+1    ;
  81:  !jump back to vision retry label ;
  82:  !if the number of retry times is ;
  83:  !less than 3 ;
  84:  IF R[99]<3,JMP LBL[1] ;
  85:  !reset counter and exit loop if ;
  86:  !the number of retry times has ;
  87:  !reached 3 ;
  88:  R[99]=0    ;
  89:  JMP LBL[999] ;
  90:   ;
  91:  LBL[999:other error] ;
  92:  !add other error handling logic ;
  93:  !here ;
  94:  PAUSE ;

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