샘플 프로그램16: MM_S16_Viz_GetDirection

   1:  !-------------------------------- ;
   2:  !FUNCTION: trigger Mech-Viz ;
   3:  !project, then get planned path ;
   4:  !and get box direction using ;
   5:  !command 210 ;
   6:  !Mech-Mind, 2023-12-25 ;
   7:  !-------------------------------- ;
   8:   ;
   9:  !set current uframe NO. to 0 ;
  10:  UFRAME_NUM=0 ;
  11:  !set current tool NO. to 1 ;
  12:  UTOOL_NUM=1 ;
  13:  !move to robot home position ;
  14:J P[1] 100% FINE    ;
  15:  !initialize communication ;
  16:  !parameters(initialization is ;
  17:  !required only once) ;
  18:  CALL MM_INIT_SKT('8','127.0.0.1',30000,5) ;
  19:  !move to image-capturing position ;
  20:L P[2] 1000mm/sec FINE    ;
  21:  !trigger Mech-Viz project ;
  22:  CALL MM_START_VIZ(2,10,53) ;
  23:  !check whether viz project has ;
  24:  !been triggered successfully ;
  25:  IF (R[53]<>2103),JMP LBL[99] ;
  26:  !get planned path ;
  27:  CALL MM_GET_PLNDT(0,3,51,52,53) ;
  28:  !check whether planned path has ;
  29:  !been got from Mech-Viz ;
  30:  !successfully ;
  31:  IF R[53]<>2100,JMP LBL[99] ;
  32:  !get gripper control signal list ;
  33:  CALL MM_GET_DL(0,0,53) ;
  34:  !check whether viz DoList has ;
  35:  !been gotten successfully ;
  36:  IF (R[53]<>2102),JMP LBL[99] ;
  37:  !save waypoints of the planned ;
  38:  !path to local variables one ;
  39:  !by one ;
  40:  CALL MM_GET_PLJOP(1,3,60,61,62,63,64,70) ;
  41:  CALL MM_GET_PLJOP(2,3,61,91,92,93,94,100) ;
  42:  CALL MM_GET_PLJOP(3,3,62,121,122,123,124,130) ;
  43:  !get box direction status from ;
  44:  !planned results of 2nd point ;
  45:  R[10]=R[116]    ;
  46:  !follow the planned path to pick ;
  47:  !move to approach waypoint ;
  48:  !of picking ;
  49:J PR[60] 50% FINE    ;
  50:  !move to picking waypoint ;
  51:J PR[61] 10% FINE    ;
  52:  !add object grasping logic here ;
  53:  PAUSE ;
  54:  !set gripper control signal ;
  55:  CALL MM_SET_DL(0)    ;
  56:  !move to departure waypoint ;
  57:  !of picking ;
  58:J PR[62] 50% FINE    ;
  59:  !place the box according to its ;
  60:  !direction ;
  61:  IF R[10]=0,JMP LBL[1] ;
  62:  IF R[10]<>0,JMP LBL[2] ;
  63:   ;
  64:  LBL[1:place position 1] ;
  65:  !move to intermediate waypoint ;
  66:  !of placing ;
  67:J P[3] 50% CNT100    ;
  68:  !move to approach waypoint ;
  69:  !of placing ;
  70:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  71:  !move to placing waypoint ;
  72:L P[4] 300mm/sec FINE    ;
  73:  !add object releasing logic here, ;
  74:  !such as "DO[1]=OFF" ;
  75:  PAUSE ;
  76:  !move to departure waypoint ;
  77:  !of placing ;
  78:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  79:  JMP LBL[3] ;
  80:   ;
  81:  LBL[2:place position 2] ;
  82:  !move to intermediate waypoint ;
  83:  !of placing ;
  84:J P[5] 50% CNT100    ;
  85:  !move to approach waypoint ;
  86:  !of placing ;
  87:L P[6] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  88:  !move to placing waypoint ;
  89:L P[6] 300mm/sec FINE    ;
  90:  !add object releasing logic here, ;
  91:  !such as "DO[1]=OFF" ;
  92:  PAUSE ;
  93:  !move to departure waypoint ;
  94:  !of placing ;
  95:L P[6] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  96:  JMP LBL[3] ;
  97:   ;
  98:  LBL[3] ;
  99:  !move back to robot home position ;
 100:J P[1] 100% FINE    ;
 101:  END ;
 102:   ;
 103:  LBL[99:vision error] ;
 104:  !add error handling logic here ;
 105:  !according to different ;
 106:  !error codes ;
 107:  !e.g.: status=2038 means no ;
 108:  !point cloud in ROI ;
 109:  !e.g.: mm_status=3099 means ;
 110:  !failed to open socket ;
 111:  PAUSE ;