샘플 프로그램15: MM_S15_Viz_GetDoList

MODULE MM_S15_Viz_GetDoList
!----------------------------------------------------------
! FUNCTION: trigger Mech-Viz project, then get planned path
! and gripper control signal using command 210
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num vis_pose_num:=0;
LOCAL VAR num count:=0;
LOCAL VAR num movetype{5}:=[0,0,0,0,0];
LOCAL VAR num toolnum{5}:=[0,0,0,0,0];
LOCAL VAR num speed{5}:=[0,0,0,0,0];
!define local joint&pose variables
LOCAL CONST jointtarget home:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL CONST jointtarget snap_jps:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget camera_capture:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL VAR robtarget pickpoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL VAR robtarget drop_waypoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL VAR robtarget drop:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS jointtarget jps{5}:=
[
    [[1.1835,39.2938,-17.0883,0.1382,67.7901,176.701],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[1.2008,45.8522,-13.6729,0.1512,57.8163,176.689],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[1.1835,39.2938,-17.0883,0.1382,67.7901,176.701],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[36.2634,-36.6956,48.5019,-1.0197,78.1304,356.473],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]
];
!define local tooldata variables
LOCAL PERS tooldata gripper1:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

PROC Sample_15()
    !set the acceleration parameters
    AccSet 50, 50;
    !set the velocity parameters
    VelSet 50, 1000;
    !move to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
    !initialize communication parameters (initialization is required only once)
    MM_Init_Socket "127.0.0.1",50000,300;
    !move to image-capturing position
    MoveL camera_capture,v1000,fine,gripper1;
    !open socket connection
    MM_Open_Socket;
    !trigger Mech-Viz project
    MM_Start_Viz 2,snap_jps;
    !get planned path
    MM_Get_PlanData 0, 3, pose_num, vis_pose_num, status;
    !check whether planned path has been got from Mech-Viz successfully
    IF status <> 2100 THEN
        !add error handling logic here according to different error codes
        !e.g.: status=2038 means no point cloud in ROI
        Stop;
    ENDIF
    !get gripper control signal list
    MM_Get_Dolist 0,0;
    !close socket connection
    MM_Close_Socket;
    !save waypoints of the planned path to local variables one by one
    FOR i FROM 1 TO pose_num DO
        count:=i;
        MM_Get_PlanJps count,3,JPS{count},movetype{count},toolnum{count},speed{count};
    ENDFOR
    !follow the planned path to pick
    FOR j FROM 1 TO pose_num DO
        count:=j;
        MoveAbsJ jps{count},v1000,fine,gripper1;
        !set gripper control signal when current waypoint is picking waypoint
        IF count=vis_pose_num THEN
            !add object grasping logic here
            Stop;
            !set gripper control signal
            !MM_Set_DoList 0, 1, go16_1;
            !MM_Set_DoList 0, 2, go16_2;
            !MM_Set_DoList 0, 3, go16_3;
            !MM_Set_DoList 0, 4, go16_4;
        ENDIF
    ENDFOR
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move to placing waypoint
    MoveL drop,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move back to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
ENDPROC
ENDMODULE

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