샘플 프로그램22: MM_S22_Vis_As_Uframe

   1:  !-------------------------------- ;
   2:  !FUNCTION: trigger Mech-Vision ;
   3:  !project and get vision result ;
   4:  !as the uframe 7 ;
   5:  !Mech-Mind, 2026-1-23 ;
   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','192.168.1.20',30000,5) ;
  18:  !move to image-capturing position ;
  19:L P[2] 1000mm/sec FINE    ;
  20:  !trigger NO.1 Mech-Vision project ;
  21:  CALL MM_START_VIS(1,0,2,10,53) ;
  22:  !check whether vision project has ;
  23:  !been triggered successfully ;
  24:  IF (R[53]<>1102),JMP LBL[99] ;
  25:  !get vision result from NO.1 ;
  26:  !Mech-Vision project ;
  27:  CALL MM_GET_VIS(1,51,53) ;
  28:  !check whether vision result has ;
  29:  !been got from Mech-Vision ;
  30:  !successfully ;
  31:  IF (R[53]<>1100),JMP LBL[99] ;
  32:  !save first vision point data to ;
  33:  !local variables ;
  34:  CALL MM_GET_POS(1,60,70,80) ;
  35:  !move to intermediate waypoint ;
  36:  !of picking ;
  37:J P[3] 50% CNT100    ;
  38:   ;
  39:  !set the uframe for camera ;
  40:  UFRAME[7]=PR[60] ;
  41:  UFRAME_NUM=7 ;
  42:   ;
  43:  !move to approach waypoint ;
  44:  !of picking ;
  45:L P[6] 1000mm/sec FINE Tool_Offset,PR[1]    ;
  46:  !move to picking waypoint ;
  47:L P[6] 300mm/sec FINE    ;
  48:  !add object grasping logic here, ;
  49:  !such as "DO[1]=ON" ;
  50:  PAUSE ;
  51:  !move to departure waypoint ;
  52:  !of picking ;
  53:L P[6] 1000mm/sec FINE Tool_Offset,PR[1]    ;
  54:   ;
  55:  !change the uframe ;
  56:  UFRAME_NUM=0 ;
  57:   ;
  58:  !move to intermediate waypoint ;
  59:  !of placing ;
  60:J P[4] 50% CNT100    ;
  61:  !move to approach waypoint ;
  62:  !of placing ;
  63:L P[5] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  64:  !move to placing waypoint ;
  65:L P[5] 300mm/sec FINE    ;
  66:  !add object releasing logic here, ;
  67:  !such as "DO[1]=OFF" ;
  68:  PAUSE ;
  69:  !move to departure waypoint ;
  70:  !of placing ;
  71:L P[5] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  72:  !move back to robot home position ;
  73:J P[1] 100% FINE    ;
  74:  END ;
  75:   ;
  76:  LBL[99:handling error] ;
  77:  !add error handling logic here ;
  78:  !according to different ;
  79:  !error codes ;
  80:  !e.g.: mm_status=1003 means no ;
  81:  !point cloud in ROI ;
  82:  !e.g.: mm_status=1002 means no ;
  83:  !vision results ;
  84:  !e.g.: mm_status=3099 means ;
  85:  !failed to open socket ;
  86:  PAUSE ;