샘플 프로그램9: MM_S9_Viz_RunInAdvance

   1:  !-------------------------------- ;
   2:  !FUNCTION: trigger Mech-Viz ;
   3:  !project then set branch and get ;
   4:  !planned path, trigger Mech-Viz ;
   5:  !project and set branch in ;
   6:  !advance during pick&place proces ;
   7:  !process ;
   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:  !move to robot home position ;
  16:J P[1] 100% FINE    ;
  17:  !initialize communication ;
  18:  !parameters(initialization is ;
  19:  !required only once) ;
  20:  CALL MM_INIT_SKT('8','127.0.0.1',50000,5) ;
  21:  !move to image-capturing position ;
  22:L P[2] 1000mm/sec FINE    ;
  23:  !trigger Mech-Viz project ;
  24:  CALL MM_START_VIZ(2,10) ;
  25:  !set branch, "MM_SET_BCH ;
  26:  !(Branch_Num,Exit_Num)" ;
  27:  CALL MM_SET_BCH(1,1) ;
  28:  LBL[1:LOOP] ;
  29:  !get planned path, 1st argument ;
  30:  !(1) means getting pose in JPs ;
  31:  CALL MM_GET_VIZ(1,51,52,53) ;
  32:  !check whether planned path has ;
  33:  !been got from Mech-Viz ;
  34:  !successfully ;
  35:  IF R[53]<>2100,JMP LBL[99] ;
  36:  !save waypoints of the planned ;
  37:  !path to local variables one ;
  38:  !by one ;
  39:  CALL MM_GET_JPS(1,60,70,80) ;
  40:  CALL MM_GET_JPS(2,61,71,81) ;
  41:  CALL MM_GET_JPS(3,62,72,82) ;
  42:  !follow the planned path to pick ;
  43:  !move to approach waypoint ;
  44:  !of picking ;
  45:J PR[60] 50% FINE    ;
  46:  !move to picking waypoint ;
  47:J PR[61] 10% FINE    ;
  48:  !add object grasping logic here, ;
  49:  !such as "DO[1]=ON" ;
  50:  PAUSE ;
  51:  !trigger Mech-Viz project but not ;
  52:  !to trigger camera capturing ;
  53:  CALL MM_START_VIZ(2,10) ;
  54:  !move to departure waypoint ;
  55:  !of picking ;
  56:J PR[62] 50% FINE    ;
  57:  !move to intermediate waypoint ;
  58:  !of placing ;
  59:J P[3] 50% CNT100    ;
  60:  !move to approach waypoint ;
  61:  !of placing ;
  62:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  63:  !set branch exit port and trigger ;
  64:  !camera capturing when robot ;
  65:  !moves out of camera’s field of ;
  66:  !view ;
  67:  CALL MM_SET_BCH(1,1) ;
  68:  !move to placing waypoint ;
  69:L P[4] 300mm/sec FINE    ;
  70:  !add object releasing logic here, ;
  71:  !such as "DO[1]=OFF" ;
  72:  PAUSE ;
  73:  !move to departure waypoint ;
  74:  !of placing ;
  75:L P[4] 1000mm/sec FINE Tool_Offset,PR[2]    ;
  76:  !move back to robot home position ;
  77:J P[1] 100% FINE    ;
  78:  JMP LBL[1] ;
  79:  END ;
  80:   ;
  81:  LBL[99:vision error] ;
  82:  !add error handling logic here ;
  83:  !according to different ;
  84:  !error codes ;
  85:  !e.g.: status=2038 means no ;
  86:  !point cloud in ROI ;
  87:  PAUSE ;

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