样例程序12：MM_S12_Viz_ForLoop
程序简介
功能说明 |
机器人触发Mech-Viz工程运行，并获取路径规划结果，然后通过循环转存规划路径，进而执行抓取和放置操作。 |
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文件路径 |
Mech-Vision和Mech-Viz软件安装目录下
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所需工程 |
Mech-Vision工程和Mech-Viz工程 |
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使用前提 |
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| 此样例程序仅是示例程序。用户需根据实际情况在此基础上进行修改，请勿直接使用该程序。 |
程序解读
以下为MM_S12_Viz_ForLoop样例程序的代码及相关解释说明。
| MM_S2_Viz_Basic是逐个转存规划的路径点，本样例是通过循环转存规划的路径点（加粗部分的代码）。因此，下文不再重复解释与MM_S2_Viz_Basic样例相同部分的代码（详情请参考MM_S2_Viz_Basic样例说明）。 |
MODULE MM_S12_Viz_ForLoop
!----------------------------------------------------------
! FUNCTION: trigger Mech-Viz project and get planned path,
! get poses using for-loop structure
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num toolid{5}:=[0,0,0,0,0];
LOCAL VAR num vis_pose_num:=0;
LOCAL VAR num count:=0;
LOCAL VAR num label{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 PERS 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 PERS 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}:=
[
[[0,0,0,0,89,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
[[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
[[11.2355,52.1281,-23.3996,0.5938,62.6295,-169.548],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
[[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[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_12()
!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, 1st argument (1) means getting pose in JPs
MM_Get_VizData 1, 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
!close socket connection
MM_Close_Socket;
!save waypoints of planned path to local variables using for-loop structure
FOR i FROM 1 TO pose_num DO
count:=i;
MM_Get_Jps count,jps{count},label{count},toolid{count};
ENDFOR
!follow the planned path to pick, in this example waypoint 2 (jps{2}) is picking waypoint
!move to approach waypoint of picking
MoveAbsJ jps{1},v1000,fine,gripper1;
!move to picking waypoint
MoveAbsJ jps{2},v300,fine,gripper1;
!add object grasping logic here, such as "setdo DO_1, 1;"
Stop;
!move to departure waypoint of picking
MoveAbsJ jps{3},v1000,fine,gripper1;
!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上述样例程序代码对应的流程如下图所示。
下表为通过循环转存规划路径的逻辑解读。用户单击指令名称的超链接便可查看该指令的详细说明。
| 流程 | 代码及说明 |
|---|---|
通过循环转存规划路径 |
假设本样例规划的路径有3个路径点，则上述循环等同于MM_S2_Viz_Basic样例中如下三条指令。 |