样例程序15：MM_S15_Viz_GetDoList
程序简介
功能说明 |
机器人在获取抓取路径和DO信号后，可通过循环移动到抓取点并设置DO信号，进而完成抓取与放置。通常用于拆垛场景，且末端工具为多分区吸盘。 |
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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（末端工具类型为拆垛吸盘） |
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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_S15_Viz_GetDoList样例程序的代码及相关解释说明。
| 与MM_S2_Viz_Basic样例相比，本样例仅修改了如下加粗部分的代码。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_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上述样例程序代码对应的流程如下图所示。
下表是对加粗代码的逻辑解读。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 |
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获取规划路径 |
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获取吸盘DO信号 |
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通过循环转存规划路径 |
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通过循环进行抓取 |
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