样例程序16：MM_S16_Viz_GetDirection
程序解读
以下为MM_S16_Viz_GetDirection样例程序的代码及相关解释说明。
| 与MM_S15_Viz_GetDoList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_S15_Viz_GetDoList样例相同部分的代码（详情请参考MM_S15_Viz_GetDoList样例说明）。 |
NOP
'--------------------------------
'FUNCTION: trigger Mech-Viz
'project, then get planned path
'and get box direction using
'command 210
'Mech-Mind, 2023-12-25
'--------------------------------
'clear I50 to I69
CLEAR I050 20
'initialize p variables
SUB P071 P071
SUB P072 P072
SUB P073 P073
'move to robot home position
MOVJ C00000 VJ=50.00
'initialize communication
'parameters (initialization is
'required only once)
CALL JOB:MM_INIT_SOCKET ARGF"192.168.170.22;50000;1"
'move to image-capturing position
MOVJ C00001 VJ=50.00 PL=0
'open socket connection
CALL JOB:MM_OPEN_SOCKET
'trigger Mech-Viz project
CALL JOB:MM_START_VIZ ARGF"2;30"
'get planned path
CALL JOB:MM_GET_PLANDATA ARGF"0;3;51;52;53"
'check whether planned path has
'been got from Mech-Viz
'successfully
IFTHENEXP I053<>2100
'add error handling logic here
'according to different error
'codes
'e.g.: I053=2038 means no
'point cloud in ROI
PAUSE
ENDIF
'get gripper control signal list
CALL JOB:MM_GET_DOLIST ARGF"0;0"
'close socket connection
CALL JOB:MM_CLOSE_SOCKET
'save waypoints of the planned
'path to local variables one
'by one
CALL JOB:MM_GET_PLANPOSE ARGF"1;71;61;31"
CALL JOB:MM_GET_PLANPOSE ARGF"2;72;71;31"
CALL JOB:MM_GET_PLANPOSE ARGF"3;73;81;31"
'get box direction status from
'planned results
SET I005 R047
'follow the planned path to pick
'move to approach waypoint of
'picking
MOVJ P071 VJ=50.00 PL=0
'move to picking waypoint
MOVJ P072 VJ=10.00 PL=0
'set gripper control signal when
'current waypoint is picking
'waypoint
CALL JOB:MM_SET_DOLIST ARGF"0"
PAUSE
'move to departure waypoint of
'picking
MOVJ P073 VJ=50.00 PL=0
'place the box according to its
'direction
IFTHENEXP I005=0
'move to intermediate waypoint of
'placing
MOVJ C00002 VJ=50.00
'move to approach waypoint of
'placing
MOVL C00003 V=166.6 PL=0
'move to placing waypoint
MOVL C00004 V=50.0 PL=0
'add object releasing logic here,
'such as DOUT OT#(1) OFF
PAUSE
'move to departure waypoint of
'placing
MOVL C00005 V=166.6 PL=0
ELSE
'move to intermediate waypoint of
'placing
MOVJ C00006 VJ=50.00
'move to approach waypoint of
'placing
MOVL C00007 V=166.6 PL=0
'move to placing waypoint
MOVL C00008 V=50.0 PL=0
'add object releasing logic here,
'such as DOUT OT#(1) OFF
PAUSE
'move to departure waypoint of
'placing
MOVL C00009 V=166.6 PL=0
ENDIF
'move back to robot home position
MOVJ C00010 VJ=50.00
END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 | ||
|---|---|---|---|
获取工件组朝向 |
机器人通过MM_GET_PLANDATA指令获取路径点的视觉移动规划数据，然后再通过MM_GET_PLANPOSE指令将路径点的视觉移动规划数据从机器人内存中转存至从R031开始的变量中。R047变量值表示工件组与吸盘长边的朝向关系，0表示平行，1表示垂直。 上述代码表示，将R047变量赋值给I005变量，则I005变量将表示工件组朝向。 |
||
根据工件组朝向采取不同的放置策略 |
上述代码表示，如果工件组与吸盘长边平行（即I005为0），则将该工件组放置在示教的C00004处；否则，将该工件组放置在示教的C00008处。 |