样例程序7：MM_S7_Viz_SwitchTCP
程序解读
以下为MM_S7_Viz_SwitchTCP样例程序的代码及相关解释说明。
| 与MM_S2_Viz_Basic样例相比，本样例主要新增了根据末端工具编号切换工具的功能（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）。 |
1: !-------------------------------- ;
2: !FUNCTION: trigger Mech-Viz ;
3: !project and get planned path, ;
4: !switch TCP according to ;
5: !the tool NO.;
6: !Mech-Mind, 2023-12-25 ;
7: !-------------------------------- ;
8: ;
9: !set current uframe NO. to 0 ;
10: UFRAME_NUM=0 ;
11: !set current tool NO. to 1 ;
12: UTOOL_NUM=1 ;
13: !move to robot home position ;
14:J P[1] 100% FINE ;
15: !initialize communication ;
16: !parameters(initialization is ;
17: !required only once) ;
18: CALL MM_INIT_SKT('8','127.0.0.1',50000,5) ;
19: !move to image-capturing position ;
20:L P[2] 1000mm/sec FINE ;
21: !trigger Mech-Viz project ;
22: CALL MM_START_VIZ(2,10) ;
23: !get planned path, 1st argument ;
24: !(2) means getting pose in TCP ;
25: CALL MM_GET_VIZ(2,51,52,53) ;
26: !check whether planned path has ;
27: !been got from Mech-Viz ;
28: !successfully ;
29: IF R[53]<>2100,JMP LBL[99] ;
30: !save waypoints of the planned ;
31: !path to local variables one ;
32: !by one ;
33: CALL MM_GET_POS(1,60,70,80) ;
34: CALL MM_GET_POS(2,61,71,81) ;
35: CALL MM_GET_POS(3,62,72,82) ;
36: !switch TCP according to the ;
37: !received tool NO. ;
38: IF R[81]=1,JMP LBL[1] ;
39: IF R[81]=2,JMP LBL[2] ;
40: JMP LBL[999] ;
41: ;
42: LBL[1:use tool NO.1] ;
43: !set current tool NO. to 1 ;
44: UTOOL_NUM=1 ;
45: !reset tool signal ;
46: !DO[1]=OFF ;
47: !set a Flag ;
48: F[1]=(ON) ;
49: JMP LBL[3] ;
50: ;
51: LBL[2:use tool NO.2] ;
52: !set current tool NO. to 2 ;
53: UTOOL_NUM=2 ;
54: !reset tool signal ;
55: !DO[2]=OFF ;
56: !set a Flag ;
57: F[2]=(ON) ;
58: JMP LBL[3] ;
59: ;
60: LBL[3:pick path] ;
61: !follow the planned path to pick ;
62: !move to approach waypoint ;
63: !of picking ;
64:L PR[60] 1000mm/sec FINE ;
65: !move to picking waypoint ;
66:L PR[61] 300mm/sec FINE ;
67: !add object grasping logic here, ;
68: !IF (F[1]),DO[1]=(ON) ;
69: !IF (F[2]),DO[2]=(ON) ;
70: PAUSE ;
71: !move to departure waypoint ;
72: !of picking ;
73:L PR[62] 1000mm/sec FINE ;
74: !move to intermediate waypoint ;
75: !of placing ;
76:J P[3] 50% CNT100 ;
77: !move to approach waypoint ;
78: !of placing ;
79:L P[4] 1000mm/sec FINE Tool_Offset,PR[2] ;
80: !move to placing waypoint ;
81:L P[4] 300mm/sec FINE ;
82: !add object releasing logic here, ;
83: !IF (F[1]),DO[1]=(OFF) ;
84: !IF (F[2]),DO[2]=(OFF) ;
85: PAUSE ;
86: !move to departure waypoint ;
87: !of placing ;
88:L P[4] 1000mm/sec FINE Tool_Offset,PR[2] ;
89: !move back to robot home position ;
90:J P[1] 100% FINE ;
91: !reset the Flags ;
92: F[1]=(OFF) ;
93: F[2]=(OFF) ;
94: END ;
95: ;
96: LBL[99:vision error] ;
97: !add error handling logic here ;
98: !according to different ;
99: !error codes ;
100: !e.g.: status=2038 means no ;
101: !point cloud in ROI ;
102: PAUSE ;
103: ;
104: LBL[999:label error] ;
105: !add handling logic here if the ;
106: !label is invalid ;
107: PAUSE ;上述样例程序代码对应的流程如下图所示。
下表为新增代码的逻辑解读。
| 流程 | 代码及说明 | ||
|---|---|---|---|
获取规划路径 |
因此，整条指令表示机器人获取Mech-Viz工程返回的规划路径。
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转存规划路径 |
因此，“CALL MM_GET_POS(1,60,70,80)”整条指令表示将第一个路径点的工具位姿、标签和末端工具编号分别转存至指定寄存器。
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根据末端工具编号切换末端工具 |
用户可根据R[81]寄存器值，决定机器人移动到抓取点时所使用的末端工具。上述代码的逻辑说明如下所示。
假设机器人通过DO[1]信号控制末端工具1，通过DO[2]信号控制末端工具2，则程序还需通过F[1]与F[2]两个标志分别建立两者关系。
接下来以末端工具编号1为例，讲解具体抓放流程。
机器人使用末端工具编号2的流程与上述流程类似，此处不再赘述。 |