样例程序12:MM_S12_Viz_ForLoop
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)。 |
DEF MM_S12_Viz_ForLoop ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project and get
; planned path, get poses using for-loop structure
; Mech-Mind, 2023-12-25
;---------------------------------------------------
;set current tool no. to 1
BAS(#TOOL,1)
;set current base no. to 0
BAS(#BASE,0)
;move to robot home position
PTP HOME Vel=100 % DEFAULT
;initialize communication parameters (initialization is required only once)
MM_Init_Socket("XML_Kuka_MMIND",873,871,60)
;move to image-capturing position
LIN camera_capture Vel=1 m/s CPDAT1 Tool[1] Base[0]
;trigger Mech-Viz project
MM_Start_Viz(2,init_jps)
;get planned path, 1st argument (1) means getting pose in JPs
MM_Get_VizData(1,pos_num,vis_pos_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
halt
ENDIF
;save waypoints of planned path to local variables using for-loop structure
FOR count=1 TO pos_num
MM_Get_Jps(count,pick_point[count],label[count],toolid[count])
ENDFOR
Xpick_point1=pick_point[1]
Xpick_point2=pick_point[2]
Xpick_point3=pick_point[3]
;follow the planned path to pick
;move to approach waypoint of picking
PTP pick_point1 Vel=50 % PDAT1 Tool[1] Base[0]
;move to picking waypoint
PTP pick_point2 Vel=10 % PDAT2 Tool[1] Base[0]
;add object grasping logic here, such as "$OUT[1]=TRUE"
halt
;move to departure waypoint of picking
PTP pick_point3 Vel=50 % PDAT3 Tool[1] Base[0]
;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0]
;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT4 Tool[1] Base[0]
;add object releasing logic here, such as "$OUT[1]=FALSE"
halt
;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
;move back to robot home position
PTP HOME Vel=100 % DEFAULT
END
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,则上述代码等同于MM_S2_Viz_Basic样例中如下三条指令。
|