样例程序18：MM_S18_Viz_GetUserData
程序解读
以下为MM_S18_Viz_GetUserData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）。 |
DEF MM_S18_Viz_GetUserData ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project, then get
; planned path and get custom data from Mech-Vision
; using command 210
; 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
MM_Get_PlanData(0,3,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
;get gripper control signal list
MM_Get_Dolist(0,0)
;save waypoints of the planned path to local variables one by one
FOR count=1 TO pos_num
MM_Get_PlanJps(count,3,pick_point[count],move_type[count],tool_num[count],speed[count])
ENDFOR
Xpick_point1=pick_point[1]
Xpick_point2=pick_point[2]
Xpick_point3=pick_point[3]
;save received custom data
offset_x=MM_UserData[1]
offset_y=MM_UserData[2]
offset_z=MM_UserData[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
halt
;set gripper control signal
MM_Set_Dolist(0)
;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。
下表为新增代码的逻辑解读。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 | ||||
|---|---|---|---|---|---|
保存路径点的自定义数据 |
机器人通过MM_Get_PlanData指令获取路径点的视觉移动规划数据和自定义数据，然后再通过MM_Get_PlanJps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MM_Plan_Results全局数组中，将自定义数据从机器人内存中转存至MM_UserData全局数组。 上述代码表示，将视觉移动路径点（抓取点）的三个自定义数据MM_UserData[1]、MM_UserData[2]和MM_UserData[3]分别赋值给offset_x、offset_y和offset_z。
|