样例程序21：MM_S21_Vis_As_Uframe

MODULE MM_S21_Vis_As_Uframe
!----------------------------------------------------------
! FUNCTION: trigger Mech-Vision project and get vision result
! Mech-Mind, 2026-1-28
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num label:=0;
LOCAL VAR num toolid:=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:=[[1462.50,0.00,1905.00],[2.93133E-9,0,1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget pick_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 PERS robtarget pickpoint:=[[500,100,300],[0.00226227,-0.99991,-0.00439596,0.0124994],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS 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 PERS 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]];
!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]];
!define LOCAL wobjdata variables
TASK PERS wobjdata MM_Wobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

PROC Sample_21()
    !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\WObj:=MM_Wobj;
    !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 status;
    IF status=3099 THEN
        TPWrite "MM: Communication Error";
        STOP;
    ENDIF
    !trigger NO.1 Mech-Vision project
    MM_Start_Vis 1,0,2,snap_jps,status;
    IF status<>1102 THEN
        !add error handling logic here according to different error codes
        TPWrite "MM: Status Error";
        STOP;
    ENDIF
    !get vision result from NO.1 Mech-Vision project
    stop;
    MM_Get_VisData 1,pose_num,status;
    !check whether vision result has been got from Mech-Vision successfully
    IF status<>1100 THEN
        !add error handling logic here according to different error codes
        !e.g.: status=1003 means no point cloud in ROI
        !e.g.: status=1002 means no vision result
        Stop;
    ENDIF
    !close socket connection
    MM_Close_Socket;
    !save first vision point data to local variables
    MM_Get_Pose 1,pickpoint,label,toolid;
    !Convert the visual points to the workpiece coordinates
    MM_Wobj.oframe.trans:=pickpoint.trans;
    MM_Wobj.oframe.rot:=pickpoint.rot;
    !move to intermediate waypoint of picking
    MoveJ pick_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of picking
    MoveL RelTool(pickpoint,0,0,-100), v1000, fine, gripper1\WObj:=MM_Wobj;
    !move to picking waypoint
    MoveL pickpoint, v300, fine, gripper1\WObj:=MM_Wobj;
    !add object grasping logic here, such as "setdo DO_1, 1;"
    Stop;
    !move to departure waypoint of picking
    MoveL RelTool(pickpoint,0,0,-100), v1000, fine, gripper1\WObj:=MM_Wobj;
    !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