样例程序1：MM_S1_Vis_Basic

  -- This is a LUA program.
  require("MM_Module")

  IP_Address = "192.168.1.8"
  Server_Port = 50000
  Time_Out = 60
  --initialize communication parameters (initialization is required only once)
  MM_Init_Socket(IP_Address,Server_Port,Time_Out)
  --close socket connection
  MM_Close_Socket()
  --open socket connection
  MM_Open_Socket()

  --switch recipe of NO.1 Mech-Vision project
  TOP_Status=MM_Switch_Model(1,1)

  print("Vision system status code:",TOP_Status)
  ---check whether the recipe is switched successful
  if TOP_Status ~= 1107 then
    print("Abnormal vision system status!!!",TOP_Status)
    Pause()
  end

  --trigger NO.1 Mech-Vision project
  TOP_Status = MM_Start_Vis(1,1,1,JP[100])
  print("Vision system status code:",TOP_Status)

  print("Vision system status code:",TOP_Status)
  --check whether the Mech-Vision project has been triggered successfully
  if TOP_Status ~= 1102 then
    print("Abnormal vision system status!!!",TOP_Status)
    Pause()
  end

  --get vision result from NO.1 Mech-Vision project
  TOP_Status,TOP_Last_Data,TOP_Pos_Num = MM_Get_VisData(1)

  print("Vision result:",TOP_Status,TOP_Last_Data,TOP_Pos_Num)
  --check whether vision result has been got successfull
  if TOP_Status ~= 1100 then
    print("Failed to obtain vision result!!!",TOP_Status)
    Pause()
  end

  --save first vision point data to local variables
  MM_Get_Pose(1,20,50,60)
  local pose1 = NewPose(0, 0, 200, 0, 0, 0)

  --move to approach waypoint of picking
  MovL(PR[20],{cnt = -1,uof = pose1})

  --move to picking waypoint
  MovL(PR[20],{cnt = -1})

  --add object grasping logic here, such as "setdo DO_1, 1;"
  Pause()

  --move to departure waypoint of picking
  MovL(PR[20],{cnt = -1,uof = pose1})  ;