样例程序17：MM_S19_Vis_As_Uframe

NOP
'--------------------------------
'FUNCTION: trigger Mech-Vision
'project and get vision result
'Mech-Mind, 2026-2-24
'--------------------------------
'clear I50 to I69
CLEAR I050 20
'initialize p variables
SUB P070 P070
SUB P071 P071
'set 100mm to z of P070
SETE P070 (3) 100000
'move to robot home position
MOVJ C00000 VJ=50.00
'initialize communication
'parameters (initialization is required only once)
CALL JOB:MM_INIT_SOCKET ARGF"192.168.110.72;50000;2"
'move to image-capturing position
MOVJ C00001 VJ=50.00 PL=0
'open socket connection
CALL JOB:MM_OPEN_SOCKET
'trigger NO.1 Mech-Vision project
CALL JOB:MM_START_VIS ARGF"1;0;2;30;80"
IFTHENEXP I080<>1102
	'add error handling logic here
	 PAUSE
ENDIF
'get vision result from NO.1
'Mech-Vision project
CALL JOB:MM_GET_VISDATA ARGF"1;51;52"
'check whether vision result has
'been got from Mech-Vision
'successfully
IFTHENEXP I052<>1100
	'add error handling logic here
	'according to different error
	'codes
	'e.g.: I052=1003 means no point
	'cloud in ROI
	'e.g.: I052=1002 means no
	'vision result
	 PAUSE
ENDIF
'close socket connection
CALL JOB:MM_CLOSE_SOCKET
'save first vision point data to
PAUSE
'local variables
CALL JOB:MM_GET_POSE ARGF"1;71;61;62"
'Convert visual point to user pos
MFRAME UF#(10) P071 BF
'move to intermediate waypoint of
'picking
MOVJ C00002 VJ=50.00
'move to approach waypoint of
'picking
SFTON P070
MOVL P080 V=166.6 PL=0
SFTOF
'move to picking waypoint
MOVL P080 V=50.0 PL=0
'add object grasping logic here,
'such as DOUT OT#(1) ON
PAUSE
'move to departure waypoint of
'picking
SFTON P070
MOVL P080 V=166.6 PL=0
SFTOF
'move to intermediate waypoint of
'placing
MOVJ C00003 VJ=50.00
END