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:=[[380.58,24.66,583.22],[0.00392748,-0.815898,0.578164,-0.00464691],[0,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    LOCAL PERS robtarget pick_waypoint:=[[502.38,26.91,592.51],[0.00179326,-0.458155,0.888868,-0.0019068],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    LOCAL PERS robtarget pickpoint:=[[0,0,0],[1,0,0,0],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    LOCAL PERS robtarget Wobjpoint:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    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]],[[639.64,-59.7632,41.2964],[0.0326084,-0.429607,0.901024,0.0503118]]];

    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,Wobjpoint,label,toolid;
        !Convert the visual points to the workpiece coordinates
        MM_Wobj.oframe.trans:=Wobjpoint.trans;
        MM_Wobj.oframe.rot:=Wobjpoint.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