Example Program 16: MM_S16_Viz_GetDirection
Program Introduction
Description |
After the robot obtains the planned path and finishes picking, the robot adopts different placement strategies according to the orientation of the workobject group. |
File path |
You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the |
Project |
Mech-Vision project and Mech-Viz project (the tool is a depalletizing vacuum gripper) |
Prerequisites |
|
| This example program is provided for reference only. Before using the program, please modify the program according to the actual scenario. |
Program Description
This part describes the MM_S16_Viz_GetDirection example program.
| Compared with the MM_S15_Viz_GetDoList example program, this example program contains only the following modification (the code of this modification is bolded). As such, only the modification is described in the following section. For information about the parts of MM_S16_Viz_GetDirection that are consistent with those of MM_S15_Viz_GetDoList, see Example Program 15: MM_S15_Viz_GetDoList. |
DEF MM_S16_Viz_GetDirection ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project, then get
; planned path and get box direction 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]
;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]
;get box direction status from planned results
box_direction=MM_Plan_Results[17]
IF box_direction==0 THEN
;move to intermediate waypoint of placing
PTP drop_waypoint_1 CONT Vel=100 % PDAT4 Tool[1] Base[0]
;move to approach waypoint of placing
LIN drop_app_1 Vel=1 m/s CPDAT2 Tool[1] Base[0]
;move to placing waypoint
LIN drop_1 Vel=0.3 m/s CPDAT3 Tool[1] Base[0]
;add object releasing logic here, such as "$OUT[1]=FALSE"
halt
;move to departure waypoint of placing
LIN drop_app_1 Vel=1 m/s CPDAT2 Tool[1] Base[0]
ELSE
;move to intermediate waypoint of placing
PTP drop_waypoint_2 CONT Vel=100 % PDAT5 Tool[1] Base[0]
;move to approach waypoint of placing
LIN drop_app_2 Vel=1 m/s CPDAT4 Tool[1] Base[0]
;move to placing waypoint
LIN drop_2 Vel=0.3 m/s CPDAT5 Tool[1] Base[0]
;add object releasing logic here, such as "$OUT[1]=FALSE"
halt
;move to departure waypoint of placing
LIN drop_app_2 Vel=1 m/s CPDAT4 Tool[1] Base[0]
ENDIF
;move back to robot home position
PTP HOME Vel=100 % DEFAULT
ENDThe workflow corresponding to the above example program code is shown in the figure below.
The table below describes the bolded code. You can click the hyperlink to the command name to view its detailed description.
| Feature | Code and description | ||
|---|---|---|---|
Obtain the orientation of workobject group |
The robot obtains the Vision Move data of waypoints by running the MM_Get_PlanData command, and then saves the Vision Move data of waypoints that is stored in the robot memory to the global array of MM_Plan_Results by running the MM_Get_PlanJps command. In the global array MM_Plan_Results, MM_Plan_Results[17] specifies the orientation relationship between the workobject group and the long side of the vacuum gripper. 0 indicates parallel, while 1 indicates vertical. The above code indicates that if MM_Plan_Results[17] is assigned to the box_direction variable, the box_direction variable will indicate the orientation of the workobject group. |
||
Adopt a placement strategy based on the orientation of the workobject group |
The above code indicates that if the workobject group is parallel to the long side of the vacuum gripper (i.e., box_direction is set to 0), the workobject group will be placed at drop_1; otherwise, the workobject group will be placed at drop_2. |