Example Program 18: MM_S18_Viz_GetUserData
Program Introduction
Description |
When the robot obtains the picking path, the robot also obtains the custom output data from the Mech-Vision project. |
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 (one or more custom ports need to be added to the Output Step) and Mech-Viz project (the tool is a depalletizing vacuum gripper) |
Prerequisites |
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| 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_S18_Viz_GetUserData 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_S18_Viz_GetUserData ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project, then get
; planned path and get custom data from Mech-Vision
; 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]
;save received custom data
offset_x=MM_UserData[1]
offset_y=MM_UserData[2]
offset_z=MM_UserData[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]
;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0]
;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT4 Tool[1] Base[0]
;add object releasing logic here, such as "$OUT[1]=FALSE"
halt
;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
;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 | ||||
|---|---|---|---|---|---|
Store custom data of waypoints |
The robot runs the MM_Get_PlanData command to obtain the Vision Move data of waypoints and custom data of waypoints, and then runs the MM_Get_PlanJps command to save the Vision Move data and custom data that are stored in the robot memory to the MM_Plan_Results and MM_UserData global arrays respectively. The above code assigns the MM_UserData[1], MM_UserData[2], and MM_UserData[3] custom output data that represents three Vision Move waypoints (picking waypoints) to offset_x, offset_y and offset_z, respectively.
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