Example Program 4: MM_S4_Vis_ChangeModel

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Program Introduction

Description

The robot switches the Mech-Vision parameter recipe, and then triggers the Mech-Vision project to run to obtain the vision result for picking and placing.

File path

You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the Communication Component/Robot_Interface/KUKA/sample/MM_S4_Vis_ChangeModel path.

Project

Mech-Vision project

The parameter recipe must be configured beforehand for the Mech-Vision project.

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_S4_Vis_ChangeModel example program.

The only difference between the MM_S4_Vis_ChangeModel example program and the MM_S1_Vis_Basic example program is that MM_S4_Vis_ChangeModel can switch the parameter recipe in the Mech-Vision project (this code of this feature is bolded). As such, only the feature of switching the parameter recipe is described in the following section. For information about the parts of MM_S4_Vis_ChangeModel that are consistent with those of MM_S1_Vis_Basic, see Example Program 1: MM_S1_Vis_Basic.
DEF  MM_S4_Vis_ChangeModel ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Vision project after
; switching recipe and get vision result
; 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]
   ;switch recipe of NO.1 Mech-Vision project, "MM_Switch_Model(Proj_num,Model_num)"
   MM_Switch_Model(1,1)
   ;trigger NO.1 Mech-Vision project
   MM_Start_Vis(1,0,2,init_jps)
   ;get vision result from NO.1 Mech-Vision project
   MM_Get_VisData(1,pos_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
      halt
   ENDIF
   ;save first vision point data to local variables
   MM_Get_Pose(1,Xpick_point,label,toolid)
   ;calculate pick approach point based on pick point
   tool_offset={X 0,Y 0,Z -100,A 0,B 0,C 0}
   Xpick_app=Xpick_point:tool_offset
   ;move to intermediate waypoint of picking
PTP pick_waypoint CONT Vel=50 % PDAT1 Tool[1] Base[0]
   ;move to approach waypoint of picking
LIN pick_app Vel=1 m/s CPDAT2 Tool[1] Base[0]
   ;move to picking waypoint
LIN pick_point Vel=0.3 m/s CPDAT3 Tool[1] Base[0]
   ;add object grasping logic here, such as "$OUT[1]=TRUE"
   halt
   ;move to departure waypoint of picking
LIN pick_app Vel=1 m/s CPDAT2 Tool[1] Base[0]
   ;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0]
   ;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT4 Tool[1] Base[0]
   ;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT5 Tool[1] Base[0]
   ;add object releasing logic here, such as "$OUT[1]=FALSE"
   halt
   ;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT4 Tool[1] Base[0]
   ;move back to robot home position
PTP HOME Vel=100 % DEFAULT
END

The workflow corresponding to the above example program code is shown in the figure below.

sample4

The table below describes the process of switching the parameter recipe in the Mech-Vision project. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Switch the Mech-Vision parameter recipe

;switch recipe of NO.1 Mech-Vision project, "MM_Switch_Model(Proj_num,Model_num)"
MM_Switch_Model(1,1)
  • MM_Switch_Model: The command to switch the Mech-Vision parameter recipe.

  • First 1: The Mech-Vision project ID.

  • Second1: The ID of the parameter recipe in the Mech-Vision project.

In this entire statement, the parameter recipe of the Mech-Vision project whose ID is 1 is switched to recipe 1.

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