Example Program 5: MM_S5_Viz_SetBranch
Program Introduction
Description |
The robot triggers the Mech-Viz project to run, sets the exit port for the Branch by Msg Step in the Mech-Viz project, and then obtains the planned path 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 |
Project |
Mech-Vision and Mech-Viz projects |
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_S5_Viz_SetBranch example program.
| The only difference between the MM_S5_Viz_SetBranch example program and the MM_S2_Viz_Basic example program is that MM_S5_Viz_SetBranch can set the exit port of the Branch by Msg Step in the Mech-Viz project (this code of this feature is bolded). As such, the features of the main program that are similar to those of MM_S2_Viz_Basic are not described in this part. For more information about these features, see Example Program 2: MM_S2_Viz_Basic. |
DEF MM_S5_Viz_SetBranch ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project then set
; branch and get planned path
; 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)
;set branch, "MM_Set_Branch(Branch_Num,Exit_Num)"
MM_Set_Branch(1,1)
;get planned path, 1st argument (1) means getting pose in JPs
MM_Get_VizData(1,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
;save waypoints of the planned path to local variables one by one
MM_Get_Jps(1,Xpick_point1,label[1],toolid[1])
MM_Get_Jps(2,Xpick_point2,label[2],toolid[2])
MM_Get_Jps(3,Xpick_point3,label[3],toolid[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, such as "$OUT[1]=TRUE"
halt
;move to departure waypoint of picking
PTP pick_point3 Vel=50 % PDAT3 Tool[1] Base[0]
;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0]
;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT4 Tool[1] Base[0]
;add object releasing logic here, such as "$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 process of setting the exit port of the Branch by Msg Step in the Mech-Viz project. You can click the hyperlink to the command name to view its detailed description.
| Feature | Code and description |
|---|---|
Set the exit port for the Branch by Msg Step in Mech-Viz |
In the entire statement, the Mech-Viz project with an ID of 1 takes the port 0 of the Branch by Msg Step, as shown in the following figure. 
|