Example Program 6: MM_S6_Viz_ErrorHandle

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Program Introduction

Description

The robot starts the Mech-Viz project, obtains the planned path, and then determines whether the planned path is obtained successfully according to the status code. If the planned path is obtained successfully, the robot will perform picking and placing; otherwise, the robot will stop.

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_S6_Viz_ErrorHandle path.

Project

Mech-Vision and Mech-Viz projects

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_S6_Viz_ErrorHandle example program.

The only difference between the MM_S6_Viz_ErrorHandle example program and the MM_S2_Viz_Basic example program is that MM_S6_Viz_ErrorHandle can handle errors based on the different error codes (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_S6_Viz_ErrorHandle ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project and get
; planned path, handle errors according to status
; codes (if no point cloud in ROI, retry several
; times before exit loop)
; Mech-Mind, 2023-12-25
;---------------------------------------------------
   ;set current tool no. to 1
   BAS(#TOOL,1)
   ;set current base no. to 0
   BAS(#BASE,0)
   ;initialize variables
   retry_cnt=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]
RECAP:
   ;trigger Mech-Viz project
   MM_Start_Viz(2,init_jps)
   ;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
        IF status == 2038 THEN
            ;no point cloud in ROI, add handling logic here
            ;self-adding then check retry counter
            retry_cnt=retry_cnt+1
            IF retry_cnt<3 THEN
                ;jump back to vision retry label if the number of retry times is less than 3
                GOTO RECAP
            ELSE
                ;reset counter and exit loop if the number of retry times has reached 3
                retry_cnt=0
                GOTO END_LOOP
            ENDIF
        ELSE
            ;add other error handling logic here
            halt
            GOTO END_LOOP
        ENDIF
   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

END_LOOP:
    halt
END

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

sample6

The table below describes the feature to process different status codes.

Feature Code and description

Process different status codes

...
retry_cnt=0
...
RECAP:
   ;trigger Mech-Viz project
   MM_Start_Viz(2,init_jps)
   ;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
        IF status == 2038 THEN
            ;no point cloud in ROI, add handling logic here
            ;self-adding then check retry counter
            retry_cnt=retry_cnt+1
            IF retry_cnt<3 THEN
                ;jump back to vision retry label if the number of retry times is less than 3
                GOTO RECAP
            ELSE
                ;reset counter and exit loop if the number of retry times has reached 3
                retry_cnt=0
                GOTO END_LOOP
            ENDIF
        ELSE
            ;add other error handling logic here
            halt
            GOTO END_LOOP
        ENDIF
   ENDIF
   ...
END_LOOP:
    halt

After MM_Get_VizData is executed, the robot stores the received status code in the status variable. You can perform the corresponding operation based on the specific received error code.

  • When the status variable is set to 2100, the robot has successfully obtained the planned path. Then, the robot will perform picking by taking the planned path.

  • When the status variable is not set to 2100, an exception has occurred in the vision system. You need to perform the corresponding operation based on the specific error code.

    • When the status variable is set to 2038, no point cloud exists in the ROI, i.e., the robot cannot obtain the planned path. In this case, the robot can try to trigger the Mech-Viz project to run again to obtain the planned path. The number of times to re-obtain the planned path is controlled by the retry_cnt variable in the example program. If no point cloud exists after two retry attempts (i.e., retry_cnt is greater than 2), the program stops.

    • When the status variable is set to another error code, the program stops.

You can write the error handling code by referring to the Status Codes and Troubleshooting manual.

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