Binpicking Tutorial: Setting up Photoneo BP Studio with KUKA IIWA
Contents
1. Prerequisities
No special prerequisities are known by the time of writing this tutorial.
2. KUKA Controller setup
This tutorial was written using Sunrise Workbench v.1.11, however it should be compatible with different version with minor changes.
2.1 Create new sunrise project
Start by creating new Sunrise Project. Select New -> Sunrise Project
Make sure that IP Address of KUKA Controller is configured properly:
Select which version of manipulator you use, KUKA IIWA 7 R800 was used in this tutorial:
Select flange type, Medien Flanch Touch Pneumatisch was use in this tutorial:
Review Summary of Sunrise Project and click Finish Button.
2.2 Project Configuration
Enter StationSetup.cat option in Project Overview
On Topology Tab add your version of KUKA IIWA to the robot to the Used Element under KUKA Sunrise Cabinet:
On the Software tab make sure that all important software components are included in installation, especially Robotics API:
On the Configuration Tab select flange type again:
Proceed to Installation Tab and Install the project to the controller, click Save and Apply:
Project files should be copied to the robot controller now:
OPTIONAL: If you do not use safety PLC and need to disable safety features enter SafetyConfiguration.cat file and disable first three rows (Emergency Stop External, Operator protection and Protective Setup).
Safety Settings will be applied during project synchronization later.
2.3 Installation of Photoneo Module
Photoneo KUKA IIWA Module consists of two tasks - State Server and Client. First we configure Background task for State Server. Right Click on src -> New -> Background Task.
After adding Background Task to the project your current structure should look as shown in the figure below:
Synchronize project and restart controller if needed:
Now copy files from Photoneo KUKA IIWA USB to your project using normal filesystem