Difference between revisions of "Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with FANUC robots"

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Revision as of 12:46, 11 July 2018

1. Prerequisites

Please make sure that your Fanuc controller meets following criteria:

- R632 Karel - Karel option available

- R648 User Socket Msg - Socket Communication option available

- System version 8.10 and higher (Versions 6.40 - 7.70 are also supported with certain limitations)

Fanuc tutorial Step1.png


2. Fanuc Controller Setup

2.1 Set an IP Address

Turn on the robot controller and set the controller IP address to meet your network configuration.

On Pendant Press Menu -> Setup -> Host Comm -> TCP/IP and enter IP address:

Fanuc tutorial Step2.png


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Plug Ethernet cable to appropriate socket in the Fanuc controller cabinet, restart the robot controller and try to ping

robot controller from the Vision Controller. If simple ping works, you can proceed to the configuration of robot controller communication.


2.2 Configure State Server

Now we will configure communication server for reporting current joint and tool poses to the Vision Controller

On Pendant press Menu -> Setup -> Host Comm -> F4[SHOW] -> Servers. Following list should appear:

Fanuc state server config 1.png


Enter S3 settings and configure PHOSTATE as shown in the figure below:


Fanuc state server config 2.png


Now, we need to set the server port which will be utilized for the communication.

Using pendant navigate to Menu -> Next -> System -> Variables.

Hold SHIFT to speed up scrolling and press ARROW DOWN several times to find - HOSTS_CFG as shown in the figure below:


Fanuc state server config 3.png


For State Server - S3 set SERVER_PORT system variable to 11004. (Be careful! SERVER_PORT and PORT are different items!)


Fanuc state server config 4.png

2.3 Configure Binpicking Client

As a next step we will configure communication client for transferring requests/responses between the Vision and Fanuc Controller.

On Pendant press Menu -> Setup -> Host Comm -> F4[SHOW] -> Clients. Following list should appear:


Fanuc bp client config 1.png


Enter C3 settings and configure PHOCLIENT as shown in the figure below.

Do not forget to input an IP address of Vision Controller Server here!


Fanuc bp client config 2.png


Hold SHIFT to speed up scrolling and press ARROW DOWN several times to find HOSTC_CFG as shown in the figure below


Fanuc bp client config 3.png


For C3 set SERVER_PORT system variable to 11003 (Be careful! SERVER_PORT and PORT are different items!)


Fanuc bp client config 4.png