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

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=== 2.1 Set IP Addresses of Ethernet Ports ===
 
=== 2.1 Set IP Addresses of Ethernet Ports ===
  
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As a first step we need to configure controller IP addresses to meet network configuration.
+
As a first step we need to configure controller IP addresses of robot controller.
  
 
On Pendant Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''TCP/IP''':
 
On Pendant Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''TCP/IP''':
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=== 2.2 Configure TCP/IP Server ===
 
=== 2.2 Configure TCP/IP Server ===
  
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Photoneo Fanuc Module requires State Server to run as a background task on robot controller. Configured TCP/IP server is necessary for this purpose.
+
Photoneo Fanuc Module requires State Server to run as a background task on the robot controller. Configured TCP/IP server is necessary for this purpose.
  
 
Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''F4[SHOW]''' and select '''Servers'''
 
Press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''F4[SHOW]''' and select '''Servers'''
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The Cartesian origin of Fanuc robots is different than the Cartesian origin of robot models used in the Photoneo Binpicking Studio. In order to ensure successful calibration, we need to apply predefined offset in Z axis in UFRAME.
 
The Cartesian origin of Fanuc robots is different than the Cartesian origin of robot models used in the Photoneo Binpicking Studio. In order to ensure successful calibration, we need to apply predefined offset in Z axis in UFRAME.
  
−
Press '''Menu''' -> '''Next''' -> '''System''' -> '''Variables''' and scroll down until you find system variable named '''GROUP'''  
+
Press '''Menu''' -> '''Next''' -> '''System''' -> '''Variables''' and scroll down until you find system variable named '''GROUP'''. (Use Shift button to speed up scrolling)
  
  
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Press '''Enter''' to open GROUP menu and select '''UFRAME''' option as shown in the figure below:  
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Press '''Enter''' to open '''GROUP''' menu and select '''UFRAME''' option as shown in the figure below:  
  
  
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Edit the '''Z axis''' value according Offset table below and the arm you are using for your application.
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Edit the '''Z''' value according to the Offset table below and the arm you are using for your application.
  
  
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[[File: ]]
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[[File:Fanuc tutorial Offset table.png]]
  
  
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=== 2.4 Load Photoneo Fanuc Module Files ===
+
=== 2.5 Load Photoneo Fanuc Module Files ===
  
 
The Photoneo Fanuc Interface consists of two Karel binaries and approximately 20 TP programs. All these files needs to be copied to robot controller in order to get Photoneo Fanuc Module up and running.   
 
The Photoneo Fanuc Interface consists of two Karel binaries and approximately 20 TP programs. All these files needs to be copied to robot controller in order to get Photoneo Fanuc Module up and running.   
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[[File:Fanuc tutorial Step17.png]]
 
[[File:Fanuc tutorial Step17.png]]
 +
 +
 +
=== 2.6 Enable Autostart of State Server ===
 +
 +
As a next step we need to configure State Server to start automatically after boot.
 +
 +
Press '''Menu''' -> '''Next''' -> '''System''' -> '''Variables''' and scroll down to find '''SHELL_CFG''' variable
  
  
 
[[File:Fanuc tutorial Step18.png]]
 
[[File:Fanuc tutorial Step18.png]]
 +
 +
 +
Edit '''SHELL_NAME''' and '''SHELL_EXT''' to the state as shown in the figure below:
  
  
 
[[File:Fanuc tutorial Step19.png]]
 
[[File:Fanuc tutorial Step19.png]]
 +
 +
 +
Cycle power to apply all changes. Press '''FCTN''' -> '''NEXT''' -> '''CYCLE POWER''' and confirm YES.
  
  
 
[[File:Fanuc tutorial Step20.png]]
 
[[File:Fanuc tutorial Step20.png]]
 +
 +
 +
If everything was set correctly you should see that State Server is started and waiting for connection immediately after the boot:
  
  
 
[[File:Fanuc tutorial Step21.png]]
 
[[File:Fanuc tutorial Step21.png]]
 +
 +
  
  
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[[File:Fanuc tutorial Step29.png]]
 
[[File:Fanuc tutorial Step29.png]]
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−
 
−
 
−
Plug Ethernet cable to appropriate socket in the Fanuc controller cabinet, restart the robot controller and try to ping
 
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robot controller from the Vision Controller. If simple ping works, you can proceed to the configuration of robot controller communication.
 
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−
 
−
 
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=== 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:
 
−
 
−
[[File:Fanuc state server config 1.png]]
 
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−
 
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Enter S3 settings and configure '''PHOSTATE''' as shown in the figure below:
 
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−
 
−
[[File:Fanuc state server config 2.png]]
 
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−
 
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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:
 
−
 
−
 
−
[[File:Fanuc state server config 3.png]]
 
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−
 
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For State Server - '''S3''' set '''SERVER_PORT''' system variable to '''11004'''. (Be careful! SERVER_PORT and PORT are different items!)
 
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[[File:Fanuc state server config 4.png]]
 
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=== 2.3 Configure Binpicking Client ===
 
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As a next step we will configure communication client for transferring requests/responses between the Vision and Fanuc Controller.
 
−
 
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On Pendant press '''Menu''' -> '''Setup''' -> '''Host Comm''' -> '''F4[SHOW]''' -> '''Clients'''. Following list should appear:
 
−
 
−
 
−
[[File:Fanuc_bp_client_config_1.png]]
 
−
 
−
 
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Enter '''C3''' settings and configure '''PHOCLIENT''' as shown in the figure below.
 
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'''Do not forget to input an IP address of Vision Controller Server here!'''
 
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−
 
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[[File:Fanuc_bp_client_config_2.png]]
 
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−
 
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Hold '''SHIFT''' to speed up scrolling and press '''ARROW DOWN''' several times to find '''HOSTC_CFG''' as shown in the figure below
 
−
 
−
 
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[[File:Fanuc_bp_client_config_3.png]]
 
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−
 
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For '''C3''' set '''SERVER_PORT''' system variable to '''11003''' (Be careful! SERVER_PORT and PORT are different items!)
 
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−
 
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[[File:Fanuc_bp_client_config_4.png]]
 

Revision as of 15:37, 11 July 2018

1. Prerequisites

Please make sure that your Fanuc controller meets following criteria:

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

- R632 Karel - Karel option available

- R648 User Socket Msg - Socket Communication option available

Click Menu -> Status -> Version ID -> Next -> F3[ORDER FI] to verify that required options are installed on robot controller:


Fanuc tutorial Step1.png

2. Fanuc Controller Setup

2.1 Set IP Addresses of Ethernet Ports

As a first step we need to configure controller IP addresses of robot controller.

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


Fanuc tutorial Step2.png


Two Ethernet ports should be available, it is recommended to configure Port#1 for communication with Vision Controller. Adapt an IP address of Port#1 to meet you network configuration:


Fanuc tutorial Step2 2.png


If you use ROBOGUIDE for workcell commisioning, configure Port#2 for transferring files between robot controller and your PC. Adapt an IP address of Port#2 to meet you network configuration:


Fanuc tutorial Step3.png


2.2 Configure TCP/IP Server

Photoneo Fanuc Module requires State Server to run as a background task on the robot controller. Configured TCP/IP server is necessary for this purpose.

Press Menu -> Setup -> Host Comm -> F4[SHOW] and select Servers


Fanuc tutorial Step4.png


Select S3 slot - we keep S1 and S2 slots reserved for user application.


Fanuc tutorial Step5.png


Configure TCP/IP server S3 as shown in the figure below:


Fanuc tutorial Step6.png


2.3 Configure TCP/IP Client

The main Photoneo Bin Picking application works in client mode. Configured TCP/IP Client is necessary for this purpose.

Press Menu -> Setup -> Host Comm -> F4[SHOW] and select Clients


Fanuc tutorial Step4.png


Select C3 slot - we keep C1 and C2 slots reserved for user application.


Fanuc tutorial Step7.png


Configure TCP/IP client C3 as shown in the figure below:


Fanuc tutorial Step9.png


2.4 Change Cartesian Origin of Robot

The Cartesian origin of Fanuc robots is different than the Cartesian origin of robot models used in the Photoneo Binpicking Studio. In order to ensure successful calibration, we need to apply predefined offset in Z axis in UFRAME.

Press Menu -> Next -> System -> Variables and scroll down until you find system variable named GROUP. (Use Shift button to speed up scrolling)


Fanuc tutorial Step10.png


Press Enter to open GROUP menu and select UFRAME option as shown in the figure below:


Fanuc tutorial Step11.png


Edit the Z value according to the Offset table below and the arm you are using for your application.


Fanuc tutorial Step12.png


A table of offsets for specific robot models is shown in the figure below:


Fanuc tutorial Offset table.png


NOTE: Be careful since this change might affect your previously taught Cartesian positions !!!


2.5 Load Photoneo Fanuc Module Files

The Photoneo Fanuc Interface consists of two Karel binaries and approximately 20 TP programs. All these files needs to be copied to robot controller in order to get Photoneo Fanuc Module up and running.

Extract Photoneo Fanuc Module archive (.zip file) which you received with Photoneo Bin Picking Studio to the USB stick and plug it to Teach Pendant.

Press Menu -> File -> File -> F5[UTILS] and select Set Device:


Fanuc tutorial Step13.png


Select USB on TP (UT1:) option as shown in the figure below:


Fanuc tutorial Step14.png


Press F2[DIR] to open Photoneo Fanuc Module directory:


Fanuc tutorial Step15.png


Select *.*(all files) and press F3[LOAD] and YES to load all the files from Photoneo Fanuc Module to the robot controller:


Fanuc tutorial Step16.png


Press Select button to verify that all TP and Karel programs were successfully loaded:


Fanuc tutorial Step17.png


2.6 Enable Autostart of State Server

As a next step we need to configure State Server to start automatically after boot.

Press Menu -> Next -> System -> Variables and scroll down to find SHELL_CFG variable


Fanuc tutorial Step18.png


Edit SHELL_NAME and SHELL_EXT to the state as shown in the figure below:


Fanuc tutorial Step19.png


Cycle power to apply all changes. Press FCTN -> NEXT -> CYCLE POWER and confirm YES.


Fanuc tutorial Step20.png


If everything was set correctly you should see that State Server is started and waiting for connection immediately after the boot:


Fanuc tutorial Step21.png



Fanuc tutorial Step22.png


Fanuc tutorial Step23.png


Fanuc tutorial Step24.png


Fanuc tutorial Step25.png


Fanuc tutorial Step26.png


Fanuc tutorial Step27.png


Fanuc tutorial Step28.png


Fanuc tutorial Step29.png

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