Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with FANUC robots

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 -> Order FI to show installed options

2. Fanuc Controller Setup

2.1 Set an IP Addresses of Ethernet Ports

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

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

Two Ethernet ports should be available for configuration, it is recommended to configure Port#1 for communication with Vision Controller:

If you use ROBOGUIDE for workcell commisioning, configure Port#2 for transferring files between robot controller and your PC:

2.2 Configure TCP/IP Server

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

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

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

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

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

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

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

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

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

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

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

2.4 Load Photoneo Fanuc Module Files

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:

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

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:

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

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:

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!

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

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