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

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If project configuration has been completed, RTToolbox should be in Offline mode:
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If project configuration has been completed, RTToolbox should be in '''Offline mode''':
  
  
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Change to Online mode to start configuring Robot Controller:
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'''Change to Online mode''' to start configuring Robot Controller:
  
  
 
[[File: Setting Up Guide Mitsubishi Step 2.png]]
 
[[File: Setting Up Guide Mitsubishi Step 2.png]]
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Photoneo Mitsubishi Interface consists of following .prg files:
 
Photoneo Mitsubishi Interface consists of following .prg files:
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* - '''PHOSTATE''' - state server module, it runs in the background from the boot and keeps reporting joint states and TCP pose to the Bin Picking Studio.
 
* - '''PHOSTATE''' - state server module, it runs in the background from the boot and keeps reporting joint states and TCP pose to the Bin Picking Studio.
  
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As a first step in the Robot Controller configuration upload these four files to the Program List. Open Program Manager:
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As the first step in Robot Controller configuration upload these four files to the Program List. Right Click on '''Program''' and select '''Program Manager''':
  
  
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As a next step Open Parameter List and search for a '''PRGUSR''':
  
  
 
[[File: Setting Up Guide Mitsubishi Step 5.png]]
 
[[File: Setting Up Guide Mitsubishi Step 5.png]]
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Type '''PHOCOMMON''' here to enable sharing global variables within all programs:
  
  
 
[[File: Setting Up Guide Mitsubishi Step 6.png]]
 
[[File: Setting Up Guide Mitsubishi Step 6.png]]
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Now browse to '''Parameter''' -> '''Program Parameter''' -> '''Command''' and ensure that RAD is selected:
  
  
 
[[File: Setting Up Guide Mitsubishi Step 7.png]]
 
[[File: Setting Up Guide Mitsubishi Step 7.png]]
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As a next step browse to '''Parameter''' -> '''Communication Parameter''' -> '''Ethernet'''
  
  

Revision as of 09:50, 7 March 2019

NOTE: Users are strongly recommended to read the general introduction to robot interfaces prior to installing specific robot modules.

1. Prerequisites

Photoneo Mitsubishi Interface is written in MELFA V language and it it should be compatible with following controllers:

  • - CR750D
  • - CR800

The robot used for the development: RV2-FR + CR800 controller with firmware version as shown in the figure below:


Setting Up Guide Mitsubishi Step 22.png


NOTE: RT Toolbox3 Software is highly recommended for setting up Photoneo Mitsubishi Module

2. Mitsubishi Controller Setup

2.1 Set IP Address

Setting up an IP Address of Robot Controller is an essential step in robot configuration.

It is not possible to go Online until the configuration of IP address does not match the network configuration of PC running RT Toolbox (same subnet)

Turn on the Robot Controller and Click the MEMU at the bottom. Select Parameter to open the Parameter list:


Setting Up Guide Mitsubishi Step 17.png


Turn ON the Keyboard by pressing KEY at the bottom and type NETIP to the search box:


Setting Up Guide Mitsubishi Step 21.png


This parameter holds the current IP settings of the Robot Controller. Change IP Address here to match your network configuration (same subnet).


Setting Up Guide Mitsubishi Step 19.png


Confirm WRITE and try to ping the Robot Controller from your PC. If this operation is successful, it should be possible to go Online from RTToolBox3.

2.2 Connect from RT ToolBox3

When configuring the new project in RTToolBox it is recommended to enable TCP/IP communication for commissioning.


Setting Up Guide Mitsubishi RT Toolbox 1.png


The default configuration should work with RTToolbox3. Do not change any parameters here unless you know exactly what you are doing:


Setting Up Guide Mitsubishi RT Toolbox 2.png


If project configuration has been completed, RTToolbox should be in Offline mode:


Setting Up Guide Mitsubishi Step 0.png


Change to Online mode to start configuring Robot Controller:


Setting Up Guide Mitsubishi Step 2.png


Photoneo Mitsubishi Interface consists of following .prg files:

  • - PHOCLIENT - handles communication with BP Studio - Do Not Edit
  • - PHOCOMMON - holds the definition of global variables
  • - PHOMAIN - the main program loop is defined here amend program, poses, logic and gripper actions here
  • - PHOSTATE - state server module, it runs in the background from the boot and keeps reporting joint states and TCP pose to the Bin Picking Studio.

As the first step in Robot Controller configuration upload these four files to the Program List. Right Click on Program and select Program Manager:


Setting Up Guide Mitsubishi Step 3.png


Select four program files and copy them to the robot. Ensure that you have selected proper Source and Destination:


Setting Up Guide Mitsubishi Step 4.png


As a next step Open Parameter List and search for a PRGUSR:


Setting Up Guide Mitsubishi Step 5.png


Type PHOCOMMON here to enable sharing global variables within all programs:


Setting Up Guide Mitsubishi Step 6.png


Now browse to Parameter -> Program Parameter -> Command and ensure that RAD is selected:


Setting Up Guide Mitsubishi Step 7.png


As a next step browse to Parameter -> Communication Parameter -> Ethernet


Setting Up Guide Mitsubishi Step 8.png


Setting Up Guide Mitsubishi Step 9.png


Setting Up Guide Mitsubishi Step 10.png


Setting Up Guide Mitsubishi Step 11.png


Setting Up Guide Mitsubishi Step 12.png


Setting Up Guide Mitsubishi Step 13.png


Setting Up Guide Mitsubishi Step 14.png


Setting Up Guide Mitsubishi Step 15.png


Setting Up Guide Mitsubishi Step 16.png

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