Difference between revisions of "Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with OMRON robots"
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== 1. Prerequisities == | == 1. Prerequisities == | ||
| − | Photoneo | + | '''Photoneo Omron Interface''' was developed using ACE version 3.7.3.150 |
== 2. Project configuration == | == 2. Project configuration == | ||
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== 3. Runtime == | == 3. Runtime == | ||
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| + | Start Task Status Control. Click '''View''' -> '''Task Status Control'''. You should see a menu with Recipe Manager and Smart Controller as shown in the picture below. Select '''Smart Controller''': | ||
[[File:Omron Drag State Server Task.png]] | [[File:Omron Drag State Server Task.png]] | ||
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| + | Now '''drag pho_client()''' program from pho_client module to the '''task 0''' and '''pho_state()''' program from pho_state module '''to task 1'''. | ||
[[File:Omron Tasks Prepared.png]] | [[File:Omron Tasks Prepared.png]] | ||
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| + | When binpicking server is ready, run pho_client task to connect the Robot Controller to the Vision Controller. | ||
[[File:Omron running modules.png]] | [[File:Omron running modules.png]] | ||
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| + | Open Monitor Window option to see log outputs: | ||
[[File:Omron Running Tasks.png]] | [[File:Omron Running Tasks.png]] | ||
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| + | Robot status on Web Interface should now change to '''Connected''' and Omron Robot should start executing binpicking trajectories. | ||
Revision as of 15:12, 20 March 2018
1. Prerequisities
Photoneo Omron Interface was developed using ACE version 3.7.3.150
2. Project configuration
Start Automation Control Environment input your robot IP address and select Connect To Controller:
NOTE: Make sure that IP address of your PC is within the same subnet as robot.
If connection was established properly, you should see the basic ACE layout including Workspace Explorer as shown in the figure below:
As a first step you need to upload pho_state and pho_client modules which you received on Photoneo-Omron USB Stick.
Right Click on User Modules -> Load from V+ File
You should reach the state with pho_client and pho_state modules available as shown in the figure below:
As you can see pho_clinet module consists of several programs. Main loop as well as IP settings are located in the pho_client program. Open pho_client() and adopt IP address of Vision Controller you are about to connect directly in the code:
Next step is Start and End pose definition. Open Jog Mode or use Pendant to move robot to the binpicking start position. Adopt this position to meet your application requirements and save pose. Always use Precision point option.
Using Jog menu define binpicking start_pose and end_pose. Optionally you can define place_up and place_down position if you plan to use basic placing routine provided within interface.
When finished, you should see a list of defined poses also in Precision Points menu in the Workcell Explorer.
3. Runtime
Start Task Status Control. Click View -> Task Status Control. You should see a menu with Recipe Manager and Smart Controller as shown in the picture below. Select Smart Controller:
Now drag pho_client() program from pho_client module to the task 0 and pho_state() program from pho_state module to task 1.
When binpicking server is ready, run pho_client task to connect the Robot Controller to the Vision Controller.
Open Monitor Window option to see log outputs:
Robot status on Web Interface should now change to Connected and Omron Robot should start executing binpicking trajectories.
