Difference between revisions of "Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with OMRON robots"
| Line 5: | Line 5: | ||
== 2. Project configuration == | == 2. Project configuration == | ||
| − | Start | + | Start Automation Control Environment, '''insert IP address of your robot controller''' and select '''Connect To Controller''': |
''NOTE: Make sure that IP address of your PC is within the same subnet as robot.'' | ''NOTE: Make sure that IP address of your PC is within the same subnet as robot.'' | ||
| Line 19: | Line 19: | ||
| − | As a first step you need to upload '''pho_state''' and '''pho_client''' modules which you received on Photoneo-Omron USB Stick. | + | As a first step you need to upload '''pho_state''' and '''pho_client''' modules which you received on Photoneo-Omron Interface USB Stick. |
Right Click on '''User Modules''' -> '''Load from V+ File''' | Right Click on '''User Modules''' -> '''Load from V+ File''' | ||
| Line 33: | Line 33: | ||
| − | 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 | + | 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 edit the IP address of Vision Controller you are about to connect directly in the code: |
| Line 39: | Line 39: | ||
| − | + | In the next step you need to define binpicking start and end poses. Open Robot Jog Control or use Pendant to move robot to the binpicking start position. Adopt this position to meet your application requirements and save both poses using Robot Jog Control Menu. Always use '''Precision point''' option. | |
| Line 45: | Line 45: | ||
| − | Using Jog | + | Using Robot Jog Control 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. |
| Line 51: | Line 51: | ||
| − | When finished, you should see a list of defined poses also in '''Precision Points''' menu in the Workcell Explorer. | + | When finished, you should see a list of defined poses also in '''Precision Points''' menu in the '''Workcell Explorer'''. |
| Line 59: | Line 59: | ||
== 3. Runtime == | == 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''': | + | 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''': |
| Line 65: | Line 65: | ||
| − | + | '''Drag pho_client()''' program from pho_client module to the '''task 0''' and '''pho_state()''' program from pho_state module '''to task 1'''. | |
| Line 71: | Line 71: | ||
| − | + | Now start binpicking server using web interface and wait until it is ready, Now '''run pho_client task''' to connect the Robot Controller to the Vision Controller and start sending requests. | |
| Line 77: | Line 77: | ||
| − | Open Monitor Window | + | Open '''Monitor Window''' tool to see the pho_client log outputs: |
| Line 83: | Line 83: | ||
| − | Robot status on Web Interface should now change to '''Connected''' and Omron Robot should start executing binpicking trajectories. | + | Robot status on Web Interface should now change to '''Connected''' and Omron Robot should start executing binpicking trajectories. See logs on the Monitor Window tool. |
Revision as of 15:19, 20 March 2018
1. Prerequisities
Photoneo Omron Interface was developed using ACE version 3.7.3.150
2. Project configuration
Start Automation Control Environment, insert IP address of your robot controller 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 Interface 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 edit the IP address of Vision Controller you are about to connect directly in the code:
In the next step you need to define binpicking start and end poses. Open Robot Jog Control or use Pendant to move robot to the binpicking start position. Adopt this position to meet your application requirements and save both poses using Robot Jog Control Menu. Always use Precision point option.
Using Robot Jog Control 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:
Drag pho_client() program from pho_client module to the task 0 and pho_state() program from pho_state module to task 1.
Now start binpicking server using web interface and wait until it is ready, Now run pho_client task to connect the Robot Controller to the Vision Controller and start sending requests.
Open Monitor Window tool to see the pho_client log outputs:
Robot status on Web Interface should now change to Connected and Omron Robot should start executing binpicking trajectories. See logs on the Monitor Window tool.
