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

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Photoneo UR Interface is compatible with '''Universal robots versions 1.8 and higher'''.  
 
Photoneo UR Interface is compatible with '''Universal robots versions 1.8 and higher'''.  
 
  
 
== 2. UR Controller setup ==
 
== 2. UR Controller setup ==
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Following tutorial gives a step by step guide how to configure your UR controller and install all necessary UR scripts to get the robot interface for Photoneo Binpicking Solution running.  
 
Following tutorial gives a step by step guide how to configure your UR controller and install all necessary UR scripts to get the robot interface for Photoneo Binpicking Solution running.  
  
This tutorial was originally written using the latest '''UR v.3.5.1''', however it should be compatible with older versions with minor changes. It is assumed that user has a basic knowledge of UR system and its configuration. In case you have never used this robot before, it is highly recommended to read basic [tutorials](http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/turn-on-power/) on Zacobria robot community forum for UR robots prior to installing Photoneo UR interface.     
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This tutorial was originally written using the latest '''UR v.3.5.1''', however it should be compatible with older versions with minor changes. It is assumed that a user has a basic knowledge of UR system and its configuration. In case you have never used this robot before, it is highly recommended to read basic [[http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/turn-on-power/ tutorials]] on Zacobria robot community forum for UR robots prior to installing Photoneo UR interface.     
 
 
  
 
=== 2.1 Network configuration ===
 
=== 2.1 Network configuration ===
  
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As a first step we configure network interface. Click '''Setup Robot''' -> '''Network''' to open robot's configuration:
  
As a first step we configure network interface. Click '''Setup Robot''' -> '''Network''' to open robot's configuration:
 
  
 
[[File:ur_start_2.png]]
 
[[File:ur_start_2.png]]
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== 3. Install Photoneo program ==
 
== 3. Install Photoneo program ==
  
As a next step we need to copy UR scripts from Photoneo UR USB stick to the robot controller. It is possible to perform this operation via Ethernet or using USB stick directly. In this tutorial USB option will be described:
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As a next step we need to copy UR scripts from Photoneo UR USB stick to the robot controller. It is possible to perform this operation via Ethernet or using USB stick directly. In this tutorial both options will be covered:
 +
 
 +
=== 3.1 Copy files from USB stick ===
  
 
Insert USB stick to the slot on the back side of the pendant. On the Main Robot screen select '''Program Robot''' -> '''Load Program''':
 
Insert USB stick to the slot on the back side of the pendant. On the Main Robot screen select '''Program Robot''' -> '''Load Program''':
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NOTE: If compatibility error occurs during program loading, it is recommended to create new program first. See section 3.3 for further information.  
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''NOTE: If compatibility error occurs during program loading, it is recommended to create new program first. See section 3.3 for further information.''
  
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=== 3.2 Copy files via Ethernet SCP ===
  
[[File:select_loaded_module.png]]
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It is also possible to copy files to UR Controller using remote access directly from PC. Browse to the folder containing Photoneo UR scripts and copy the whole folder using following command:
  
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''$ scp -r Photoneo root@XXX.XXX.XXX.XXX:/programs/Photoneo''
  
Nasledne je potrebne program ulozit do PC. Klik na 'file' a vybrat 'save as'
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Default password is '''"easybot"'''
  
=== 3.2 Cez ethernet scp ===
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=== 3.3 Creating new program ===
  
Subory do robota je mozne poslat aj vzdialenym pristupom napr. z Linuxu vyuzitim scp. V terminali je potrebne dostat sa do priecinku s robotickym programom nasledne cely priecinok nakopirujete prikazom:
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On the Main Menu screen select '''Empty Robot'''. Following screen should appear:
  
scp -r Photoneo root@10.0.1.136:/programs/Photoneo
 
  
Po zadani hesla budu subory skopirovane, prednastavene heslo je easybot
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[[File:empty_program.png]]
*poznamka – takisto sa da pripojit aj cez windows, raz mi to UR-kaci ukazali ako sa na vzdialeni pc pripojit cez Notepad++ a poslat subory
 
  
=== 3.3 Vytvorenie programu ===
 
  
Opat hlavnej obrazovke (Prvy obrazok) treba kliknut na Empty Robot a zobrazi sa nasledujuce okno:
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Photoneo UR module consists of two main parts: '''BeforeStart''' and '''Robot Program'''. In order to enable BeforeStart Sequence it is necessary to '''check this option at the bottom of this pane'''.
  
[[File:empty_program.png]]
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You should see following screen with empty Robot Program and BeforeStart programs now:
  
Na zaciatok treba zakliknut na obrazovke '''program''' checkbox '''add BeforeStart Sequence'''
 
  
Program pozostava z dvoch hlavnych casti: '''Before start''' a '''robot program'''.
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[[File:before_start.png]]
  
[[File:before_start.png]]
 
  
Do '''before program''' je potrebne vlozit scripty, ktore su ulozene v priecinku Photoneo/scripts, bud na USB kluci alebo na skopirovanom priecinku cez scp.
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Copy scripts from ''Photoneo/scripts'' to '''BeforeStart''' sequence using following steps:
  
Pridanie scriptu:
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1. Click BeforeStart na lavej liste
  
1. kliknut na BeforeStart na lavej liste
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2. Select '''Structure''' in the Main Window
  
2. V strednom okne klinut na structure
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3. Choose '''Advanced''' tab
  
3. Vybrat advance
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4. Select '''Script code'''
  
4. Vybrat Script code
 
  
 
[[File:add_script.png]]  
 
[[File:add_script.png]]  
  
5. Opat v stredom okne kliknut na command
 
  
6. Vybrat file miesto line
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5. Select '''Command''' tab in the Main Window
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6. Choose '''File''' and '''Edit''' as shown by the figure below:
  
7. Klik na edit
 
  
 
[[File:empty_script.png]]
 
[[File:empty_script.png]]
  
8. Klik na Open
 
  
9. Vo filesysteme vybrat USB->Photoneo->scripts->photoneo_script.script  
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8. Click '''Open''' and select ''photoneo_script.script'' from Photoneo/script folder
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[[File:edit_script.png]]
 
[[File:edit_script.png]]
  
10. Klik na Save a nasledne na exit
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10. Hit '''Save''' and '''Exit'''
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[[File:edit_script_2.png]]
 
[[File:edit_script_2.png]]
  
Uspesne nahraty script je zobrazeny na dalsom obrazku
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If script was loaded successfully it should be visible under '''BeforeStart''' program as shown by the figure below:
 +
 
  
 
[[File:loaded_script.png]]
 
[[File:loaded_script.png]]
  
Do '''BeforeStart''' treba este pridat dalsi script '''customer_definitions.script''' pod '''photoneo_script.script'''. Cely postup je potrebne zopakovat od bodu 1
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Repeat the same sequence for '''customer_definitions.script''' to reach following state:
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[[File:loaded_script_2.png]]
 
[[File:loaded_script_2.png]]
  
Ked su nahrate scripty je mozne pokracovat tvorbou celeho programu podla Photoneo UR API
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 +
All files necessary for Photoneo UR interface should be available within the system. You are now ready to start editing the main robot program using Photoneo UR API
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== 4 Photoneo UR API ==
 
== 4 Photoneo UR API ==

Revision as of 20:56, 10 February 2018

1. Prerequisities

Photoneo UR Interface is compatible with Universal robots versions 1.8 and higher.

2. UR Controller setup

Following tutorial gives a step by step guide how to configure your UR controller and install all necessary UR scripts to get the robot interface for Photoneo Binpicking Solution running.

This tutorial was originally written using the latest UR v.3.5.1, however it should be compatible with older versions with minor changes. It is assumed that a user has a basic knowledge of UR system and its configuration. In case you have never used this robot before, it is highly recommended to read basic [tutorials] on Zacobria robot community forum for UR robots prior to installing Photoneo UR interface.

2.1 Network configuration

As a first step we configure network interface. Click Setup Robot -> Network to open robot's configuration:


Ur start 2.png


Following configuration pane should appear. Select static address network method and configure IP settings to meet your network requirements. Apply when finished.


Network setup.png


3. Install Photoneo program

As a next step we need to copy UR scripts from Photoneo UR USB stick to the robot controller. It is possible to perform this operation via Ethernet or using USB stick directly. In this tutorial both options will be covered:

3.1 Copy files from USB stick

Insert USB stick to the slot on the back side of the pendant. On the Main Robot screen select Program Robot -> Load Program:


Program robot.png


You should see robot's filesystem pane. Select USB -> Photoneo and choose photoneo_module.urp


Select photoneo module.png


NOTE: If compatibility error occurs during program loading, it is recommended to create new program first. See section 3.3 for further information.

3.2 Copy files via Ethernet SCP

It is also possible to copy files to UR Controller using remote access directly from PC. Browse to the folder containing Photoneo UR scripts and copy the whole folder using following command:

$ scp -r Photoneo root@XXX.XXX.XXX.XXX:/programs/Photoneo

Default password is "easybot"

3.3 Creating new program

On the Main Menu screen select Empty Robot. Following screen should appear:


Empty program.png


Photoneo UR module consists of two main parts: BeforeStart and Robot Program. In order to enable BeforeStart Sequence it is necessary to check this option at the bottom of this pane.

You should see following screen with empty Robot Program and BeforeStart programs now:


Before start.png


Copy scripts from Photoneo/scripts to BeforeStart sequence using following steps:

1. Click BeforeStart na lavej liste

2. Select Structure in the Main Window

3. Choose Advanced tab

4. Select Script code


Add script.png


5. Select Command tab in the Main Window

6. Choose File and Edit as shown by the figure below:


Empty script.png


8. Click Open and select photoneo_script.script from Photoneo/script folder


Edit script.png


10. Hit Save and Exit


Edit script 2.png


If script was loaded successfully it should be visible under BeforeStart program as shown by the figure below:


Loaded script.png


Repeat the same sequence for customer_definitions.script to reach following state:


Loaded script 2.png


All files necessary for Photoneo UR interface should be available within the system. You are now ready to start editing the main robot program using Photoneo UR API


4 Photoneo UR API