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

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

1. Prerequisites

Prior to setup, please ensure that your Yaskawa controller meets the following criteria:

- YRC1000 - the latest controller version. FS100, DX100 and DX200 are currently not supported but available on demand. NX100 is deprecated.

- MotoPlus Runtime option - This option needs to be enabled on robot controller in order to get Photoneo Yaskawa interface up and running.

The Photoneo Yaskawa Interface was originally developed using GP8 manipulator with YRC1000 Controller with the following version:


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2. Yaskawa Controller Setup

2.1 Maintenance & Management Mode

When configuring Yaskawa controller for Photoneo Interface it is necessary to work in Maintenance Mode and Management Security level. Following procedure describes the steps necessary to enter this mode.

Start Controller into a Maintenance Mode. Hold the Main Menu button while turning the main switch on. You should hear a short beep on a boot. Maintenance mode screen is shown in the figure below:


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Switch Security Level from Editing to Management Mode. Browse to System -> Security and select Management Mode:


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As a password to management mode, insert "9999999999999999" (16x9):


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Notice three keys in the top status bar - this means that Management Mode is Active

2.2 Set IP Address

The first step of the process is to configure the IP address of the robot controller. In Maintenance mode browse to System -> Setup -> Option Functions:


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Select LAN Interface Setting to enter the Network Configuration pane:


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Select Manual Setting for LAN2 Port and amend the IP Address to meet your network requirements:


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2.3 Enable MotoPlus Functionality

If MotoPlus functionality has not been enabled on robot controller before, browse to System -> Setup -> Option Functions and switch MOTOPLUS Func Flag from NOT USED to USED.


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MotoPlus APL icon should be now visible on the left pane. Enter the MotoPlus Func. Settings to configure MotoPlus autostart option:


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2.4 Load Photoneo Yaskawa Module

Photoneo Yaskawa Module consists of several JOB Files and one PhotoneoBP_CONTROLLER_v_x_y_z.out file. This OUT file needs to be loaded to the Robot Controller as follows:

Select MOTOPLUS Apl. -> Load (User Application) and select the specific out file:


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Confirm Loading the application


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Maintenance Mode Configuration is finished now. Restart the robot controller into Normal Mode.



3. INFORM LANGUAGE

The Photoneo Yaskawa Module was designed to be easily integrated into existing applications written as INFORM JOBS.

3.1 INFORM API

The Photoneo YASKAWA INFORM API is comprised of the following programs. These are intended for high level control of bin picking sequences and are usually called in PHOMAIN program.

PHO_REQ_SCAN - request to trigger the next scan and localization. Non-blocking request; the TP program continues immediately at the next line.

PHO_WAIT_SCAN - function to wait for scan to be finished. This should be called after triggering the scan, but not does not have to be called immediately. Blocking function, waits for response from the Vision Controller.

PHO_TRAJ_REQ - request to start trajectory planning for current goal. Non-blocking function; the TP program continues immediately at the next line.

PHO_TRAJ_RECV - function to receive requested bin picking trajectories (consisting of a sequence of trajectory and gripper operations). Blocking function; waits for motion data to be received.

PHO_INIT - request to initialize bin picking application from the Vision Controller side. Start and End Poses defined by the operator from Teach Pendant are transferred to the Vision Controller and used in the trajectory planning pipeline as start and terminus points.

PHO_CALIB_ADD - request to add calibration point - a scan is triggered and the calibration is recalculated. Blocking request; the program will not continue until the calibration result is recalculated and has been received by the Robot Controller.

PHO_CALIB_SET - request to set current calibration result to the PhoXi Scanner.

PHO_CALIB_RESET - request to reset current calibration and remove all previously added points.