Difference between revisions of "Locator Tutorial: Setting up Locator to work with ABB robots"

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=== 4.2 MOTION EXECTUION API ===
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=== 4.2 MOTION EXECUTION API ===
  
 
A very simple example, which illustrates how Locator can be easily integrated into existing RAPID application is available in RAPID module called '''LocatorBasicTemplate.mod'''.  
 
A very simple example, which illustrates how Locator can be easily integrated into existing RAPID application is available in RAPID module called '''LocatorBasicTemplate.mod'''.  

Revision as of 13:44, 7 May 2018

1. Prerequisities

Locator ABB Interface is compatible with RobotWareOS versions 5.13 and higher.

System options required for Locator ABB Interface: (616-6) PC Interface Module


Locator prerequisities.png


NOTE: Use of Robot Studio v.6.06 or higher is highly recommended for Locator ABB Interface setup.

2. ABB Controller setup

The following tutorial gives a step by step guide of how to configure your ABB IRC5 controller and install RAPID files to get the interface up and running.

This tutorial was originally written using the latest RobotWare v.6.06, however it should be compatible with older versions with minor changes.

2.1 Network configuration

NOTE: The network configuration procedure described below only works with RobotWareOS v.6 or higher. If you have an older version of RobotWareOS and need to change an IP address, please contact local ABB support.

Turn on the IRC5 Controller, wait for the Initialization Screen to appear, open the Menu screen and select the Control Panel option:


ABB pendant menu RW6.png


In the Control Panel pane, select Controller Settings:


ABB pendant control panel.png


Select Settings and choose the Network option:


ABB pendant network.png


The Network Settings window should now appear. Use the Touch Panel Keypad to set the IP address of the IRC5 WAN port:


ABB pendant IP setup.png


Choose OK button and restart the Controller to apply the new settings:


ABB pendant restart.png


3 Robot Studio Setup

3.1 Connect to IRC5 Controller from Robot Studio

Set your local PC network settings to DHCP, plug an Ethernet cable into the Service Port of the IRC5 Controller and launch Robot Studio.

For a direct connection to the Robot Controller, select the Controller tab and select the One Click Connect option:


Locator ABB tutorial step2.PNG


If everything is configured properly, Robot Studio should connect to the IRC5 controller and you should see the content of "Current Station" in the left pane.

NOTE: For the purpose of writing this tutorial, an ABB IRB1200 7kg was used.


Locator ABB tutorial s3.png

3.2 Load Locator ABB Module files

Locator module for ABB consists of two RAPID files - LocatorBasicTemplate.mod and LocatorCommunication.sys .

Both files needs to be uploaded to the controller. Right Click on T_ROB1 task and select Load Module option. Browse to the LocatorBasicTemplate.mod and hit Open.

Repeat the same procedure with LocatorCommunication.sys file.

You should see that both files have appeared in the T_ROB1 module list.


Locator ABB tutorial s4.png


If Synchronize to Station dialog panel appears, just click Cancel, we will synchronize later.


Locator ABB tutorial s5.png


In case you are working with a clean system and you do not plan to make use of default Module1, feel free to delete it.


Locator ABB tutorial s6.png

3.3 Configure Main Entry

Now we need to set LocatorBasicTemplate to become the main robot program. On the left pane, select Controller -> Configuration -> Task


Locator ABB tutorial s7.png


Double click on T_ROB1 task. Instance Editor dialog screen should appear.

Here change Main Entry to Locator main fucntion which is called locatorMain and Hit OK.


Locator ABB tutorial s8.png


Since this is a major change to the system, a restart is needed in order to take effect. Hit OK here, we will restart system later on.


Locator ABB tutorial s9.png

3.4 Adopt Network Configuration

Now click LocatorBasicTemplate in the left pane to open the RAPID code. Adopt first three constants to meet your application requirements and network configuration.


Locator ABB tutorial s10.png


Click Apply button when finished


Locator ABB tutorial s11.png


Now it is the time to Restart the system. Use Restart button in Robot Studio or directly on the Pendant.


Locator ABB tutorial s12.png

3.5 Reteach Start and End poses

After system reboot open the Production Window and hit PP to Main button.


Locator ABB tutorial step13.PNG


You should see the LocatorBasicTemplate being properly loaded with the Program Pointer set as shown in the figure below:


Locator ABB tutorial s13.png


Before we play the program, we need to Reteach Start and End positions to meet your application requirements. From the Main menu on Pendant select the Program Editor tool.


Locator ABB tutorial s14.png


Switch to the Manual mode, jog the robot to your desired start position, select the asterisk at the locator_start_robtarget line and hit Modify Position.

Repeat the same procedure for locator end position.


Locator ABB tutorial step16.PNG

3.6 Run Locator

Now you are ready to run the program. Switch back to Auto mode, Plug Ethernet cable to pre-configured WAN port and due to safety reasons select 10% speed.

Open Production Window, PP to Main and hit Play.

Make sure that you are ready to stop the motion execution immediately in case if something goes wrong.

If everything was configured and calibrated properly, robot should trigger a first scan, wait for the result and move to towards the first localized object (if returned pose is reachable).

You can monitor program steps directly on the pendant info log panel.


Locator ABB tutorial s15.png


If you are satisfied with the basic locator functionality, feel free to adopt the RAPID code to meet your application requirement, change speed, precision or the order of the steps in the main loop.

4. LOCATOR RAPID API

The ABB Locator module is a set of RAPID procedures which handle socket communication with Locator and provide basic example how to navigate robot to specific targets.

4.1 COMMUNICATION API

RAPID procedures necessary for communication with Locator are available in LocatorCommunication system module.

4.1.1 RAPID PROCEDURES


connectToLocator(string server_ip, num port, \num wait_time) - a procedure to establish connection to Locator.

- server_ip - An IP address of Vision Controller running Locator.

- port - A port on which Locator is listening for a connection.


trigLocator(num mode, \num num_of_results) - a procedure to trigger next localization

- mode - two modes are available - SINGLE_RESULT_MODE and MULTIPLE_RESULT_MODE.

- \num num_of_results - optional parameter used in MULTIPLE_RESULT_MODE - defines a number of how many results are expected by user.


waitForLocatorResponse() - a procedure to wait for a result of localization to be received


flushSocket() - a procedure to read and discard all remaining bytes in the socket buffer


4.2 MOTION EXECUTION API

A very simple example, which illustrates how Locator can be easily integrated into existing RAPID application is available in RAPID module called LocatorBasicTemplate.mod.

Use of Locator in both SINGLE_RESULT_MODE and MULTIPLE_RESULT_MODE + basic routine to navigate arm to goals received from Locator is provided.

4.2.1 RAPID PROCEDURES


moveToTarget(\num target_id) - a procedure to reach the target received as a result of localization

- \num target_id - optional parameter used in MULTIPLE_RESULT_MODE - specifies which of multiple received targets to reach.


isReachable(robtarget point) - a procedure to check if given pose is reachable by the selected arm. Procedure sets/resets global flag is_reachable.

- robtarget point - robtarget pose received as a result of localization.