Locator Tutorial: Setting up Locator to work with YASKAWA robots

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WORK IN PROGRESS SITE


Users are strongly recommended to read Locator Tutorial: Introduction prior to installation of specific robot interface

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 and YRC1000 Controller with the following version:


Alt text
Figure 1.0

Set IP Address

Configure the IP address of the robot controller. In Maintenance mode, browse to System -> Setup -> Option Functions:


Alt text
Figure 1.2


Select LAN Interface Setting to enter the Network Configuration pane:


Alt text
Figure 1.3


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


Alt text
Figure 1.4

Next, go to the VARIABLE and input IP address of Locator Server.


Alt text
Figure 1.5

Enable MotoPlus Functionality

If MotoPlus functionality has not been enabled on robot controller before, browse to System -> Setup -> Option Functions

Switch MOTOPLUS Func State from NOT USED to USED.


Alt text
Figure 1.6


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


Alt text
Figure 1.7


YASKAWA controller setup

Locator interface setup

Calibration

Robot Camera Calibration is a crucial step in Locator configuration. Accurate calibration guarantees that object positions will be calculated directly in Robot Base coordinates.

Robot - Camera Calibration

Mount the Scanner firmly, ensure that the scene is properly captured from the final position and start the Photoneo Robot Camera Calibrator:


KUKA SettingUp Guide Scanner Calibration 10.png



??Space to describe the prefered tool to calibrate YASKAWA with ???


Connect to the Scanner, select ???? (Standard for YASKAWA robots), adjust the Sphere radius' (21.75 mm in this case/ 20.00 mm for a standard ping-pong ball) and set the Min visible parameter to 40%:


 ???Space for YASKAWA "formalism" selecting pictue ???


Attach a ping-pong ball to the gripper and jog the robot to the first position (usually the nearest corner of the bin/ area of interest).


??? Space for : how to obtain tool position in respect to the world frame + picture  ???



Input the X,Y,Z [mm] and ????W,P,R ???? [deg] values of the current position to the first line of the point list and repeat the same procedure for at least 7 more points.

The recommended procedure is to cover the four corners + four positions in the center of the scanning volume.

Change the orientation of the tool in all axes to achieve a wider range of input values. Press the Compute button once you have added the final point.

For successful calibration, the Final Error per point should not exceed 2-3 mm. (0.807mm in this example).


Fanuc Locator Setting Up Guide Calib 0005.png

??? space for YASKAWA locator robot calibration picture, showing suscesfull calibration


If the final error value is too high, try adding more points or start the calibration from the beginning again. Increasing the orientation of the tool can help to reduce the final error value.

Once you are satisfied with the results, press the Set Matrix to PhoXi button to store the results to the PhoXi Scanner.

Do not forget to switch the Coordinate Space in PhoXi Control after calibration has been completed successfully:


KUKA SettingUp Guide Scanner Calibration 20.png


In addition to the Robot - Camera transformation matrix, the calibration process also calculates a Calibration Sphere Misplacement vector which denotes the transformation between the selected Tool (???) and the center of the sphere (the ping-pong ball). This information can be used for calibration verification. First Set the YASKAWA Tool coordinates according to the Misplacement Vector as calculated in the calibration process. Ensure that the ping-pong ball has not moved since the end of calibration.


Space for YASKAWA calibration window, showing misplacement vector

space for description on how to input misplacement vector into tool



The values calculated by the Photoneo Robot Camera Calibration Tool should approximately match.


Method on how to test calibration success ???

Runtime

Re-teach aplication poses

There are three positions you will have to reteach . Those positions are :

Start position - position to which the arm will go before first pick up action, and between consecutive pick up actions. Its a good practice to set this position in the center of work space (less time spent traversing during repeated picking). This position is set ...

SPACE for parameter name picture .

SPACE for sample start position picture

End position

???

Run locator

6. INFORM

The Locator Yaskawa module is a combination of the MotoPlus background routine and several INFORM Jobs.

  • - LocatorModule_v_X_Y_Z.out - handles communication with Locator and feeds position registers with received data
  • - PHO_MAIN_SINGLE.JB - is a basic template for using Locator Yaskawa Module in the Single Result Mode - Reteach Home Position Here
  • - PHO_MAIN_MULTIPLE.JB - is a basic template for using Locator Yaskawa Module in the Multiple Result Mode - - Reteach Home Position Here
  • - PHO_GRIPPER_ATTACH.TP - users should assign commands required for attaching object to the gripper to this function
  • - PHO_GRIPPER_DETACH.TP - users should assign commands required for detaching object from gripper to this function
  • - PHO_PICK_TARGET
  • - PHO_PLACE_TARGET


Communication protocol

Following figures explain Locator-YASKAWA communication protocol in both Single and Multiple Result Modes:


Locator YASKAWA Single Result Mode.png


Locator YASKAWA Multiple Result Mode.png