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:


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Figure 1.2


Select LAN Interface Setting to enter the Network Configuration pane:


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Figure 1.3


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


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Figure 1.4

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


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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.


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Figure 1.6


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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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


Recommended procedure to configure the tool is to select a new tool configuration, with all parameters set to zero. In our case it was STANDARD TOOL, which was the first tool on selection. It is necessary to complete the whole calibration process with the selected tool (no changing). You can double-check this by looking at upper right corner icon, showing the number of the used tool.


Tool selection before calibration edit.jpg


Connect to the Scanner, select XYZ EXTRINSIC (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%:


Yaskawa calibration first menu edited.png


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).


To get current robot tool positions, you have to go through ROBOT -> CURRENT POSITION . In the windows, select the correct tool.


Robot Curent Tool Position Locator.jpg


Input the X,Y,Z [mm] and Rx, Ry, Rz [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. (0.869 in this example).


Succsesful calibration edited.png


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.


Send To Phoxi Edited.png


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


Screenshot from 2019-03-01 14-45-48.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. This is done in the TOOL menu. Ensure that the ping-pong ball has not moved since the end of calibration.


After calibration misplacement vector set.jpg


The values calculated by the Photoneo Robot Camera Calibration Tool , and current robot tool position ,should approximately match.

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