Note:
The Robot modules use the flexible communication interface, which is backward compatible - an older Robot module still works with a newer version of BPS.
Contents
Migration from BPS 1.11.x to BPS 1.12.x
You need the Robot module 1.12 to receive the new data of BPS 1.12 - mainly the neural network label of the picked object. A Robot module 1.11 still works with BPS 1.12 without any change, but it does not receive the new data.
The main change is the new format of Info data: every value is sent with a key, so the Robot module no longer depends on the order of the values in the response. The Robot module handles this change internally. Robot programs that only read the variables / registers of the Robot module do not need any change. Programs that parse the responses themselves must be rewritten.
Behavior
Subject |
Bin Picking Studio 1.11.x |
Bin Picking Studio 1.12.x |
Version compatibility |
|---|
Info data |
Identified by the position in the response. |
Identified by a key (operation number). See Info data. |
Changed. Handled by the Robot module. |
Neural network label |
Not available. |
Sent with the Trajectory and Object pose response (key 7). |
New. |
Brand ID |
<BRAND>/1.11.0...
|
<BRAND>/1.12.0...
|
Changed. Requires Bin Picking Studio 1.12. |
Robot module changes per brand
This table lists only the changes that affect an existing robot program. For the place where each Info data value is stored, see Info data - Where the Robot module stores Info data.
Robot brand |
Changes |
|---|
ABB |
New variables pho_nn_label, pho_max_z_height and pho_tilt. New example program PHO_BPS_Comm_Check.mod. |
FANUC |
Registers R[26] (neural network label), R[27] (max Z height) and R[28] (tilt) are now written - they were reserved as “Info data 7-9” before.
1.12.1: R[33] (user frame) and R[34] (tool frame) are always applied; 0 selects World / the bare faceplate and values out of range end with Bad data (4) in R[18]. Flag F[10] is deprecated and ignored. PHOCLIENT and PHOSTATE no longer change $UFRAME / $UTOOL of the robot.
|
Kassow Robots |
All CBun commands were renamed to pho_* - every saved program must be rebuilt. pho_init takes the start / end pose as RobotPose (7 joints). New command pho_pick with optional speed per segment, new pho_fce_* functions. pho_req_scan takes only the vision system ID (the robot pose is taken from the Robot State Server). pho_req_scan_full, pho_req_obj_pose and pho_req_get_objects were removed - use pho_req_scan + pho_wait_scan and pho_req_get_object. |
Kawasaki |
New variables nn_label, max_z_height and pho_tilt. |
KUKA KRC |
New variables nn_label, max_z_height and tilt in pho_common.dat. New example programs comm_check and reuse_scan. |
Techman Robot |
New variables g_dim_x, g_dim_y, g_rot_z, g_nn_label, g_max_z_height and g_tilt. The internal info_counter was removed. |
Universal Robots |
New variables pho_nn_label, pho_max_z_height and pho_tilt and constants PHO_INFO_* (1-14). The constant for error 255 is PHO_WRONG_BP_CONFIG. The example program pho_main_change_enviroment.urp was renamed to pho_main_change_environment.urp. Reload the scripts in existing programs - the example programs and saved programs contain their own copy of the scripts.
1.12.1 (PolyScope 5 and PolyScope X): planned trajectories are streamed by default (pho_stream_vel, pho_stream_acc), FINE segments end exactly on the last waypoint, and the old servoj execution is kept as PHO_EXEC_SERVOJ with gain 1000. Copy your speed settings to the new parameters in the customer definitions. On PolyScope X, the URCap settings page has Trajectory speed and Trajectory acceleration instead of the servo settings. The brand ID stays UNIVERSAL_ROBOTS/v1.12.0.
|
Yaskawa |
Variables I027 (neural network label), I028 (max Z height) and I029 (tilt) are now written - they were reserved as PHO_INFO_DATA_7-9 before.
1.12.1: PHO_CALIB_SAVE sets I031 = 0 and I032 = 1 itself. New alarms 8022 (invalid tool), 8023 (invalid user frame) and 8025 (invalid pose) for the Get object pose job.
|
Robot modules for Estun and Universal Robots PolyScope X were first released with version 1.12, so there is nothing to migrate.