Robot module support matrix

This page gives an overview of the Robot modules for Bin Picking Studio (BPS) and Locator Studio (LS) for each robot brand. It lists the current version, whether the module contains a Robot State Server, and the brand ID that the module sends to the vision controller.

Contents

1 Robot module versions
2 Robot State Server
3 Brand ID

1 Robot module versions

The version of the Robot module matches the version of the BPS communication interface / LS communication interface it uses. A patch version (for example 1.12.1) contains fixes in the Robot module only - the communication interface stays the same.

Robot brand	BPS Robot module	LS Robot module	Integration guide
ABB IRC5	1.12.0	1.5.0	BPS, LS
ABB OmniCore	1.12.0	1.5.0	BPS, LS
Estun	1.12.0	1.5.0	BPS, LS
FANUC	1.12.1	1.5.0	BPS, LS
Kassow Robots	1.12.0	1.5.0	BPS, LS
Kawasaki	1.12.0	1.5.0	BPS, LS
KUKA KRC	1.12.0	1.5.0	BPS, LS
Techman Robot	1.12.0	1.5.0	BPS, LS
Universal Robots (PolyScope 5)	1.12.1	1.5.0	BPS, LS
Universal Robots (PolyScope X)	1.12.1 (URCap 1.12.1)	1.5.0 (URCap 1.5.5)	BPS, LS; URCap: BPS, LS
Yaskawa	1.12.1	1.5.0	BPS, LS

Older versions only

The following Robot modules are documented for older versions of the communication interface only. Because of backward compatibility, they work with the current Studio, but they do not support the features added later.

Robot brand	BPS Robot module	LS Robot module	Integration guide
Doosan	1.11.0	1.4.0	BPS
Hyundai Robotics	1.11.0	older version	BPS
KUKA LBR iiwa	1.6.0	-	BPS
Stäubli	1.6.0	-	BPS

2 Robot State Server

The Robot State Server sends the current joint values and the tool pose of the robot to the vision controller (see Robot communication overview). BPS needs it for hand-eye vision systems, for calibration and for the live view of the robot. The vision controller connects to it on port 11004, except for KUKA KRC, which uses port 54602. Locator Studio does not need it. With Estun and Techman Robot, LS can use the Robot State Server from the BPS module to show the robot and to add calibration points. The other LS modules have no Robot State Server.

Robot brand	Robot State Server (BPS)	Notes
ABB IRC5, OmniCore	`PHO_STATE_SERVER` task (`PHO_BPS_State_Server.mod`), 10 Hz	Runs as a separate RAPID task.
Estun	`PhoStateServer.py`, 30 Hz (joints and tool pose alternate)	Python script started on the controller.
FANUC	`PHOSTATE` KAREL program, 10 Hz	Started by `PHO_RUN_STATE`.
Kassow Robots	Built into the CBun, 10 Hz	Starts automatically when the CBun is activated.
Kawasaki	`autostart.pc` program	Runs as a background program.
KUKA KRC	`pho_state_server` in the Submit interpreter, 10 Hz	Uses `$TIMER[64]` and interrupts 100 / 101.
Techman Robot	TMserver package	Installed on the controller from the TMserver package.
Universal Robots	Not needed	The vision controller reads the robot state directly from the UR controller.
Yaskawa	Part of the MotoPlus application, 30 Hz	The LS module has no Robot State Server.

3 Brand ID

Right after connecting, the Robot module sends a 24-character brand ID. The vision controller uses it to select the robot brand and the version of the communication interface. The brand ID appears in the Studio console and logs, so you can use it to check which Robot module is connected.

Robot brand	BPS 1.12	LS 1.5
ABB	`ABB_IRB/1.12.0XXXXXXXXXX`	`ABB/L/1.5.0XXXXXXXXXXXXX`
Estun	`ESTUN/1.12.0XXXXXXXXXXXX`	`ESTUN/L/1.5.0XXXXXXXXXXX`
FANUC	`___FANUC/__F.__1._12.__0`	`_L_FANUC/__F.__1.__5.__0`
Kassow Robots	`KASSOW_ROBOTS/1.12.0XXXX`	`KASSOW_ROBOTS/L/1.5.0XXX`
Kawasaki	`KAWASAKI/1.12.0XXXXXXXXX`	`KAWASAKI/L/1.5.0XXXXXXXX`
KUKA KRC	`KUKA_KRC/1.12.0XXXXedcba`	`KUKA_KRC/L/1.5.0XXXedcba`
Techman Robot	`TECHMAN_ROBOT/1.12.0XXXX`	`TECHMAN_ROBOT/L/1.5.0XXX`
Universal Robots	`UNIVERSAL_ROBOTS/v1.12.0`	`UR/L/1.5.0XXXXXXXXXXXXXX`
Yaskawa	`YASKAWA/1.12.0_XXXXXXXXX`	`YASKAWA/L/1.5.0XXXXXXXXX`

Note: The brand ID contains the version of the communication interface, not the version of the Robot module. A patch release (for example FANUC or Yaskawa 1.12.1) still sends 1.12.0. The FANUC brand ID has a special layout because it is sent as 32-bit words.