BPS Migration guides for robot modules

Note:
Information on this page is only relevant for the Bin Picking Studio version up to 1.6.0 (included).
In the BPS 1.6.0, the old architecture of robot communication has been replaced in favor of the new flexible communication interface.
Navigate here to see the list of changes in the new version of the communication interface.

This chapter summarizes the history of changes of the Robot module. When upgrading your version of BPS it is necessary to also update your Robot module and make changes to your robotic program, if necessary.

Contents

Migration from BPS 1.5.x to BPS 1.6.x

Robot modules of Bin Picking Studio 1.6.x are not compatible with previous versions of Bin Picking Studio. It is necessary to update the robot module to version 1.6.0. Your main program, however, remains fully compatible.

In version 1.6.0 of the BPS, the communication between the vision controller and the robot controller has been completely reworked which reflects in a more stable, robust, and faster connection. The overall behavior and general principles of the communication remain unchanged with one exception - the connection between the vision controller and the robot controller can now be established anytime. There are also several new requests available that allow solution management directly from the robot controller.

The support of robotic brands in BPS 1.6.0 has been reduced to ABB, FANUC, Kawasaki, KUKA (including LBR iiwa), Universal Robots and Yaskawa. Support for other robotic brands will be added in the upcoming versions of BPS.

Complete list of changes:

Behavior

Subject

Bin Picking Studio 1.5.x

Bin Picking Studio 1.6.x

Version compatibility

Action Request Server

Available only during the Deployment and Calibration.

Available during the whole time the BPS is running.

Changed.

Robot State Client

Connects to the Robot State Server only during the Deployment and Calibration.

Connects to the Robot State Server during the whole time the BPS is running.

Changed.

Requests

Note: For further information, check the detailed description of Action requests, and the robotic API section of the integration guide of a specific robot brand.

Request

Bin Picking Studio 1.5.x

Bin Picking Studio 1.6.x

Version compatibility

Add calibration point request

Not available.

Available.

Used to add a new calibration point directly from the robot controller.

New.

Change solution request

Reconnection to the Action Request Server is required after the request is sent.

Requesting the solution that is already running triggers a restart of the deployed solution.

The connection to the Action Request Server is kept alive. The request blocks the execution of the robotic program until the deployment of the requested solution is finished or an error occurs.

Requesting the solution that is already running ends up in an error.

Changed.

Start solution request

Not available.

Available.

Requests deployment of the solution with the provided ID.

New.

Stop solution request

Not available.

Available.

Requests termination of the currently deployed solution.

New.

Get running solution request

Not available.

Available.

Requests the ID of the currently running solution to be sent to the robotic controller.

New.

Get available solutions request

Not available.

Available.

Requests the list of IDs of available solutions to be sent to the robotic controller.

New.

Error codes

Note: List of all available Error codes.

Example programs

Program

Bin Picking Studio 1.5.x

Bin Picking Studio 1.6.x

Version compatibility

Calibration

Not available.

Available.

Template for a semi-automatic calibration. The user starts the calibration in the BPS and starts the robotic program. The robot moves between defined calibration poses and uses the new Add calibration point request to add calibration points. In the end, the user verifies the calibration result and saves it.

New.

Changes specific to the respective robot brands are documented in their integration guides:

Migration from BPS 1.4.x to BPS 1.5.x

Robot communication modules of Bin Picking Studio 1.5.x are not compatible with the previous version of Bin Picking Studio (1.4.x). It is necessary to update your current robot module, your main program, however, remains fully compatible. Detailed information can be found in the migration guides of respective robot brands.
The new version of robot modules has improved communication management.

Guides for respective robot brands can be found here:

Migration from BPS 1.3.x to BPS 1.4.x

Robot communication modules of Bin Picking Studio 1.4.x are not compatible with the previous version of Bin Picking Studio (1.3.x). It is necessary to update your current robot module, your main program, however, remains fully compatible. Detailed information can be found in the migration guides of respective robot brands.
The new version of robot modules has improved communication management. Besides that, the Change solution request is now officially supported on all robotic brands.

Guides for respective robot brands can be found here:

Migration from BPS 1.2.x to BPS 1.3.x

Robot communication modules of Bin Picking Studio 1.3.x are compatible with the previous version of Bin Picking Studio (1.2.x). However, depending on the robot brand it is necessary (Kawasaki), recommended (ABB), or unnecessary (FANUC, KUKA (KRC), Universal Robots) to update your current robot module. Detailed information can be found in the migration guides of respective robot brands.
The main change is official support of the Change solution request that enables you to change the deployed solution from the robot.

Guides for respective robot brands can be found here:

Migration from BPS 1.1.x to BPS 1.2.x

Bin Picking Studio 1.2.x comes with necessary changes in API of all robot interfaces supported in version 1.1.x.
This means that your current robot module must be replaced with a new one compatible with BPS 1.2.x.
To ensure problem-free migration of the robot module and update of your robot program we prepared a guide that will walk you through this process.

Guides for respective robot brands can be found here: