Integration Guide Kawasaki
Note: It is strongly recommended to read the Robot communication overview prior to this integration guide.
Contents
1 Prerequisites
The Robot module is compatible with all E-series & F-series robot controllers.
2 Robot controller setup
2.1 Controller configuration
2.1.1 Network configuration
2.1.2 Changing the cartesian origin of the robot
Photoneo Bin Picking Studio requires the origin of the robot to be defined at the very bottom of the robot.
In Kawasaki robots, the default origin position is in the axis of the second joint, so therefore we need to redefine its position and shift it vertically down in the Z-axis.
Warning: Changes to the Base Coordinates might affect your previously taught positions!
2.2 Robot module installation
2.2.1 Loading the Robot module files
The Robot module consists of two core .pg files:
- photoneo_common.pg
- customer_definitions.pg
Besides that Photoneo provides three example bin picking programs and a semi-automatic calibration example program located in folder example_programs:
- basic_application.pg
multiple_vision_systems.pg
- change_solution.pg
- calibration.pg
The core files (and optionally the example program you wish to use) need to be transferred to the robot controller to get the Robot module up and running.
You can copy the .pg files to the robot controller directly from the USB stick using the Pendant, however, the most convenient method of installation is to use the KRTerm tool (download_1, download_2).
Make sure that Port 2 is configured for communication with your PC and that both devices are connected to the same subnet (you must be able to ping the robot controller from the command line).
2.1.2 Enabling the autostart of the Robot state server
The Robot module consists of two tasks - the Action Request Client task and the Robot State Server.
While the Action Request Client is Cycle Started as a normal robotic program, the Robot State Server runs in the background from the boot.
In order to enable the Robot State Server to run properly from the first boot, it is necessary to enable the AUTOSTART.PC system switch.
3 Robot module
The Robot module is designed to be easily integrated into existing applications written in AS language.
3.1 Robotic API
Note: It is strongly recommended to read the Photoneo robotic API prior to this section.
3.1.1 Connection procedures
Warning: These procedures are contained in the photoneo_common.pg API section and must not be edited!
Connection procedure |
Description / Usage |
|---|---|
Connect to Action Request Server connect_to_vc(.ret_val_conn) |
Description
Function to establish a new connection to the Action Request Server.
Input parameters:
Usage
The procedure should be called only once at the beginning of the program. Only after the connection has been established it is possible to send requests.
bp_port = 11003
vc_ip[1] = 192
vc_ip[2] = 168
vc_ip[3] = 0
vc_ip[4] = 80
CALL connect_to_vc (ret_val)
|
Close TCP socket close_socket() |
Description
Closes the open TCP socket.
Usage
Normally, it is not necessary to call this procedure as it is called automatically from the procedure Connect to Action Request Server if the socket is already open - reconnection is performed.
However, in some cases, it might happen the socket connection status variable does not report the correct status and the procedure Connect to Action Request Server fails (more specifically, its subprocedure
open_socket. Then this procedure (Close TCP socket) is used to close the TCP socket left open. |
3.1.2 Communication procedures
Note: Please read Action requests for detailed documentation of these procedures.
Warning: These procedures are contained in the photoneo_common.pg API section and must not be edited!
vision_system_i - global variable. Bin picking requests (except for the Change scene state request) require the vision system ID as an input parameter. It needs to be set to the correct value (ID of the vision system) before sending the request
.ret_val_X - procedure parameter. It stores the result of the procedure call.
Bin picking requests
Request |
Input variables |
Output variables |
|---|---|---|
Initialization request initialize_req(.ret_val_init,.#start_pose,.#end_pose) |
Note: The pose variable is defined by a set of joint displacement values. |
The error code is accessible in two ways:
|
Initialization request [deprecated] init_req(.ret_val_init,.$start_pose,.$end_pose) |
Note: The string pose array is created from a taught pose defined by a set of joint displacement values by the following commands (the taught pose in this example is called #pho_start). DECOMPOSE .pho_start[0] = #pho_start
.$S = " "
.$start_pose = $ENCODE(.pho_start[0], .$S, .pho_start[1], .$S, .pho_start[2], .$S, .pho_start[3], .$S, .pho_start[4], .$S, .pho_start[5], .$S)
|
The error code is accessible in two ways:
|
Scan request scan_req(.ret_val_scan) |
|
The result is accessible in two ways:
Note: The response is received by the procedure Wait for scan completion. |
Trajectory request traj_req(.ret_val_traj) |
|
The result is accessible in two ways:
Note: The response is received by the procedure Receive trajectory. |
Pick-failed request pick_failed_req(.ret_val_fail) |
|
The error code is accessible in two ways:
|
Change scene state request env_change_req(.ret_val_env,.env_id) |
|
The error code is accessible in two ways:
|
Calibration requests
Request |
Input variables |
Output variables |
|---|---|---|
Add calibration point request calib_add_req(.ret_val_add) |
— |
The error code is accessible in two ways:
|
Solution requests
Request |
Input variables |
Output variables |
|---|---|---|
Change solution request change_sol_req(.ret_val_sol,.solution_id) |
|
The error code is accessible in two ways:
|
Start solution request start_sol_req(.ret_val_sol,.solution_id) |
|
The error code is accessible in two ways:
|
Stop solution request stop_sol_req(.ret_val_sol) |
— |
The error code is accessible in two ways:
|
Get running solution request get_run_sol_req(.ret_val_sol) |
— |
The error code is accessible in two ways:
|
Get available solutions request avail_sols_req(.ret_val_sol) |
— |
The error code is accessible in two ways:
|
Response receiving procedures
Response receiving procedures |
Input variables |
Output variables |
|---|---|---|
Wait for scan completion wait_for_scan(.ret_val_wait) |
— |
The error code is accessible in two ways:
|
Receive trajectory traj_recv(.ret_val_traj) |
— |
The error code is accessible in two ways:
|
3.1.3 Bin picking procedures
Note: These procedures are contained in the customer_definitions.pg API section and should be implemented (edited) by the user according to his requirements.
Bin picking procedure |
Description / Usage |
|---|---|
Gripper attach grip_attach() |
Description
A user-defined procedure. Typically it is the attach procedure used when the picked object is grasped in the Grasp waypoint.
Usage
It is automatically executed when the waypoint of the grasping method is configured to execute the Attach procedure when it is reached.
|
Gripper detach grip_detach() |
Description
A user-defined procedure. Typically it is the detach procedure used when the picked object is placed during the placing routine defined by the robot operator.
Usage
It is automatically executed when the waypoint of the grasping method is configured to execute the Detach procedure when it is reached.
Note: Typically this procedure is not configured to be executed automatically in a waypoint as it should be called during placing which is implemented by the robot operator. |
Gripper user-defined 1 grip_user_def_1() |
Description
A user-defined procedure.
Usage
It is automatically executed when the waypoint of the grasping method is configured to execute the User 1 procedure when it is reached.
|
Gripper user-defined 2 grip_user_def_2() |
Description
A user-defined procedure.
Usage
It is automatically executed when the waypoint of the grasping method is configured to execute the User 2 procedure when it is reached.
|
Gripper user-defined 3 grip_user_def_3() |
Description
A user-defined procedure.
Usage
It is automatically executed when the waypoint of the grasping method is configured to execute the User 3 procedure when it is reached.
|
Execute bin picking routine pick_part() |
Description
Pre-defined procedure for execution of the bin picking routine. This procedure must not be edited directly - to adapt the execution settings please read Bin picking routine execution settings.
Usage
It should be executed after the bin picking trajectory has been received. The robot must be in the start pose when the procedure is executed. At the end of the procedure, the robot will be in the end pose with the picked object attached to the gripper.
Warning: When using multiple start poses (different for multiple vision systems) be extra careful to be in the correct one before executing this procedure. |
Trajectory X configuration traj_X_params() |
Description
Pre-defined procedure for configuration of the parameters (ACCEL, DECEL, SPEED, etc.) of the Xth trajectory segment of the bin picking routine.
Usage
It is automatically called before the Xth trajectory segment of the bin picking routine is executed.
Note: Go to Bin picking routine execution settings to read more about bin picking routine configuration. |
3.1.4 Auxiliary procedures
Warning: These procedures are contained in the photoneo_common.pg API section and must not be edited!
Auxiliary procedure |
Description / Usage |
|---|---|
Robot State Server restart ss_check() |
Description
Starts/restarts the autostart.pc task - the Robot State Server.
Usage
Whenever it is needed to restart/start again the Robot State Server.
|
3.2 Example programs
The following section contains basic example programs. Each program is intended for a specific bin picking application and it shows the correct usage of the robotic API.
These templates also contain demonstrative error handling. Please note that it serves only as an example and it is up to the user to define suitable routines for dealing with error situations.
3.2.1 Basic bin picking example
This program is a very basic example of a simple bin picking application. It connects to the vision controller, initializes one vision system, and in a loop, it requests scan, trajectory and executes the received trajectory.
Name: basic_application.pg (located in folder example_programs)
.PROGRAM main_basic ()
; *******************************************************************
;
; Program: main_basic
; Comment: Main function template with single vision system
; Author: Photoneo s.r.o.
;
; Date: 30/6/2021
;
; *******************************************************************
;
;// Enable State Server to start on boot
autostart.pc ON
;// Amend the Network settings (the IP address, changing the default port to a custom one requires setting the port in BPS network settings)
bp_port = 11003
vc_ip[1] = 192
vc_ip[2] = 168
vc_ip[3] = 0
vc_ip[4] = 80
;// Connect to the Vision Controller
CALL connect_to_vc (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Set Vision System ID
vision_system_i = 1
;// Initialize the vision system with start/end bin picking poses
CALL initialize_req (ret_val, #pho_start, #pho_end)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Call gripper detach procedure
CALL grip_detach
;// Set speed
SPEED 10 ALWAYS
;// Move to Home pose in which the robot does not occlude the scanning area
JMOVE #pho_home
BREAK
;// Request the first scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Initial wait to enable the system to calculate trajectories
TWAIT 10
;// MAIN LOOP
WHILE (TRUE) DO
main_start:
;// Receive response from the scan request
CALL wait_for_scan (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Request a trajectory
CALL traj_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Receive response from the trajectory request
CALL traj_recv (ret_val)
;// If the trajectory request was unsuccessful and
;// error PATH PLANNING FAILED or NO PART FOUND occurred
IF (ret_val == planning_failed) OR (ret_val == no_part_found) THEN
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Go to the beginning of the MAIN LOOP
GOTO main_start
END
;// If the request was unsuccessful and other error occurred, abort
IF (ret_val <> ok) THEN
GOTO quit
END
;// Move to the bin picking start pose
JMOVE #pho_start
;// Execute bin picking routine
CALL pick_part
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Call placing procedure here
END
;// End of the MAIN LOOP
quit:
;// Disconnect from the Vision Controller
CALL close_socket
.END
3.2.2 Multiple Vision Systems example
This program is an extension of the basic bin picking example. Instead of one, it initializes two vision systems and switches between them in each cycle.
Name: multiple_vision_systems.pg (located in folder example_programs)
.PROGRAM main_multi_vs ()
; *******************************************************************
;
; Program: main_multi_vs
; Comment: Main function template with multiple vision systems
; Author: Photoneo s.r.o.
;
; Date: 30/6/2021
;
; *******************************************************************
;
;// Enable State Server to start on boot
autostart.pc ON
;// Amend the Network settings (the IP address, changing the default port to a custom one requires setting the port in BPS network settings)
bp_port = 11003
vc_ip[1] = 192
vc_ip[2] = 168
vc_ip[3] = 0
vc_ip[4] = 80
;// Connect to the Vision Controller
CALL connect_to_vc (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Set Vision System ID of the first VS to be initialized
vision_system_i = 1
;// Initialize the vision system with start/end bin picking poses
CALL initialize_req (ret_val, #pho_start1, #pho_end1)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Set Vision System ID of the second VS to be initialized
vision_system_i = 2
;// Initialize the vision system with start/end bin picking poses
CALL initialize_req (ret_val, #pho_start2, #pho_end2)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Set Vision System ID of the VS for which the first scan will be requested
vision_system_i = 1
;// Call gripper detach procedure
CALL grip_detach
;// Set speed
SPEED 10 ALWAYS
;// Move to Home pose in which the robot does not occlude the scanning area
JMOVE #pho_home
BREAK
;// Request the first scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Initial wait to enable the system to calculate trajectories
TWAIT 10
;// MAIN LOOP
WHILE (TRUE) DO
main_start:
;// Receive response from the scan request
CALL wait_for_scan (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Request a trajectory
CALL traj_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Receive response from the trajectory request
CALL traj_recv (ret_val)
;// If the trajectory request was unsuccessful and
;// error PATH PLANNING FAILED or NO PART FOUND occurred
IF (ret_val == planning_failed) OR (ret_val == no_part_found) THEN
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Go to the beginning of the MAIN LOOP
GOTO main_start
END
;// If the request was unsuccessful and other error occurred, abort
IF (ret_val <> ok) THEN
GOTO quit
END
;// Move to the bin picking start pose
;// Different start pose for each vision system
IF vision_system_i == 1 THEN
JMOVE #pho_start1
ELSE
JMOVE #pho_start2
END
;// Execute bin picking routine
CALL pick_part
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Switch the Vision System ID
IF vision_system_i == 1 THEN
vision_system_i = 2
ELSE
vision_system_i = 1
END
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Call placing procedure here
END
;// End of the MAIN LOOP
quit:
;// Disconnect from the Vision Controller
CALL close_socket
.END
3.2.3 Change solution example
A single robotic cell can take part in several production processes. Handling of multiple parts concurrently is done by using multiple vision systems in one solution. When completely changing the production process it is more suitable to have separate dedicated solutions that can be deployed directly from the robot.
This program is an extension of the basic bin picking example. After a defined number of bin picking cycles, it sends a request to change the deployed solution.
Name: change_solution.pg (located in folder example_programs)
.PROGRAM main_change_sol ()
; *******************************************************************
;
; Program: main_change_sol
; Comment: Main function template with single vision system and changing
; of solutions
; Author: Photoneo s.r.o.
;
; Date: 30/6/2021
;
; *******************************************************************
;
;// Enable State Server to start on boot
autostart.pc ON
;// Amend the Network settings (the IP address, changing the default port to a custom one requires setting the port in BPS network settings)
bp_port = 11003
vc_ip[1] = 192
vc_ip[2] = 168
vc_ip[3] = 0
vc_ip[4] = 80
;// Connect to the Vision Controller
CALL connect_to_vc (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Set IDs of solutions that will be changing
sol_id1 = 5
sol_id2 = 6
;// Set ID of current solution
sol_id = sol_id1
;// Set threshold for number of picks, when reached, solution change will be requested
max_picks = 10
reinit:
;// Initialize counter of picks
pick_counter = 0
;// Set Vision System ID
vision_system_i = 1
;// Initialize the vision system with start/end bin picking poses
;// Different start/end poses for each solution
IF sol_id == sol_id1 THEN
CALL initialize_req (ret_val, #pho_start1, #pho_end1)
ELSE
CALL initialize_req (ret_val, #pho_start2, #pho_end2)
END
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Call gripper detach procedure
CALL grip_detach
;// Set speed
SPEED 10 ALWAYS
;// Move to Home pose in which the robot does not occlude the scanning area
JMOVE #pho_home
BREAK
;// Request the first scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Initial wait to enable the system to calculate trajectories
TWAIT 10
;// MAIN LOOP
WHILE (TRUE) DO
main_start:
;// Receive response from the scan request
CALL wait_for_scan (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Request a trajectory
CALL traj_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Receive response from the trajectory request
CALL traj_recv (ret_val)
;// If the trajectory request was unsuccessful and
;// error PATH PLANNING FAILED or NO PART FOUND occurred
IF (ret_val == planning_failed) OR (ret_val == no_part_found) THEN
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Go to the beginning of the MAIN LOOP
GOTO main_start
END
;// If the request was unsuccessful and other error occurred, abort
IF (ret_val <> ok) THEN
GOTO quit
END
;// Move to the bin picking start pose
;// Different start pose for each solution
IF sol_id == sol_id1 THEN
JMOVE #pho_start1
ELSE
JMOVE #pho_start2
END
;// Execute bin picking routine
CALL pick_part
;// Increment counter of picks
pick_counter = pick_counter + 1
;// Move back to Home pose
JMOVE #pho_home
BREAK
;// Request a new scan, localization and path planning
CALL scan_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Call placing procedure here
;// If the threshold for number of picks has been reached, change solutions
IF pick_counter == max_picks THEN
;// Receive response from the scan request
CALL wait_for_scan (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Reset counter of picks
pick_counter = 0
;// Set ID of solution that should be deployed
IF sol_id == sol_id1 THEN
sol_id = sol_id2
ELSE
sol_id = sol_id1
END
;// Request change of solutions
CALL change_sol_req (ret_val, sol_id)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// Go to start of the program (initialization of vision system)
GOTO reinit
END
END
;// End of the MAIN LOOP
quit:
;// Disconnect from the Vision Controller
CALL close_socket
.END
3.2.4 Calibration example
This program is a template for semi-automatic calibration.
Before running the program:
teach the calibration start pose through which the robot will move to the individual calibration poses
teach the individual calibration poses
start the calibration in the Bin Picking Studio
Now you can start the program. It will move to individual calibration poses and send the Add calibration point request when it reaches them. In between the calibration poses the robot will go through the calibration start pose. Once all the calibration points are successfully added, the program ends. If you are satisfied with the calibration result, save it in the Bin Picking Studio.
Name: calibration.pg (located in folder example_programs)
.PROGRAM main_calib ()
; *******************************************************************
;
; Program: main_calib
; Comment: Main function template with calibration routine
;
; Date: 30/6/2021
;
; *******************************************************************
;
;// Enable State Server to start on boot
autostart.pc ON
;// Amend the Network settings (the IP address, changing the default port to a custom one requires setting the port in BPS network settings)
bp_port = 11003
vc_ip[1] = 192
vc_ip[2] = 168
vc_ip[3] = 0
vc_ip[4] = 80
;// Connect to the Vision Controller
CALL connect_to_vc (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// 1. calibration point
;// Go to the pose from which the robot will move to the calibration poses
JMOVE #default_pose
;// Go to the first calibration pose
JMOVE #calib_1
BREAK
PRINT "BP_CLIENT: Adding the 1st calibration point"
;// When the pose is reached, call request to add the first calibration point
CALL calib_add_req (ret_val)
;// Check return value, abort in case of failure
IF (ret_val <> ok) THEN
GOTO quit
END
;// 2. calibration point
JMOVE #default_pose
JMOVE #calib_2
BREAK
PRINT "BP_CLIENT: Adding the 2nd calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 3. calibration point
JMOVE #default_pose
JMOVE #calib_3
BREAK
PRINT "BP_CLIENT: Adding the 3rd calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 4. calibration point
JMOVE #default_pose
JMOVE #calib_4
BREAK
PRINT "BP_CLIENT: Adding the 4th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 5. calibration point
JMOVE #default_pose
JMOVE #calib_5
BREAK
PRINT "BP_CLIENT: Adding the 5th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 6. calibration point
JMOVE #default_pose
JMOVE #calib_6
BREAK
PRINT "BP_CLIENT: Adding the 6th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 7. calibration point
JMOVE #default_pose
JMOVE #calib_7
BREAK
PRINT "BP_CLIENT: Adding the 7th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 8. calibration point
JMOVE #default_pose
JMOVE #calib_8
BREAK
PRINT "BP_CLIENT: Adding the 8th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// 9. calibration point
JMOVE #default_pose
JMOVE #calib_9
BREAK
PRINT "BP_CLIENT: Adding the 9th calibration point"
CALL calib_add_req (ret_val)
IF (ret_val <> ok) THEN
GOTO quit
END
;// Return to the default pose
JMOVE #default_pose
quit:
IF (ret_val <> ok) THEN
PRINT "BP_CLIENT: Error while adding the calibration point"
PRINT "BP_CLIENT: Check BPS for more details"
END
;// Disconnect from the Vision Controller
CALL close_socket
HALT
.END
3.3 Error handling
If an error occurs during the execution of the operation requested by the sent request the error is stored in the return variable .ret_val_X and the global variable error_msg. It is recommended to implement adequate error handling for your particular application after each synchronous request and response receiving procedure.
Error codes together with their description and troubleshooting can be found here.
The most important error codes are defined as constants in the procedure init_consts which is called every time the procedure Connect to Action Request Server is executed. These error codes are:
Error code |
AS constant |
|---|---|
No error (0) |
ok = 0 |
Service error (1) |
service_err = 1 |
Communication error (3) |
comm_failure = 3 |
Bad data (4) [deprecated] |
bad_data = 4 |
Timeout [5] |
timeout = 5 |
Path planning failed (201) |
planning_failed = 201 |
No object found (202) |
no_part_found = 202 |
Vision system not initialized (203) |
not_init = 203 |
Empty scene (218) |
empty_scene = 218 |
Wrong bin picking configuration (255) |
wrong_bp_config = 255 |
Note: Example programs provide basic error handling.
4 Running the basic bin picking example program
4.1 Prerequisites
Before the Basic bin picking example can be run, the following requirements must be met:
A fully configured BPS solution with a single vision system must be prepared for deployment
The robot controller must be configured according to the chapter Robot controller setup of this integration guide
Bin Picking Studio network settings must be configured
Gripper procedures should be implemented (optional - if not implemented, the robot will not actually pick the object)
The placing procedure should be implemented
4.2 Bin picking routine execution settings
Adapt the values inside these procedures to meet your requirements. If adding custom path stages (trajectories), create an additional procedure Trajectory X configuration. Beware of the order of the trajectories so that the correct procedure is called.
4.3 Reteach the robot poses
A crucial step of bin picking configuration is the teaching of home, start, and end poses. The home position of the robot should be taught in such a way that the robot is outside the scanning area. The start position should be taught in such a way that the robot gripper is approximately above the center of the bin. The end position can be similar to the start position or slightly shifted towards the placing area. Do not define the end pose too far from the bin as this might affect the path planning (increase total planning time, cause planning errors, etc.).
The Basic bin picking example program uses the following poses:
#pho_home - Home position (defined as joint displacement values)
#pho_start - Start position (defined as joint displacement values)
#pho_end - End position (defined as joint displacement values)
4.4 Runtime
Deploy your BPS solution. The Action Request Client status on the Deployment page of the BPS should be ** DISCONNECTED ** (from the Action Request Server).
NOTE: Ensure that you are ready to halt motion execution immediately. It is strongly recommended to reduce the speed to 10% of maximum during initial bin picking tests.
5 Migration guide
This chapter will walk you through the process of updating your robot module to newer version. It also documents program flow, API and other changes to help you make all necessary modifications in your current program without encountering any problems.
5.1 BPS 1.1.x -> BPS 1.2.x
NOTE: Migration between these versions does require robot module update as described in chapter **:ref:`5.6 <integration_guide_for_robots_by_kawasaki_5.6_Robot_module_update>`** as well as update of the main program according to changes in API.
Changes in API calls as well as new calls are described in the table below:
API call |
Bin Picking Studio 1.1.x |
Bin Picking Studio 1.2.x |
Version compatibility |
|---|---|---|---|
init_req() |
Parameters ‘.$start_pose’ & ‘.$end_pose’ do not exist. Global variable ‘vision_system_id’ does not exist. |
Parameters ‘.$start_pose’ & ‘.$end_pose’ are required. Global variable ‘vision_system_id’ specifies ID of the selected Vision System for the request call. |
Changed. |
scan_req() |
Global variable ‘vision_system_id’ does not exist. |
Global variable ‘vision_system_id’ specifies ID of the selected Vision System for the request call. |
Changed. |
traj_req() |
Global variable ‘vision_system_id’ does not exist. |
Global variable ‘vision_system_id’ specifies ID of the selected Vision System for the request call. |
Changed. |
customer_req() |
Global variable ‘vision_system_id’ does not exist. |
Global variable ‘vision_system_id’ specifies ID of the selected Vision System for the request call. |
Changed. |
pick_failed_req() |
Not available. |
Available. Lower preference of the object because it failed to be picked. It won’t be chosen to be picked in the next cycle. |
New. |
calib_start_req() |
Not available. |
Unsupported. For Photoneo internal use only. |
New. |
locate_bin_req() |
Not available. |
Unsupported. For Photoneo internal use only. |
New. |
change_sol_req() |
Not available. |
Unsupported. For Photoneo internal use only. |
New. |
Changes in variables as well as new variables are described in the table below:
Variable |
Bin Picking Studio 1.1.x |
Bin Picking Studio 1.2.x |
Version compatibility |
|---|---|---|---|
vision_system_id |
Not available. |
Available. ID of Vision System to be used in called requests. Change its value before calling a request for different Vision System. |
New. |
tp_invariance |
Not available. |
Available. ID of Tool point invariance used for currently picked object. |
New. |
gp_id |
Not available. |
Available. ID of Gripping point used for currently picked object. |
New. |
gp_invariance |
Not available. |
Available. ID of Gripping point invariance used for currently picked object. |
New. |
PHO_WRONG_BP_CONF |
Not available. |
Available. Value = 255 Occurs when the bin picking configuration is incorrect. After receiving this error check the Bin Picking Studio console for more detailed information. |
New. |
Other changes are described in the table below:
Subject |
Bin Picking Studio 1.1.x |
Bin Picking Studio 1.2.x |
Version compatibility |
|---|---|---|---|
Default port numbers |
Action Request Server on Vision Controller: 11003
State server on Robot Controller: 11004
User has an option to configure these values.
|
Action Request Server on Vision Controller: 11003 State server on Robot Controller: 11004 User is recommended to use these default values - it is not possible to configure port values in Bin Picking Studio by the user. If you need to use specific port value please contact support@photoneo.com to help you with configuring port in Bin Picking Studio. |
Changed. |
5.2 BPS 1.2.x -> BPS 1.3.x
NOTE: Migration between these versions does require robot module update as described in chapter **:ref:`5.6 <integration_guide_for_robots_by_kawasaki_5.6_Robot_module_update>`**. The main program, however, does not require any changes.
Changes in API calls as well as new calls are described in the table below:
API call |
Bin Picking Studio 1.2.x |
Bin Picking Studio 1.3.x |
Version compatibility |
|---|---|---|---|
change_sol_req() |
Unsupported. For Photoneo internal use only. |
Supported. Request to change deployed solution. |
Unchanged. |
5.3 BPS 1.3.x -> BPS 1.4.x
NOTE: Migration between these versions does require robot module update as described in chapter **:ref:`5.6 <integration_guide_for_robots_by_kawasaki_5.6_Robot_module_update>`**. The main program, however, does not require any changes.
5.4 BPS 1.4.x -> BPS 1.5.x
NOTE: Migration between these versions does require robot module update as described in chapter **:ref:`5.6 <integration_guide_for_robots_by_kawasaki_5.6_Robot_module_update>`**. The main program, however, does not require any changes.
Changes in variables as well as new variables are described in the table below:
Variable |
Bin Picking Studio 1.4.x |
Bin Picking Studio 1.5.x |
Version compatibility |
|---|---|---|---|
[STRIKEOUT:EMPTY_SCENE] |
Not available. |
Available.
Value = 218
Error indicating that the scene (bin) is empty. Response to failed trajectory request.
Note: The error code is not defined in the robot module (photoneo_common.pg) as the other error codes.
Please check the return value of procedure traj_recv(ret_val) using value 218 directly.
|
New. |
5.5 BPS 1.5.x -> BPS 1.6.x
NOTE: Migration between these versions does require robot module update as described in chapter **:ref:`5.6 <integration_guide_for_robots_by_kawasaki_5.6_Robot_module_update>`**. The main program, however, does not require any changes.
Please read the general Migration guide here. The table below summarizes changes specific to the Robot module for Kawasaki.
Variable |
Bin Picking Studio 1.5.x |
Bin Picking Studio 1.6.x |
Version compatibility |
|---|---|---|---|
Error code [2]
UNKNOWN REQUEST
|
Unused. |
Removed. |
Changed. |
Error code [204] PART LOST |
Unused. |
Removed. |
Changed. |
5.6 Robot module update
Please follow these steps to update your current robot module to newer version compatible with Bin Picking Studio version you are using:
Back up programs from module customer_definitions.pg you have customized. They contain your custom settings as well as gripper action procedures. For example you may have implemented program grip_attach()
Remove all current programs except for your main program
Load new modules: photoneo_common.pg and customer_definitions.pg
Apply your modifications from old programs to the new ones
Carefully read the API changes in the new version of the robot module and modify your current API calls in your main program accordingly (if necessary)
6 Troubleshooting
