barcode reader and robot application

[sarihoca]

Hello,

I have one KR210 model 2002.
I want to make an unloading operation. The robot should recognize the 350 different goods from line. I want to use an barcod scanner.

I dont know hot to get these informations from barcode scanner.
Can i get these informations by Devicenet?
Most probably i will use SICK barcode reader?

If you have any suggestion and if you have any information about this application please help me.

[SkyeFire]

It's going to depend almost entirely on what type of bar code scanner you use.  You could use a Cognex camera, or a SICK barcode reader, or any number of devices.  Many of these devices come with different types of interface available: DeviceNet, Profibus, Interbus, RS232, etc.  The KUKA controller can support almost all of these, but it may be necessary to buy additional add-ons to enable some interfaces.

Since KRCs come with built-in Devicenet, that's probably the easiest way to go.  If you can purchase a bar-code scanner that will function as a simple DeviceNet slave device, that will simplify matters considerably.

[sarihoca]

Thanks for your reply and comments SkyeFire..

I will use sick barcode scanner and i think i should use also PLC?
I am planning to connect the barcode reader to PLC by rs232 interface and i will get these datas from PLC by connecting the PLC outputs to devicenet module on KRC.

But  to make this process more simple can i connect the barcode reader directly to devicenet modul on KRC without using the PLC?

Thanks in advance for your replies.

[MeanRobot]

Serial communication (RS232) is standard with KUKA.  If you have an older KSS version of software (V4.1 - V5.2) you can download the manual from the "Manuals, Software and Tools for KUKA Robots" sub-forum.

http://www.robot-forum.com/robotforum/manuals_software_and_tools_for_kuka_robots/krc2_manuals_for_kss_version_52-t229.0.html

If you have a newer KSS version, reply with which version as I have a newer manual I can upload if needed.

[SkyeFire]

If, and only if, the barcode scanner can accomodate a DeviceNet connection, then yes, the robot can control the barcode scanner directly via Devicenet.

For that matter, as MeanRobot mentions, you could potentially connect the barcode scanner directly to the robot using RS232.  However, to do that you will need to create a detailed program to handle the various string transfers and parsing.

[sarihoca]

@MeanRobot, 
Thanks for informations,i will check the version and i will inform you about the version.
@SkyeFire,
But i think to make it easy i will use PLC for this application. I have a time limit problem for this project.

For programming, i have 400 different part that i should recognize,
this means in binary 110010000 and i will use 9 bit of input of devicenet for getting the datas from PLC.

from configuration menu :  Configure > I/O > Automatic External;

I will set the
PGNO_LENGTH = 9;the external program number is 9 bits long.
PGNO_FBIT=8  ;the external program number begins with the input $IN[8].  $IN[8] to $IN[16] for the inputs from PLC

And by using the frame written below i will create my programs.
DEF  CELL ( )
     …

11    LOOP
12      P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
13      SWITCH  PGNO ; Select with Programnumber
14 
15      CASE 1
16        P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 )
17        ;EXAMPLE1 ( ) ; Call User-Program
18       .......
22 
27      DEFAULT
28        P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
29      ENDSWITCH
30    ENDLOOP
31  END

Let me know if my plan is right. If  is there any point remains that i have to be carefull about it, please let me know.

[SkyeFire]

This approach appears functional. 

[sarihoca]

thanks for all replies and comments...

[sarihoca]

I have one more problem about this project,

when the signals comes from PLC for example, 0001, this means program1. While executing the program1 the plc will send the second inputs , 0010, means program2 and maybe the PLC also will send the 3th signal,0011, means program3.

robot has to save these informations in its mind and after finishing the program1 then it should jump to program2 and after that program3.

how should i do?

[MeanRobot]

First, to simplify things you may want to check where certain parts can use the same program with different offsets.  This will help you avoid creating 400 different programs.

Second, unfortunately the KUKA Automatic External interface does not contain a queue.  If you wish to use their interface (CELL and P00), and not create your own, the PLC will have to buffer the additional requests and wait for the robot to request the next program number.

[kykam]

Just keep the memory in the PLC.

Make an array of integers for the robot to store.  After you get the application run bit from the robot, index the array pointer by one.  Figure out a good size for your array so you don't overwrite your queued programs. Then reset the pointer back to zero once you reach your limit.

Key bits for from the KUKA interface that I would use would be application runs, the mirrored outputs of the program number running, and possibly a self made handshake bit for your programs.