More Vision

[Ebeauc3067]

I am doing a vision system using a Motoman NX100. I am just learning Motoman, however I know the vision side. Is it possible to have the PLC load the position variable in the robot with the offset values from the cameras? This is how we do it on a Fanuc. If not is there another way anyone might recommend? Any help would be great! If you have a printout of an old program or manual... email me whatever..

Thanks

Eric
ebeauc3067@aol.com

[motomaniaco]

Eirc,
What kid of comunication are you using between the NX100 and the PLC?

I have done this kind of applications via the serial port on XRC, but you can do it via a PLC without problem.

How many data are you going to send from the PLC? Just X, Y and Z offset or also Rx, Ry and Rz.

[Ebeauc3067]

motomaniaco, we are using e-net to communicate between the controller and PLC. we are only doing X, and Y calculations.

[somar]

Take a look in the manuals section   XRC DVT Legend    works foir NX also.

Yes   You can load variables and move those variables to a P point 

This prog drives bolts into a seat, Shows one of the ways to move the robot. In particular using Shifton



Bolt1 prog
NOP
DOUT OG#(10) 1
'MANUAL DRIVER SEAT BOLT 1
'TRIGGER CAMERA
SPEED VJ=100.00 V=1166.7
MOVJ C00000
'TRIGGER CAMERA POSITION
MOVJ C00001 PL=0  //Trigger camera
TIMER T=0.10
CALL JOB:IMAGE
TIMER T=0.10
JUMP *ABORT IF IN#(83)=ON
SFTON P000 UF#(1)
DOUT OT#(34) ON
TIMER T=0.10
MOVL C00002 PL=1  //Front of bolt
MOVL C00003 V=83.3 UNTIL IN#(83)=ON  //90% stroke
MOVL C00004 V=8.3 PL=0 UNTIL IN#(83)=ON  //Push seat
WAIT IN#(83)=ON
*ABORT
DOUT OT#(36) ON
DOUT OT#(34) OFF
SFTOF
MOVL C00005  //Straight out inside cube 32
CALL JOB:RESET
END

Image prog
NOP
DOUT OT#(33) ON 
TIMER T=0.05
WAIT IN#(33)=ON
TIMER T=0.05
DOUT OT#(33) OFF
JUMP *ABORT IF IN#(83)=ON
CALL JOB:X_OFFSET
CALL JOB:Y_OFFSET
TIMER T=0.05
*ABORT
END


X-offset prog   Y-offset is similar
NOP
DIN B000 IN#(39)
TIMER T=0.05
JUMP LABEL: B000
*0
TIMER T=0.05
'X POSITIVE AMOUNT                      Here is the data transfer
DIN B006 IG#(6)
DIN B007 IG#(7)
SET D006 B006
SET D007 B007
DOUT OG#(6) B006                        Handshaking the data
DOUT OG#(7) B007
MUL D007 1000
MUL D006 10
ADD D007 D006
SETE P000 (1) D007                      Writes x value in pos 1 of P
DOUT OT#(39) OFF
JUMP *ENDX
*1
TIMER T=0.05
'X NEGATIVE AMOUNT
DIN B006 IG#(6)
DIN B007 IG#(7)
SET D006 B006
SET D007 B007
DOUT OG#(6) B006
DOUT OG#(7) B007
MUL D007 -1000
MUL D006 10
SUB D007 D006
SETE P000 (1) D007
DOUT OT#(39) ON
*ENDX
END




Ask if you have questions ?

[Ebeauc3067]

WOW! just when you think you may know it all.... I'll try that and see how it works. THANKS!!

[Ebeauc3067]

We can do X and Y no problem. Once we introduce angle its messed up. it rolls around the TCP not the Frame. Help!

[robotomation]

Depending on the application, if you are picking up a part, rolling around the TCP isn't bad. A little quirky though.

Are you using a Cognex camera? If so, use a grid calibrate to set up the output as a real value (that the robot can use) so that it isn't just an offset. then the rest gets done with that.

You could also communicate the camera directly with the robot via rs232, although, if ethernet is an option..... don't use the RS232. Support from either Motoman or Cognex is lacking.