Posts by robin_gdwl

Not a question but posting so others may save themself some time.

We were using a Cognex IS3805MP Vision System with a Fanuc Robot.
Communication was working well (see this post for details).

We then upgraded the camera to an IS3816MP. The same camera type but higher resolution.
Switching was supposed to be plug-and-play but we got the following Ethernet IP Errors on the Fanuc Robot:

PRIO-350 Ethernet IP Error (1)

PRIO-358 Fwd open fail (0x114)

According to Fanuc Manual B-82854EN/04 page 99 this is due to the wrong vendor ID or product ID setting in the Ethernet IP Config (You can also find the Ethernet IP error codes (0x...) in this table)
As the camera is from the same manufacturer the vendor ID was ruled out.

Cognex gave us the wrong info by stating that the product ID was the same for all IS38XX camera models as specified in the ESD files for the camera series.This is not true.
I found the correct Product ID by increasing the ID +1 and testing if the error remains.

The correct product ID for the Cognex InSight3816MP is 3590.
Not 3587 as stated in the 3800 Series ESD file. Using this setting cleared both errors.

The other Ethernet IP values are:
Vendor ID: 678
Device Type: 782
Product Code: 3590
Input size: 64
Output size: 64
RPI: 32
Assembly instance (input): 13
Assembly instance (output): 22
Config instance: 0

Hope this saves others from an afternoon of headaches.

Quote from Jerryl859

I have an R30iB collaborative robot which is working fine except after a powerup on the robot it prompts to confirm the payload settings. Is this normal or a setting that needs to be configured somewhere. I am not actually using the collaborative portion on the robot, although I am using the DCS cartesian point check inside the cell.

You can set the confirmation to a DI (or RI or Flag) Input in the DCS Menu
The Option is called "CONFIRM by DI" in the collaborative robot settings.

->Menu -> System -> DCS -> Collaborative robot -> CONFIRM by DI

You can also disable the password prompt there if you still want to have the prompt on the pendant without the password.

If you set it to a digital input make sure that this input is OFF on startup.
The confirmation looks for a rising edge signal that needs to be on for at least 1 second.

More info can be found in the Fanuc manual B-83744EN/05 (collaborative robot functions) in section 3

If you use a R30iB Mini or Compact controller you can activate a mode switch by changing the Mode select option in DCS.

You find this under MENU -> SYSYTEM -> DCS -> Mode Select

Here you can switch to use either External Inputs (SSO[6] and SSO[7]) Or the Teach-Pendant Mode switch option.

This does not seem to work when using Roboguide, so I cant tell you where to then switch the mode on the TP after activating the TP-mode.
Edit: see the post below on how to do this:

Post

RE: how to change operating mode select (Auto, T1, T2)

If you choose the Teach Pendant as the Mode Select, then whenever you enable the TP you will get a pop-up asking you for which mode to use. This then needs to be acknowledged by entering a 4-digit password.

gpunkt

April 24, 2024 at 1:30 PM

For more info see Fanuc Manual B-83184EN/13 (DCS manual) Section 22

As far as I understand the Auto Status check (please someone correct me if I am wrong) is that the robot needs to be at a standstill periodically or at least move without much load:

This is done to recalibrate the force sensors. If it is not done the sensitivity of the joint force sensing decreases, possibly making the robot less safe as it cant accurately detect contacts.

This is a huge limitation of Fanuc Cobots in my opinion. The fact that they cant move continuously while staying safe is a drawback and eliminates certain usecases.
You can switch to "Check during Moving", however this disables the Push to escape function.

What I do in my code is usually to set the "Warning Output" to a Flag and set an appropriate time Setting (15s is usually enough).
In my code I then peridically check if the Warning flag is active and execute a wait command if it is:

IF(F[X:ASC Warning])THEN
MESSAGE(AUTO STATUS CHECK Wait)
WAIT 1.0sec
ENDIF 

You can find more info in Fanuc Manual B-83744EN/05 Operator's Manual (Collaborative Robot Function) In Section 4.2.1

Quote from TomFoolious

3.) Last option is to just put your simulate stuff in the robot code itself where you need it. When I do this I usually just mark around it **FOR DEBUG ONLY** and such.

Adding to this:

This is usually the option I choose for all simple connections (mostly waiting for Acknowledgement bits or completion bits in the i/o).

This has the added benefit of coming in handy on the real robot, not just in Roboguide.
Being able to set a flag and then use IF( F[X:Simulation Flag] )THEN    to skip the acknowledgement or set a register to a dummy value is super useful.

There are often times where the system I am interfacing with is not available or someone else is working on it or it would just take too long for something external to happen. Being able to skip these sections saves me a ton of time.

For More Information on this you can check the Manual B-84175EN/04

It explains how to use either Internal or external Power Supplies to power Digital Output Signals, as they do not get Power by default as you explained.

Quote from robin_gdwl

for anyone coming across this many years later, here is the current cognex instructions to use EIP and a Fanuc robot.

https://support.cognex.com/docs/is_574/we…ection%20covers

I got the connerction from camera to robot to work but not the other way around. something seems to be missing in this documentatiom.

I figured out why it wasnt working:
See Here for the explanation:
RE: Interfacing with a Cognex camera

Quote from DaveP

I have 1 scanner defined in the Ethernet/IP list for my camera. The configuration for this device should be in the attached spreadsheet from my earlier post. To trigger the camera, I turn on the Enable DO then pulse the Trigger DO. My results come through the CIO-Micro and a different range of discrete inputs because that is how my vision guy at that time knew how to do it. So I can't help much on getting data back through the EIP inputs.

Thank you for your answer.
I figured out what my issue was.
Firstly, I used the wrong configuration of IO-mapping.
I was using the configuration provided in the Cognex Guide. However as I was using a newer camera model (Insight 3805M) the mapping was not correct. The mapping in the Cognex Fanuc Guide works only with Cameras that use Firmware 4.x.x
I found the correct mapping here:  In-Sight Object Model for In-Sight vision systems running In-Sight firmware 5.1.0 and later

Secondly, In order to send data back to the camera Spreadsheet and read it with the "ReadInputBuffer" function, I had to activate Set User Data (Bit 0 in Byte 2) in the Robot outputs. Otherwise the camera would not read what is in the buffer.

It works now. I am frustrated how difficult it was to set up and find the correct info.

Quote from DaveP

I have a few robots with Ethernet/IP connected to Cognex cameras. It has pretty limited capability compared to a serial interface or using Karel. My application is very basic so I'm triggering the camera with EIP and then using the CIO-Micro to read the discrete outputs from the camera. I didn't spend much time getting specific X, Y, Angle data out of the camera. The attachment shows the DIO configuration that matches the EIP config in the Cognex camera and the EIP config in the robot.

Thank you so much for this info,

I keep having an issue where I can not get any data from the robot to the camera via ethernet IP.

I can get the data from the camera to the robot without problem.

I only have one scaner connection defined in the robot, do I also need to define an adapter connection?
Do I need to trigger the data writing to the buffer within the robot ? As I understand this should be done automatically.

Could you give a brief overview of how the communication from the robot to the camera works.

Thank you so much for the info you provided so far.

for anyone coming across this many years later, here is the current cognex instructions to use EIP and a Fanuc robot.

Robot Communications - FANUC Robot Controller

I got the connerction from camera to robot to work but not the other way around. something seems to be missing in this documentatiom.