Fanuc 与 COGNEX Insight系统连结.docx
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Fanuc 与 COGNEX Insight系统连结.docx
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Fanuc与COGNEXInsight系统连结
TechNote:
RobotCommunications-FANUC
1Overview
1.1Scope
ThepurposeofthisdocumentistooutlinethestepsneededtoconnectandtransferdatafromaCognexIn-SightSensortoaFANUCRobotController.Inallsetupsoutlinedtherobotcontrollerwillbethedevicecontrollingtheacquisitionandtransferofdata.Ingeneraltherobotcontroller,withtheuseofIn-SightNativeModecommands,willtriggerthesensortoacquireandprocessanimageandthentherobotcontrollerwillrequestspecificdatafromthesensor.
ForafulllistofNativeModecommandsfromIn-SightExplorerSelectHelp|In-SightExplorerHelp;fromtheContentstabexpandCommunicationsReference|NativeModeCommunicationsandhereyou'llfindthefulllistofallBasicandExtendedNativeModecommands.
2Serialcommunications
2.1NeededHardware
In-SightSensor(models3400or5x00)
In-SightI/Omodule(model1450or1460)
DB9SerialCable(300-0281)
Computer
FANUCRobotController(RJ2orRJ3)
K-FloppyCable(DB25toDB9)
NullModemAdapter(DB9toDB9)
2.2NeededSoftware
CognexIn-SightExplorerversion3.3orhigher
CognexIn-SightExplorerfirmwareversion3.3orhigher
FANUCKARELprogramminglanguage
2.3In-SightSetup
∙MakesureIn-SightExplorerversion3.3orhigherisinstalled
∙MakesureIn-Sightfirmwareisversion3.3ofhigher
2.4RobotControllerKARELcode
VAR
file_var:
FILE
Status:
STRING[4]
xs:
STRING[9]
ys:
STRING[9]
angles:
STRING[9]
x:
REAL
y:
REAL
angle:
REAL
BEGIN
--ConnecttoIn-Sight
OPENFILEfile_var('RW','P2:
')
--InstructionIn-SighttoAcquireanImage
--(waitforaresponse)
WRITEfile_var('sw8',CHR(13))
--Readstatus
READfile_var(status:
:
1:
:
0)
IFstatus<>'1'THEN
WRITETPDISPLAY('sw8Failed',CR)
RETURN
ENDIF
CLR_IO_STAT(file_var)
--GetthevalueincellC7
WRITEfile_var('gvc007',CHR(13))
--Readstatus
READfile_var(status:
:
1:
:
0)
IFstatus<>'1'THEN
WRITETPDISPLAY('gvc007Failed',CR)
RETURN
ENDIF
CLR_IO_STAT(file_var)
--Readthedata
--Thiswillsplittheinformationatthequotations"'".
--ExampleString'10.5''9.8''15.9'
READfile_var(xs:
:
0:
:
2,ys:
:
0:
:
2,angles:
:
0:
:
2)
--Convertthedata
CNV_STR_REAL(xs,x)
CNV_STR_REAL(ys,y)
CNV_STR_REAL(angles,angle)
--Removecommentfortesting
--WRITETPDISPLAY('X:
',x,CR,'Y:
',y,CR,'R',Angle,CR)
--
--UseVisionData
--
--Closetheconnection
CLOSEFILEfile_var
2.5In-SightSerialPortSetup
WhileconnectedtothesensorandOffline:
2.5.1InputSettings
∙SelectSensor|DiscreteI/OSettings|InputSettings…
∙ForInputModule,selectI/OExpansionModule
∙ClickOK
2.5.2SerialSettings
∙SelectSensor|SerialPortSettings…
∙Setthefollowingproperties:
oBaudRate:
19200
oDataBits:
8
oStopBits:
1
oParity:
None
oHandshake:
None
oMode:
Native
oFixedInputLength:
Unchecked
oInputTerminator:
13
oOutputTerminator:
0
oVerifythatthedialogreportsthatthe“I/OExpansionModuleisattached”
∙ClickOK
2.6In-SightJobSetup
WithaNewJobperformthefollowingsteps:
∙SettheA0Imagecellproperties(double-clickcellA0):
oTrigger=External
oManual=Checked
∙IncellA2typeExtractBlobs(atthispointthepropertysheetforExtractBlobsshouldpopup,clickOK
∙InsertSnippet“FANUCCommunications”:
oSelectcellA4
oIftheToolPaletteisn’tvisible;selectView|ToolPalette
oFromtheSnippetstagdouble-clickFANUCCommunications
∙Definethecoordinatecellreferences:
oX:
Double-clickC6,double-clickC2,
oY:
Double-clickD6,double-clickD2
oAngle:
Double-clickE6,double-clickE2
∙PresstheManualTriggericonafewtimestoconfirmthatExtractBlobs()dataischanging.
∙Savethejob
∙TurnthesensorOnline
3EthernetCommunications
3.1NeededHardware
In-SightSensor(models3400or5x00)
In-SightI/Omodule(model1450or1460)
EthernetCable
Computer
FANUCRobotController(RJ3)
NOTE:
RJ2isnotcompatiblewithEthernetcommunications
3.2NeededSoftware
CognexIn-SightExplorerversion3.3orhigher
CognexIn-SightExplorerfirmwareversion3.3orhigher
FANUCSocketMessagingOption
FANUCKARELprogramminglanguage
3.3In-SightSetup
∙MakesureIn-SightExplorerversion3.3orhigherisinstalled
∙Makesurethesensorsfirmwareisversion3.3ofhigher
3.4RobotControllerSetup
3.4.1ConfiguringtheSocketMessagingOption
∙Thetagyouwanttosetupcannotbeconfiguredforusesbyanotherdeviceonyournetwork
3.4.1.1SetuptheClientTag
∙Coldstartthecontroller.
oOntheteachpendant,pressandholdtheSHIFTandRESETkeys.Or,ontheoperatorpanel,pressandholdRESET.
oWhilestillpressingSHIFTandRESETontheteachpendant(orRESETontheoperatorpanel),presstheONbuttonontheoperator.
oReleaseallofthekeys.
∙Ontheteachpendant,pressMENUS.
∙SelectSETUP.
∙PressF1,[TYPE].
∙SelectHostComm.
∙PressF4,[SHOW].
∙ChooseClients.
∙MovethecursortothetagyouwantsetupforSocketMessaging,andpressF3
Youwillseeascreensimilartothefollowing:
SETUPTags
TagC3:
1Comment:
****************
2Protocolname:
SM
3Portname:
*****
4Mode:
*************************
Current
State:
UNDEFINED
5Remote:
********
6Path:
****************************
Startup
7State:
9Path:
****************************
Options
10ErrorReporting:
OFF
11InactivityTimeout:
15min
∙MovethecursortoProtocolname,andpressF4,[CHOICE].
∙SelectSM.
∙MovethecursortoStartupState,andpressF4,[CHOICE].
∙SelectStart,andpressENTER.
∙SelectRemote,andpressENTER.
∙Typeintheoftheremotehostserveryouwanttouseforsocketmessaging,andpressF2,[ACTION].
∙SelectDEFINE.
Note
IfyouarenotusingDNS,youmustaddtheremotehostanditsIPaddressintothehostentrytable.
3.4.1.2SettheSystemVariable(ClientTag)
∙PressMENUS.
∙SelectNEXT.
∙SelectSYSTEM,andpressF1,[TYPE].
∙SelectVariables.
∙Movethecursorto$HOSTC_CFG,andpressENTER.
∙MovethecursortothestructurecorrespondingtothetagselectedintheprevioussectionSetuptheTagForexample,ifyouaresettinguptagS3,movethecursorstructureelement[3],asshowninthefollowingscreen.
SYSTEMVariables
$HOSTS_CFG
1[1]HOST_CFG_T
2[2]HOST_CFG_T
3[3]HOST_CFG_T
4[4]HOST_CFG_T
5[5]HOST_CFG_T
6[6]HOST_CFG_T
7[7]HOST_CFG_T
8[8]HOST_CFG_T
∙PressENTER.Youwillseeascreensimilartothefollowing.
SYSTEMVariables
$HOSTS_CFG[3]
1$COMMENT*uninit*
2$PROTOCOL’SM’
3$PORT*uninit*
4$OPER3
5$STATE3
6$MODE*uninit*
7$REMOTE*uninit*
8$REPERRSFALSE
9$TIMEOUT15
10$PATH*uninit*
11$STRT_PATH*uninit*
12$STRT_REMOTE*uninit*
13$USERNAME*uninit*
14$PWRD_TIMOUT0
15$SERVER_PORT23
∙Movethecursorto$SERVER_PORT.TypeinthenameoftheTCP/IPserverportyouwanttouseforsocketmessaging.
∙TheclienttagisnowreadytousefromaKARELprogram.
;TofindtheIPaddressofyoursensor,fromIn-SightExplorer,right-clickthesensornameunderIn-SightNetworkandselectProperties.
3.4.2RobotControllerKARELcode
PROGRAMeComm
VAR
file_var:
FILE
tmp_int:
INTEGER
mp_str:
STRING[128]
status:
INTEGER
entry:
INTEGER
try:
INTEGER
statuss:
STRING[1]
xs:
STRING[9]
ys:
STRING[9]
angles:
STRING[9]
x:
REAL
y:
REAL
angle:
REAL
BEGIN
WRITETPDISPLAY(CR,CR,CR,CR,CR,CR,CR,CR,CR,CR,CR,CR,CR,CR,CR)
SET_FILE_ATR(file_var,ATR_IA)
--Connectthetag
WRITETPDISPLAY('Connecting…',CR)
MSG_DISCO('C3:
',status)
MSG_CONNECT('C3:
',status)
OPENFILEfile_var('rw','C3:
')
--ReadtheIn-SightWelcomemessage
WRITETPDISPLAY('LoggingIn',CR)
mp_str=''
READfile_var(mp_str)
WRITETPDISPLAY(mp_str,CR)
--ReadUser:
prompt
READfile_var(mp_str:
:
6:
:
0)
IFUNINIT(mp_str)THEN
mp_str=''
ENDIF
WRITETPDISPLAY(mp_str,CR)
IF(mp_str<>'User:
')THEN
WRITETPDISPLAY('UserFailed',CR)
--Error
RETURN
ENDIF
--SendUserName
WRITEfile_var('admin',CHR(13),CHR(10))
--ReadPasswordprompt
mp_str=''
READfile_var(mp_str:
:
10:
:
0)
IFUNINIT(mp_str)THEN
mp_str=''
ENDIF
WRITETPDISPLAY(mp_str,CR)
IF(mp_str<>'Password:
')THEN
WRITETPDISPLAY('PasswordFailed',CR)
--Error
RETURN
ENDIF
--SendPassword
WRITEfile_var('',CHR(13),CHR(10))
--ReadLoginResponse
mp_str=''
READfile_var(mp_str)
IFUNINIT(mp_str)THEN
mp_str=''
ENDIF
WRITETPDISPLAY(mp_str,CR)
IF(mp_str<>'UserLoggedIn')THEN
WRITETPDISPLAY('LogInFailed',CR)
--Error
RETURN
ENDIF
--InstructionIn-SighttoAcquireanImage
--(waitforaresponse)
WRITETPDISPLAY('Trigger',CR)
WRITEfile_var('sw8',CHR(13),CHR(10))
--ReadStatus
READfile_var(statuss)
IFstatuss<>'1'THEN
WRITETPDISPLAY('sw8Failed',CR)
RETURN
ENDIF
--GetthevalueincellC7
WRITETPDISPLAY('GetValueC7',CR)
WRITEfile_var('gvc007',CHR(13),CHR(10))
--ReadStatus
READfile_var(statuss)
IFstatuss<>'1'THEN
WRITETPDISPLAY('gvc007Failed',CR)
RETURN
ENDIF
--Readthedata
--Thiswillsplittheinformationatthequotations"'".
--ExampleString'10.5''9.8''15.9'
READfile_var(xs:
:
0:
:
2,ys:
:
0:
:
2,angles:
:
0:
:
2)
--DisconnectSocket
MSG_DISCO('C3:
',status)
--Convertthedata
CNV_STR_REAL(xs,x)
CNV_STR_REAL(ys,y)
CNV_STR_REAL(angles,angle)
WRITETPDISPLAY('X:
',x,CR,'Y:
',y,CR,'R',Angle,CR)
ENDeComm
3.5In-SightJobSetup
WithaNewJobperformthefollowingsteps:
∙SetthefollowingA0Imagecellproperties(double-clickcellA0):
oTrigger=External
oManual=Checked
∙IncellA2typeExtractBlobs(atthispointthepropertysheetforExtractBlobsshouldpopup,clickOK
∙InsertSnippet“FANUCCommunications”:
oSelectcellA4
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