Hi prosCurrently, I've all my pick and place application up. It is just that I cannot figure out the exact command to send to pim60 via command channel to switch ref obj.Tried commands such as sINT 1 <object index>. And also messing around with it. I'm very brain dead when it comes to this.
I'm using AUBO actually I've managed to do it via the web API. However, I'm not able to add it into my script code. I've also tried using Hercules but to no avail.
Am using socket communication, yes I can use this command PIM60 use different ports for sending and receiving commandsCheck that as well
@Prasanna I'm not able to write any code for the socket communication. Would you be able to provide a working example?
Pls find the attached documents for sick commandsAlso socketCreate("SICK_Command_Channel", "192.168.1.215", 2115); //sending command from robot to camerasocketCreate("SICK_Return_Channel","192.168.1.215", 2114); // sending command from camera to robot socketOpen("SICK_Command_Channel"); // open socketsocketOpen("SICK_Return_Channel"); // open socketsocketSendString("SICK_Command_Channel", "sMOD 1"); //edit modesocketSendString("SICK_Command_Channel", "sINT 1 2"); // changing reference objectsocketSendString("SICK_Command_Channel", "sMOD 0"); // PIM 60 run modesocketSendString("SICK_Command_Channel","TRIG"); // trigger command to PIM60 by robotPos = socketRead(ascii float); //UR will receive ascii float.....Note: Set Ethernet result output in PIM60Step1: TCP calibration should be done in RobotStep2: Camera Calibration using the checker board has to be done.Step3: Radio button Should be in millimeters not in pixelsStep4: Ethernet result output: Select checkbox - Align co-ordinatesstep5: Create an example string and change its format as like you want.Hope it will be helpful
I ran into the same problem. to resolve this I delayed sending the inspection trigger after switching the reference object. The camera will flash once for the object change and once again when the inspection is complete. I just looked into my code and ended up having to add a 750ms time delay between object switching and image capture. This value may have been a conservative number as it was not the bottleneck of the system.
Hi pros
Currently, I've all my pick and place application up.
It is just that I cannot figure out the exact command to send to pim60 via command channel to switch ref obj.
Tried commands such as sINT 1 <object index>. And also messing around with it. I'm very brain dead when it comes to this.