Problem with switching reference object with PIM60

ZH2112 2019-06-14

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.

Prasanna 2019-06-18

sINT1 will work......you are sending commands Via UR robot or any other 3rd party software.....

ZH2112 2019-06-18

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.

ZH2112 2019-06-19

@Prasanna Did u managed to include this in the UR script?

Prasanna 2019-06-19

Am using socket communication, yes I can use this command
PIM60 use different ports for sending and receiving commands
Check that as well

Prasanna 2019-06-19

Send me your code pls.....

ZH2112 2019-06-19

@Prasanna I'm not able to write any code for the socket communication. Would you be able to provide a working example?

Prasanna 2019-06-19

Am outside I will send by tonight or tomorrow morning for sure

Prasanna 2019-06-20

Pls find the attached documents for sick commands
Also

socketCreate("SICK_Command_Channel", "192.168.1.215", 2115); //sending command from robot to camera

socketCreate("SICK_Return_Channel","192.168.1.215", 2114); // sending command from camera to robot

socketOpen("SICK_Command_Channel"); // open socket

socketOpen("SICK_Return_Channel"); // open socket

socketSendString("SICK_Command_Channel", "sMOD 1"); //edit mode

socketSendString("SICK_Command_Channel", "sINT 1 2"); // changing reference object

socketSendString("SICK_Command_Channel", "sMOD 0"); // PIM 60 run mode

socketSendString("SICK_Command_Channel","TRIG"); // trigger command to PIM60 by robot

Pos = socketRead(ascii float); //UR will receive ascii float.....

Note: Set Ethernet result output in PIM60
Step1: TCP calibration should be done in Robot
Step2: Camera Calibration using the checker board has to be done.
Step3: Radio button Should be in millimeters not in pixels
Step4: Ethernet result output: Select checkbox - Align co-ordinates
step5: Create an example string and change its format as like you want.

Hope it will be helpful

mhall86 2023-02-26

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.