Home Troubleshooting


Left ArrowBack to discussions page
ZH2112ZH2112 Posts: 22 Apprentice
edited June 2019 in Troubleshooting
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.

Best Answer


  • ZH2112ZH2112 Posts: 22 Apprentice
    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.
  • ZH2112ZH2112 Posts: 22 Apprentice
    @Prasanna Did u managed to include this in the UR script?
  • PrasannaPrasanna Posts: 56 Apprentice
    Am using socket communication, yes I can use this command 
    PIM60 use different ports for sending and receiving commands
    Check that as well
  • PrasannaPrasanna Posts: 56 Apprentice
    Send me your code pls..... 
  • ZH2112ZH2112 Posts: 22 Apprentice
    @Prasanna I'm not able to write any code for the socket communication. Would you be able to provide a working example?
  • PrasannaPrasanna Posts: 56 Apprentice
    Am outside I will send by tonight or tomorrow morning for sure
  • PrasannaPrasanna Posts: 56 Apprentice
    Pls find the attached documents for sick commands
    socketCreate("SICK_Command_Channel", "", 2115);   //sending command from robot to camera
    socketCreate("SICK_Return_Channel","", 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

  • mhall86mhall86 Unconfirmed Posts: 1 Recruit
    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.
Sign In or Register to comment.
Left ArrowBack to discussions page