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Sebastien

Hi pros,
we struggle to find information about the EthernetIP setup on UR robots. The only documentation that I found was this example with Allen-Bradley PLC
here.
How can we setup Inputs and outputs with EthernetIP? Do we need to add read and write commands in the program or can it be set up like the modbus Client IO tab in the Installation tab where we layout the IOs that need to be exchanged between the devices?

@Stefan_Stubgaard do you have some more documentation on the EthernetIP option available in the UR robot?

mkardasinski

Keyence has developed a cap for the UR. You can download it from their site. It requires you to have a code for the download, which you can get by using the serial number of the controller or talk to the Keyence sales rep. you acquired the controller from and they should be able to supply you with a code. If you need some help finding the cap at in the Keyence site let me know and I will look for it in my email and forward it to you.
@cbrissette Could you look for that link, please? I cannot find a link, on Keyence site, to a URCap for the CVX system.

EmilioMartinez

All I/O registers are preconfigured (this is what the EDS file contains), so no need to setup anything in the Installation tab on the robot. You only need to enable EthernetIP in the Installation.

The EDS file needs to be installed in your Allen Bradley (AB) software in order to access the preconfigured registers. Then you have access to all registers from both AB software and robot.

From the robot program if you want to read or write to a register, there is a bunch of script codes available for this. See the How-To you linked to for an overview of codes available.

It is not posssible to see a full list of all registers directly in PolyScope, but you can in AB software see the entire list and current value of each register.

HI, THERE IS ANY WAY TO DO THE SAME WITH MITSUBISHI SOFTWARE, ESPECIALLY I WANT TO DO IT WITH PLC FX5U

prajval10

yuvarajoo said:
Hi, you can try this example at UR faq. It uses cognex.
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/vision-system-with-the-robot-15576/

Yes, I am using the same link for my program. But its not working. 

Glass420

Hi, I use 2 Cognex cameras connected through a switch on one of my systems. Camera 1 is for part location and Camera 2 is for inspection.
below is the call routine and the subroutines I use. i use a soft trigger through Ethernet to take the pic.

    Camera 1 Communications
       Call OpenComms
       Call SoftTrigger
       Call GetData
       Call Prep
       Call CloseComms
       If orientation≟0
         Wait: 0.5
         Call OpenComms
         Call SoftTrigger
         Call GetData
         Call Prep
         Call CloseComms

  SoftTrigger
     'send soft trigger to camera'
     'Then read value back from camera'
     Soft_Trigger
       trigger_loop≔0
       Loop trigger_loop<3
         socket_send_string("SE8","C1_Telnet")
         socket_send_byte(13,"C1_Telnet")
         socket_send_byte(10,"C1_Telnet")
         C1_Trigger_OK≔socket_read_byte_list(1,"C1_Telnet")
         If C1_Trigger_OK[0]≟1
           trigger_loop≔3
         Else
           trigger_loop≔trigger_loop+1
       If C1_Trigger_OK[0]≠1
         Popup
   OpenComms
     'Open ports 23 (TelNet) and 1234 (C1_Comm)'
     'TelNet is used for Soft Trigger'
     'C1_Comm is used for location and image data'
     Telnet_Comm
       'reset values'
       comm_timeout≔0
       comm≔ False 
       Loop comm≟ False 
         comm≔socket_open("192.168.0.20",23,"C1_Telnet")
         'check for comm timeout'
         If comm_timeout>2
           Popup
       'read data from camera'
       TelNet_C2__1≔socket_read_string("C1_Telnet")
       'enter user name as admin'
       socket_send_string("admin","C1_Telnet")
       'send CR,LF'
       socket_send_byte(13,"C1_Telnet")
       socket_send_byte(10,"C1_Telnet")
       'read data from camera'
       TelNet_C2_2≔socket_read_string("C1_Telnet")
       'since password is NULL just send CR,LF'
       socket_send_byte(13,"C1_Telnet")
       socket_send_byte(10,"C1_Telnet")
       'read data from camera'
       'could parse data to check for success'
       TelNet_C2_3≔socket_read_string("C1_Telnet")
     C1_Comm
       'reset values'
       comm_timeout≔0
       comm≔ False 
       Loop comm≟ False 
         comm≔socket_open("192.168.0.20",1234,"C1_Comm")
         If comm_timeout>2
           Popup
   CloseComms
     'Close socket comms'
     Close_Comms
       socket_close("C1_Telnet")
       socket_close("C1_Comm")
   GetData
     'Get position and image quality'
     'Popup message if no data is received'
     Get_C1_Data
       camera_data≔[0,0,0,0,0]
       Loop camera_data[0]≟0
         camera_data≔socket_read_ascii_float(4,"C1_Comm")
         If comm_timeout>2
           bad_read_cnt≔bad_read_cnt+1
           Popup
         parsed position and image data
           x_axis≔camera_data[1]
           y_axis≔camera_data[2]
           z_rotate≔camera_data[3]
           orientation≔camera_data[4]

Acspisak

@prajval10 and  @matthewd92

Have you resolved this issue? I am having the same issue. I have the communication working but all i'm getting back is [0,Nan,Nan,Nan]. 
I think it may have to do with the settings on the "Format String" tab on In-Sights Explorer. Any recommendations would be appreciated. 

Best regards, 
Andrew Spisak

zoom

Tesfit
matthewd92

Yes, over ethernet 

I_vantheory

Acspisak said:
@prajval10 and  @matthewd92

Have you resolved this issue? I am having the same issue. I have the communication working but all i'm getting back is [0,Nan,Nan,Nan]. 
I think it may have to do with the settings on the "Format String" tab on In-Sights Explorer. Any recommendations would be appreciated. 

Best regards, 
Andrew Spisak

zoom
Hi there, did you find a solution to your problem? I want to do the job load by writing and reading bits sending it from the Robot to the camera and I am kind of a lost.......

I_vantheory

prajval10 said:
Hi, I am working on a project with Cognex 7802 vision system and the UR10 robot. I would like to communicate the x,y, rotation values of the detected part from the camera to the robot via Ethernet/IP. 

IP of camera: 192.168.1.9
IP of robot: 192.168.1.10
port = 5000

In the URscript, I first open a socket connection and read the recevied data:
get camera data:
     if Socket_closed = True
           socket_open("192.168.1.9",5000)
          Socket_closed = False
    loop received_data[0] = 0
          received_data = socket_read_ascii_float(3)

All the variables have been initialised correctly but the received_data has an error while running: [0,NaN,NaN,NaN], i,e the read was not performed correctly. In the Cognex InSight software I have configured the TCP/IP communication and correctly formatted the output string (see fig). Could someone please help me out on this issue?

Thanks,
Prajval 
zoom


Hi, did you find a solution to your problem?