Connecting External Devices - Vision Sensor
The robot can be connected with a vision sensor (2D camera for object position measurement), and vision sensor measurements can be transferred to the robot through a network to link with commands of the robot.
Vision Sensor Setting
Communication Connection Setting
Connect the LAN ports of the devices and apply TCP/IP communication to transfer vision sensor measurements to the robot. (refer to LAN port connection “4.3 Network Connection”) Set the IP address of the vision sensor to TCP/IP 192.168.137.xxx band to allow TCP/IP communication.
Vision Work Setting
To perform object position measurement, it is necessary to have an image input and vision teaching of the target object using the vision sensor. Refer to the dedicated vision work setting program provided by the vision sensor manufacturer.
Measurement Data Format Setting
To use vision sensor measurement data in robot work, it is necessary to perform vision- robot coordinates calibration, and this must be performed before initiating work using the vision sensor setting program. The vision sensor measurement data must be transferred using the following format settings:
Format | pos | , | x | , | y | , | angle | , | var1 | , | var2 | , | … |
|---|
- pos: Separator indicating the start of measurement data (prefix)
- x: X coordinate value of the object measured using vision sensor
- y: Y coordinate value of the object measured using vision sensor
- angle: Rotation angle value of the object measured using vision sensor
- var1…varN: Information measured using vision sensor (e.g., object dimension / defect check value)
Example) pos,254.5,-38.1,45.3,1,50.1 (description: x=254.5, y=-38.1, angle=145.3, var1=1, var2=50.1)
Robot Program Setting
When the physical communication connection between the vision sensor and robot and vision sensor setting are completed, a program must be set to allow the vision sensor and robot program to be linked. It is possible to connect/communication/control functions of the external vision sensor using Doosan Robot Language (DRL), and it is possible to set up the program in the Task Writer.
Details and comprehensive examples of Doosan Robot Language (DRL) on external vision sensor functions are provided in the Programming