Tech Note: Robot Communications - Denso

1Overview...... 3

1.1Scope...... 3

1.2Required Hardware...... 3

1.3Required Software...... 3

2SETUP...... 3

2.1In-Sight Setup...... 3

2.2DENSO Robot Controller Setup...... 3

2.2.1Set Robot Controller IP Address...... 3

2.2.2Create New Robot Program...... 4

2.2.3Enter Sample Code...... 4

2.2.4 Save Program and Make it Active………………………...... ………………...4

Overview

Scope

The purpose of this document is to outline the actions required to connect a Cognex In-Sight Sensor to a DENSO Robot Controller and transfer data. In all of the setups outlined, the robot controller will be the device controlling the acquisition and transfer of data. In general, the DENSO Robot controller, with the use of In-Sight Native Mode commands, will trigger the sensor to acquire and process an image and then request specific data from the sensor.

Required Hardware

In-Sight Sensor (models 3400 or 5x00)

In-Sight I/O module (model 1450 or 1460)

RS-232 Serial Cable (Null-Modem) or Ethernet Cable (Cross Type)

Computer

DENSO Robot Controller (RC-5 or RC-7 version)

PC Interface (Recommended for In-Sight set-up)

Sensor Interface (for Serial communications)

Required Software

Cognex In-Sight Explorer version 3.3 or higher

Cognex In-Sight firmware version 3.3 or higher

DENSO Robot Controller (RC-5 or RC-7)

DENSO Wincaps II Simulation Software (Optional)

Setup

In-Sight Setup

  • Ensure that In-Sight Explorer version 3.3 or higher is installed
  • Ensure that sensor firmware is version 3.3 or higher
  • To find the IP address of your sensor, from In-Sight Explorer, right-click the sensor name under In-Sight Network and select Properties.

DENSO Setup

  • For Ethernet connection use cross-type Ethernet cable
  • Set DENSO Controller IP Address
  • From the top screen of the Teach Pendant
  • Press [F6 Set], [F5 Set Com], [F4 Address]
  • Select item to be changed and press [F5 Change]
  • Enter the desired IP address and press OK. For this example, use the following IP address for the controller: 192.168.0.1
  • For further instructions to set the IP Address, please refer to the DENSO Owner’s Manual CD – Setting Up Manual – Chapter 5

Calibrate the DENSO Robot in accordance to the In-Sight Instruction Manual

  • Create a new Program in the DENSO RC-5 or RC-7 Controller
  • Switch Teach Pendant to Manual Mode
  • From the top screen of the Teach Pendant
  • Press [F1 Program]
  • Press [F1 New Program]
  • When dialog box appears asking you to create a new program – press OK
  • Enter the name of your new program and press OK. For this example, use the name PRO1

Enter the following sample code in PRO1

  • For further instructions to enter the program code please refer to the DENSO Owner’s Manual CD – Setting Up Manual – Chapter 5 – Editing a program in manual mode.
  • Sample code is for a 4 Axis DENSO robot and assumes the following:
  • P1 will be the “Pick Point” found by the camera
  • IO104 will activate a gripper on End of Arm Tooling
  • Approach and Depart Height will be 75mm each
  • “Z” Height for pick point will not change
  • ‘!TITLE “PRO1”
  • PROGRAM PRO1
  • TAKEARM
  • SPEED 100
  • FLUSH #4
  • INPUT #4, F1, F2, F3
  • DELAY 100
  • LETX P1 = F1
  • LETY P1 = F2
  • LETT P1 = F2
  • APPROACH P, P1 75
  • MOVE L, @E P1
  • SET IO104
  • DELAY 75
  • DEPART L, 100

Save the sample program and make it active

  • After entering the sample program press [F6 Save]
  • Press OK to save the newly entered program
  • Select PRO1 in the program list
  • Press [F12 Config]
  • Select “Make the specified program active” and press OK
  • Press OK to start compiling
  • Press OK to acknowledge the “local variable initialized” error
  • For further instructions, please refer to the DENSO Owner’s Manual CD – Beginners Guide – Chapter 2.1 – Creating a program

After establishing communication with the In-Sight camera, running this program will input the data to the DENSO Controller and move to the new pick position. Please refer to the In-Sight documentation to set up the camera portion of the project.

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Version 1.0 8/16/06