PickMaster30 UserGuide.pdf

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© Copyright 2000 - 2005 ABB
Article number: 3HAC 023775-001
Version 3.00
ABB Automation Technology Products AB
Robotics
SE-721 68 Västerås
Sweden
1
PickMaster User’s Guide
Chapter 1 Welcome to PickMaster .............................................................................. 5
Overview .........................................................................................................................................6
Industrial IT .....................................................................................................................................6
Compatibility...................................................................................................................................7
Documentation ................................................................................................................................7
Document Reference............................................................................................................8
Chapter 2 System Set up .............................................................................................. 9
Hardware............................................................................................................................10
Computer Requirement .................................................................................................................10
Frame Grabber...............................................................................................................................10
Camera ..........................................................................................................................................14
Network Settings ...........................................................................................................................15
Software ..............................................................................................................................16
Install PickMaster ..........................................................................................................................16
PickMaster Time Synchronization Service ...................................................................................17
Robot Controller................................................................................................................19
Robot Controller Software – RobotWare ......................................................................................19
System parameters.........................................................................................................................19
Robot Controller I/O Board...........................................................................................................20
I/O Connections.............................................................................................................................20
Six axis robot configuration ..........................................................................................................21
Chapter 3 Working with PickMaster......................................................................... 23
The Line and Project Concept .......................................................................................................24
The User Interface .........................................................................................................................25
The Options Dialog Box................................................................................................................26
Context Sensitive Help ..................................................................................................................27
Vision Features..............................................................................................................................27
Chapter 4 The Line .................................................................................................... 31
Set up ..................................................................................................................................32
Robot Controller............................................................................................................................32
Conveyor .......................................................................................................................................34
Conveyor Work Area ....................................................................................................................34
Indexed Work Area .......................................................................................................................36
Camera ..........................................................................................................................................38
External Sensor..............................................................................................................................40
Calibration .........................................................................................................................41
Counts Per Meter...........................................................................................................................41
Camera Calibration........................................................................................................................43
Work Area Calibration ..................................................................................................................51
Calibration Verification ....................................................................................................57
Camera Calibration Tune ..............................................................................................................57
2
Base Frame Calibration Tune ........................................................................................................58
Chapter 5 The Project ................................................................................................ 61
Set up ..................................................................................................................................62
Item................................................................................................................................................62
Pattern............................................................................................................................................64
Container .......................................................................................................................................67
Position Source..............................................................................................................................70
Work Area .....................................................................................................................................81
Robot Controller............................................................................................................................84
Robot .............................................................................................................................................85
Project Overview ...........................................................................................................................87
Vision Modeling .................................................................................................................89
Geometric Model - PatMax ...........................................................................................................89
Blob ...............................................................................................................................................99
External .......................................................................................................................................107
Inspection .........................................................................................................................108
Sub Inspection Models ................................................................................................................112
Chapter 6 Runtime Operation ................................................................................. 125
Robot Management .....................................................................................................................126
Tuning .........................................................................................................................................127
Live Images .................................................................................................................................128
Detailed Vision Information ........................................................................................................128
Logging .......................................................................................................................................132
Chapter 7 Advanced features and examples ........................................................... 133
RAPID Program ..............................................................................................................134
Variables......................................................................................................................................137
Routines.......................................................................................................................................139
Service Routines..........................................................................................................................143
Program Examples ..........................................................................................................144
Indexed Work Area Configuration ................................................................................156
Post inspection..................................................................................................................159
Chapter 8 Remote Integration Services................................................................... 161
Concept & Configuration ............................................................................................................162
Hilscher Field Bus Plug-in ..........................................................................................................168
Serial Plug-in ...............................................................................................................................170
TCP/IP Plug-in ............................................................................................................................171
Digital I/O plug-in .......................................................................................................................172
Chapter 9 Error Handling ....................................................................................... 183
Event Viewer ...............................................................................................................................184
Error Codes......................................................................................................................186
3
PickMaster User’s Guide
Robot Error Codes.......................................................................................................................192
Vision Error Codes ......................................................................................................................201
Hilscher Plug-in Error Codes ......................................................................................................204
Tcp Plug-in Error Codes..............................................................................................................206
Serial Plug-in Error Codes...........................................................................................................207
Digital I/O plug-in Error Codes...................................................................................................207
Chapter 10 Support .................................................................................................. 211
Addresses ..........................................................................................................................212
Dial-up Support ...........................................................................................................................212
Appendix I Wiring Diagrams
Appendix II Rapid Instructions
4

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