Tech Note: Robot Communications - ABB

OVERVIEW.............................................................................................................2
1.1 Scope.......................................................................................................2
1.2 Needed Hardware....................................................................................2
1.3 Needed Software......................................................................................2
2 SERIAL COMMUNICATIONS........................................................................2
2.1 In-Sight Setup...........................................................................................2
2.2 Robot Controller RAPID code..................................................................2
2.3 In-Sight Serial Port Setup.........................................................................4
2.3.1 Input Settings....................................................................................4
2.3.2 Serial Settings...................................................................................4
2.4 In-Sight Job Setup....................................................................................5
3 ETHERNET COMMUNICATIONS..................................................................6
3.1 In-Sight Setup...........................................................................................6
3.2 Robot Controller Setup.............................................................................6
3.3 Robot Controller RAPID code..................................................................6
3.4 Job Setup.................................................................................................8
4 TROUBLE SHOOTING...................................................................................8
4.1 Serial with HyperTerminal........................................................................8
4.1.1 In-Sight Serial Port Setup.................................................................8
4.1.2 Input Settings....................................................................................8
4.1.3 Serial Settings...................................................................................9
4.1.4 Setup a Test Job.............................................................................10
4.1.5 Connect to In-Sight.........................................................................10
4.2 Verify Ethernet connection with Telnet..................................................13
4.2.1 Setup a Test Job.............................................................................13
4.2.2 Connect to In-Sight.........................................................................13

Page 1 of 13
Version 1.0 8/16/06
1 Overview
1.1 Scope
The purpose of this document is to outline the steps needed to connect and
transfer data from a Cognex In-Sight Sensor to an ABB Robot Controller. In all
of the setups outlined, the robot controller will be the device controlling the
acquisition and transfer of data. In general the robot controller, with the use of
In-Sight Native Mode commands, will trigger the sensor to acquire and process
an image and then the robot controller will request specific data from the sensor.

For a full list of Native Mode commands from In-Sight Explorer Select Help | In-
Sight Explorer Help; from the Contents tab expand Communications Reference |
Native Mode Communications and here you'll find the full list of all Basic and
Extended Native Mode commands.

1.2 Needed Hardware

In-Sight Sensor (models 3400 or 5x00)
In-Sight I/O module (model 1450 or 1460)
DB9 Serial Cable (300-0281) or Ethernet Cable
Computer
ABB Robot Controller (IRC5, S4Cplus or S4P+)
PC Interface (Recommended for Ethernet communications but not required)
Sensor Interface (for Serial communications)

1.3 Needed Software

Cognex In-Sight Explorer version 3.3 or higher
Cognex In-Sight firmware version 3.3 or higher
ABB RAPID programming language

2 Serial communications
2.1 In-Sight Setup
 Make sure In-Sight Explorer version 3.3 or higher is installed
 Make sure the sensors firmware is version 3.3 or higher

2.2 Robot Controller RAPID code

MODULE VISION
! DATA DECLARATIONS

PERS num nXOffs:=0;

PERS num nYOffs:=0;
PERS num nAngle:=0;
VAR string stReceived;
VAR iodev ComChannel;
PERS tooldata tGripper:=[TRUE,[0,0,0],[0,0,0,1]],
[5,[0,0,],[1,0,0,0],0,0,0]];
PERS tooldata tVision:=[TRUE,[[0,0,0],[0,0,0,1]],
[5,[0, 0, 0],[1,0,0,0],0,0,0]];
Page 2 of 13
Version 1.0 8/16/06
CONST robtarget pHome:=[[0,0,0],[0,0,0,1],
[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pVisionPos:=[[0,0,0],[0,0,0,1],
[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC Main()
MoveL pHome,v1000,fine,tVision;
GetVisionData;
MoveL Reltool(pVisionPos,nXOffs,nYOffs,0\Rz:=nAngle),v500,
fine,tGripper;
WaitTime 3;
MoveL pHome,v1000,fine,tVision;
ENDPROC

PROC GetVisionData()
VAR string XData:="";
VAR string YData:="";
VAR string AngleData:="";
VAR num NumCharacters:=9;
VAR bool bOK;

nXOffs:=0;
nYOffs:=0;
nAngle:=0;

Close ComChannel;
Open “COM2”, ComChannel \Append\Bin;
ClearIOBuff ComChannel;
WaitTime\InPos, 0.5;

! Instruction In-Sight to Acquire an Image

! and not return until complete
WriteStrBin ComChannel, “sw8\0D”;
CheckStatus;

! Get the value in cell C7

WriteStrBin ComChannel, “gvc007\0D”;
CheckStatus;

! Read the X-offset

XData:= ReadStrbin (ComChannel, NumCharacters \Time:=5);

! Read the Y-offset

YData:= ReadStrbin (ComChannel, NumCharacters \Time:=5);

! Read the Angle-offset

AngleData:= ReadStrbin (ComChannel, NumCharacters \Time:=5);

!Closes Serial Channel "COM2"

Close ComChannel;

!Convert String Data To Numerical Data

bOK:=StrToVal(XData,nXOffs);
bOK:=StrToVal(YData,nYOffs);
bOK:=StrToVal(AngleData,nAngle);
ENDPROC

PROC CheckStatus()
stReceived:=ReadStrBin(ComChannel,1\Time:=5);
IF stReceived<>"1" THEN
TPErase;
TPWrite "Vision Error!";

Page 3 of 13
Version 1.0 8/16/06
 Stop;
ENDIF
ClearIOBuff ComChannel;
ENDPROC

ENDMODULE

2.3 In-Sight Serial Port Setup

While connected to the sensor and Offline:
2.3.1 Input Settings
 Select Sensor | Discrete I/O Settings | Input Settings…
 For Input Module, select I/O Expansion Module

 Click OK
2.3.2 Serial Settings
 Select Sensor | Serial Port Settings…
 Set the following properties:

Page 4 of 13
Version 1.0 8/16/06
 o Baud Rate: 115200
o Data Bits: 8
o Stop Bits: 1
o Parity: None
o Handshake: None
o Mode: Native
o Fixed Input Length: Unchecked
o Input Terminator: 13
o Output Terminator: 13
o Verify that the dialog reports that the “I/O Expansion Module is
attached”
 Click OK

2.4 In-Sight Job Setup

With a New Job perform the following steps:
 Set the A0 Image cell properties (double-click cell A0):
o Trigger = External
o Manual = Checked
 In cell A2 type ExtractBlobs( at this point the property sheet for
ExtractBlobs should popup, click OK
 Insert Snippet “ABB”:
o Select cell A4
o If the Tool Palette isn’t visible; select View | Tool Palette
o From the Snippets tab find and double-click
Communications | Robots | ABB
 Define the coordinate cell references:
o X: Double-click C6, double-click C2,
o Y: Double-click D6, double-click D2
o Angle: Double-click E6, double-click E2

Page 5 of 13
Version 1.0 8/16/06
  Press the Manual Trigger icon a few times to confirm that ExtractBlobs( )
data is changing.
 Save the job
 Turn the sensor Online

3 Ethernet Communications
3.1 In-Sight Setup
 Make sure In-Sight Explorer version 3.3 or higher is installed
 Make sure the sensors firmware is version 3.3 of higher

3.2 Robot Controller Setup

The code example shows the controller connecting to an In-Sight with IP address
192.168.0.1; To find the IP address of your sensor, from In-Sight Explorer, right-
click the sensor name under In-Sight Network and select Properties.
3.3 Robot Controller RAPID code
MODULE VISION
! DATA DECLARATIONS

PERS num nXOffs:=0;

PERS num nYOffs:=0;
PERS num nAngle:=0;
VAR string stReceived;
VAR socketdev ComSocket;
PERS tooldata tGripper:=[TRUE,[0,0,0],[0,0,0,1]],
[5,[0,0,],[1,0,0,0],0,0,0]];
PERS tooldata tVision:=[TRUE,[[0,0,0],[0,0,0,1]],
[5,[0, 0, 0],[1,0,0,0],0,0,0]];
CONST robtarget pHome:=[[0,0,0],[0,0,0,1],
[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pVisionPos:=[[0,0,0],[0,0,0,1],
[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC Main()
ConnectToInSight ;
MoveL pHome,v1000,fine,tVision;
GetVisionData;
MoveL Reltool(pVisionPos,nXOffs,nYOffs,0\Rz:=nAngle),v500,
fine,tGripper;
WaitTime 3;
MoveL pHome,v1000,fine,tVision;
GetVisionData;
MoveL Reltool(pVisionPos,nXOffs,nYOffs,0\Rz:=nAngle),v500,
fine,tGripper;
WaitTime 3;
MoveL pHome,v1000,fine,tVision;
SocketClose ComSocket;
ENDPROC

PROC GetVisionData()
VAR string XData:="";
VAR string YData:="";
VAR string AngleData:="";
VAR num NumCharacters:=9;
Page 6 of 13
Version 1.0 8/16/06
 VAR bool bOK;

nXOffs:=0;
nYOffs:=0;
nAngle:=0;

status := SocketGetStatus(ComSocket);
IF status <> SOCKET_CONNECTD THEN
TPErase;
TPWrite "Vision Sensor Not Connected";
Return;
ENDIF

! Instruct In-Sight to Acquire an Image

! and not return until complete
SocketSend ComSocket \Str:="sw8";
CheckStatus;

SocketReceive ComSocket \Str:=stReceived;

! Get the value in cell C7

SocketSend ComSocket \Str:="gvc007";
CheckStatus;

! Read the data

SocketReceive ComSocket \Str:=stReceived;

! Parse the data string

XData:= StrPart(stReceived, 0, NumCharacters);
YData:= StrPart(stReceived, NumCharacters, NumCharacters);
AngleData:= StrPart(stReceived, 2*NumCharacters,
NumCharacters);

!Convert String Data To Numerical Data

bOK:=StrToVal(XData,nXOffs);
bOK:=StrToVal(YData,nYOffs);
bOK:=StrToVal(AngleData,nAngle);
ENDPROC

PROC CheckStatus()
SocketReceive ComSocket \Str:=stReceived;
IF stReceived <> "1" THEN
TPErase;
TPWrite "Vision Error!";
Stop;
ENDIF
ENDPROC

PROC ConnectToInSight()
SocketCreate ComSocket;
SocketConnect ComSocket, "192.168.0.1", 23;

SocketReceive ComSocket \Str:=stReceived;

IF stReceived <> "User: " THEN

TPErase;
TPWrite "Vision Login Error (User Prompt)";
Stop;
ENDIF

! Send the Username

SocketSend ComSocket \Str:="admin";

Page 7 of 13
Version 1.0 8/16/06
 SocketReceive ComSocket \Str:=stReceived;

IF stReceived <> "Password: " THEN

TPErase;
TPWrite "Vision Login Error (Password Prompt)";
Stop;
ENDIF

! Send Password
SocketSend ComSocket \Str:="";

SocketReceive ComSocket \Str:=stReceived;

IF stReceived <> "User Logged In" THEN

TPErase;
TPWrite "Vision Login Error (Final Login)";
Stop;
ENDIF
ENDPROC

ENDMODULE

3.4 Job Setup

With a New Job perform the following steps:
 Set the following A0 Image cell properties (double-click cell A0):
o Trigger = External
o Manual = Checked
 In cell A2 type ExtractBlobs( at this point the property sheet for
ExtractBlobs should popup, click OK
 Insert Snippet “ABB”:
o Select cell A4
o If the Tool Palette isn’t visible; select View | Tool Palette
o From the Snippets tab find and double-click
Communications | Robots | ABB
 Define the coordinate cell references:
o X: Double-click C6, double-click C2,
o Y: Double-click D6, double-click D2
o Angle: Double-click E6, double-click E2
 Press the Manual Trigger icon a few times to confirm that ExtractBlobs( )
data is changing.
 Save the job
 Turn the sensor Online

4 Trouble Shooting
4.1 Serial with HyperTerminal
4.1.1 In-Sight Serial Port Setup
While connected to the sensor and Offline:

Page 8 of 13
Version 1.0 8/16/06
4.1.2 Input Settings
 Select Sensor | Discrete I/O Settings | Input Settings…
 For Input Module, select I/O Expansion Module

 Click OK
4.1.3 Serial Settings
 Select Sensor | Serial Port Settings…
 Set the following properties:

o Baud Rate: 115200

o Data Bits: 8

Page 9 of 13
Version 1.0 8/16/06
 o Stop Bits: 1
o Parity: None
o Handshake: None
o Mode: Native
o Fixed Input Length: Unchecked
o Input Terminator: 13
o Output Terminator: 13
o Verify that the dialog reports that the “I/O Expansion Module is
attached”
 Click OK
4.1.4 Setup a Test Job
 With a New Job perform the following steps:
o Confirm the following A0 Image cell properties (double-click cell
A0):
 Trigger = External
 Manual = Checked (default)
o In cell A2 type ExtractBlobs( at this point the property sheet for
ExtractBlobs should popup, click OK
o In cell A4 type FindBlobs( at this point the property sheet for
FindBlobs should popup, enter B2 for the Blobs property and then
click OK
 You can test the job by clicking the Manual Trigger button on the icon bar
or selecting Image | Manual Trigger from the menus
 Put the sensor Online by either clicking the Online button on the icon bar
or selecting Sensor | Online from the menus
4.1.5  Connect to In-Sight
 From Windows click Start | All Programs | Accessories | Communications |
HyperTerminal
 Create a New Connection

Page 10 of 13
Version 1.0 8/16/06
 o Port: COM1
o Bits per second: 115200
o Data bits: 8
o Parity: None
o Stop bits: 1
o Flow Control: None
 File | Properties | Settings

Page 11 of 13
Version 1.0 8/16/06
o Emulation: ANSI
o ASCII Setup (for viewing ease) set the following

 Send line ends with line feeds

 Echo typed characters locally
 Append line feeds to incoming line ends
Page 12 of 13
Version 1.0 8/16/06
  Wrap lines that exceed terminal width
 Connect
 Type: sw8 (this will cause a manual acquire and the image should
change)
 Type: gvC004 (this will get the value of cell C4)
 
4.2 Verify Ethernet connection with Telnet
4.2.1 Setup a Test Job
 Check and record the IP address of your sensor by selecting Help | About
In-Sight Explorer... from the menus
 With a New Job perform the following steps:
o Confirm the following A0 Image cell properties (double-click cell
A0):
 Trigger = External
 Manual = Checked (default)
o In cell A2 type ExtractBlobs( at this point the property sheet for
ExtractBlobs should popup, click OK
o In cell A4 type FindBlobs( at this point the property sheet for
FindBlobs should popup, enter B2 for the Blobs property and then
click OK
 You can test the job by clicking the Manual Trigger button on the icon bar
or selecting Image | Manual Trigger from the menus
 Put the sensor Online by either clicking the Online button on the icon bar
or selecting Sensor | Online from the menus
4.2.2  Connect to In-Sight
 From Windows click Start | Run...
 In the Run window type: telnet <the sensors IP Address>  example: telnet
10.27.80.66
 Click OK
 You should be prompted for a user name, type admin
 Press Enter
 The password by default is blank, so just press Enter
 You should now see User Logged In
 Type: sw8 (this will cause a manual acquire and the image should
change)
 Type: gvC004 (this will get the value of cell C4)
 To disconnect your telnet session type CTRL + ]
 type: quit to close the window

Page 13 of 13
Version 1.0 8/16/06