Warning

You are reading the documentation for an older Pickit release (2.2). Documentation for the latest release (3.3) can be found here.

Yaskawa example picking program

This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the Yaskawa installation and setup article.

Before you can start picking, make sure that Calibration is done. This can be done by running the Yaskawa calibration program.

Example program: TEST_SIMPLEPICK

This example program can be found in JOB → SELECT JOB.

NOP
SET B021 0
MOVJ C00000 VJ=30.00  //HOME_POS
PULSE OT#(2)
PI_CFG
*LABEL
IFTHENEXP I040=20
    'PREPICK_POS
    MULMAT LP000 P049 P022
    'POSTPICK_POS
    MULMAT LP001 P021 P049
    'GET_PICK_POINT_DATA
    PI_GPPD
    IFTHENEXP I041=1
        IFTHENEXP I042=1
            MOVJ P025 VJ=50.00  //ABOVE_PICK_AREA
            MSG "moving to objects"
            MOVL LP000 V=750.0  //PREPICK_POS
            PULSE OT#(2)
            MOVL P049 V=500.0  //PICK_POS
            PULSE OT#(1)
            TIMER T=0.50
            MOVL LP001 V=750.0  //POSTPICK_POS
            MOVJ P023 VJ=50.00  //ABOVE_PICK_AREA
            MOVJ P025 VJ=50.00  //DETECT_POS
            PI_LOOK
            MSG "Looking for objects"
            MULMAT LP002 P047 P029
            MSG "Moving to drop"
            MOVL P029 V=750.0  //DROP_POS
            MOVL LP002 V=750.0  //CORR_DROP_POS
            PULSE OT#(2)
            TIMER T=0.50
            MOVJ P025 VJ=50.00  //DETECT_POS
            PI_WAIT
        ENDIF
    ENDIF
ELSEIFEXP I040=23
    MSG "ROI is empty"
    JUMP *EMPTY
ELSE
    INC B021
    IFTHENEXP B021>3
        MSG "No objects found after 3 detecti"
        PI_SAVE
        JUMP *EMPTY
    ENDIF
    MOVJ P025 VJ=50.00  //DETECT_POS
    PI_LOOK
    MSG "Looking for objects"
    PI_WAIT
ENDIF
JUMP *LABEL
*EMPTY
END

The idea of the program is the following:

  • If an object is found, its model and pick point ID are retrieved. The robot moves to the object to pick it. Next, the robot moves to a fixed drop off position, and finally it moves to a corrected drop off position. The corrected position is based on the pick offset and the fixed drop off position. During these motions when the robot is out the field of view of the camera, a new Pickit detection is triggered immediately.

  • If the ROI is empty, the program stops.

  • If no object is found but ROI is not empty, the robot moves outside the field of view of the camera and a new detection is triggered. If three times no object is found, a snapshot is saved on the Pickit system and the robot program stops.

Define the tool for picking

Create a tool frame with the actual TCP values. Again it is important that tool0 is not changed. Any other tool can be used.

Set PI_CFG

In this command the input arguments have to be set. See PI_CFG for more information on how to do this.

Variables used in TEST_SIMPLEPICK

Below you find an overview of the variables used in this example program. The Pickit variables, in the 40 range, can’t be changed by the user, an overview of these can be found in the Yaskawa Pickit interface article. All other variables can be adapted according the changes you want to apply to this example program.

Variable

Field name

Comment

Set by user

B021

Detection counter

This variable keeps track of the number of detections that are triggered

Yes

P021

Post pick offset

Distance offset to calculate the post pick position

Yes

P022

Pre pick offset

Distance offset to calculate the pre pick position

Yes

P023

Above pick area

Position that is defined above the pick area

Yes

P025

Detect position

Position not blocking the field of view of the camera when triggering detections

Yes

P029

Drop off position

Position where the part is dropped off

Yes

LP000

Pre pick position

Position the robot moves to before picking the object

No

LP001

Post pick position

Position the robot moves to after picking the object

No

LP002

Corrected drop off positon

Drop off position corrected with offset of the pick point

No

C000

Home position

Position where the robot starts his program

Yes

Tip

The positions P021-P029 can be changed in the position variable menu.

Add grasping/releasing logic

At the Pick and Dropoff positions, grasping and releasing logic needs to be added, respectively.

Execute the picking program

To run this program either do Play + Start, Interlock + FWD or Interlock + Test. Happy picking!