Warning
You are reading the documentation for an older Pickit release (2.4). Documentation for the latest release (3.4) can be found here.
Yaskawa Pickit interface
This article documents the interface of the Yaskawa Pickit integration. For installation instructions, please refer to the Yaskawa installation and setup article.
Pickit macros
Below you find an overview of the macros defined by Pickit.
MACRO |
Field name |
Comment |
|---|---|---|
MACRO1 |
PI_CALIB |
Trigger a detection of the robot-camera calibration plate. |
MACRO2 |
PI_LOOK |
Trigger a Pickit object detection using the currently active setup and product Configuration. |
MACRO3 |
PI_WAIT |
Wait for Pickit reply with detection results. PI_WAIT should always be the next Pickit command after a PI_LOOK or PI_NEXT request. |
MACRO4 |
PI_NEXT |
Request the next detected object. |
MACRO5 |
PI_CFG |
Load the specified setup and product Configuration. |
MACRO6 |
PI_SAVE |
Save a Snapshots with the latest detection results. |
MACRO7 |
PI_RUN |
Check the current mode of Pickit. |
MACRO8 |
PI_GPPD |
Request the pick point ID and pick point offset of the last requested object. |
MACRO9 |
PI_CAPTU |
Trigger Pickit to capture a camera image to be used by a following PI_PROCE command. |
MACRO10 |
PI_PROCE |
Trigger an object detection on the camera image that was previously captured via PI_CAPTU command (or PI_LOOK). |
MACRO11 |
PI_BUILD |
Build the background cloud used in Advanced filters. |
MACRO12 |
PI_REACH |
Check if the pre pick, pick and post pick poses are reachable from the above pick area pose.
It assumes that the poses are correctly set in the following registers:
|
Tip
The ID’s of the macros can be changed by manually defining the Pickit macros. Note if the ID’s are changed the provided example programs by Pickit need to be altered accordingly.
Following macros have input arguments that need to be filled in when you call them.
PI_CALIB
USER FRAME: User frame created at start of TEST_CALIB. By default, this is 5.
PI_CFG
SETUP: Pickit setup file ID.
PRODUCT: Pickit product file ID.
USER FRAME: User frame that was created in TEST_CALIB. By default, this is 5.
TOOL: Tool frame ID that is used by robot for picking.
TIMEOUT: Value of the timeout used for communication with Pickit.
Note
If something is wrong here, you can expect the following message: Undefined user frame. The example program by default uses frame 5 and tool 1, but these might not exist.
Pickit registers
Below you find an overview of the variables used by Pickit. When using Pickit these variables cannot be used for anything else. More information about the variables can be found in Pickit socket interface.
Variable |
Field name |
Comment |
Type |
|---|---|---|---|
I049 |
command |
command from robot to Pickit |
Input |
I048 |
payload 1 |
First payload sent to Pickit (e.g. used for setup file ID, …) |
Input |
I047 |
payload 2 |
Second payload sent to Pickit (e.g. used for product file ID, …) |
Input |
I046 |
Frame ID |
frame ID used during calibration and picking |
Input |
I045 |
Tool ID |
tool ID used for picking |
Input |
I044 |
Timeout |
timeout used for communication with Pickit [ms] |
Input |
I042 |
pick_id |
ID of the pick point that was selected for the given object |
Output |
I041 |
object_type |
ID type of the detected object |
Output |
I040 |
status |
Pickit status or a response to previously received robot commands |
Output |
I043 |
reach status |
Set to 0 if the object is reachable, and to -1 if it is not reachable |
Output |
I030-039 |
status of cycles |
used for keeping track of the communication cycle with Pickit |
Internal |
OT 1021 |
reach trigger |
Send a pulse on this signal to trigger a reachability check for the pre pick, pick and post pick position. |
Input |
S049 |
IP Pickit |
IP address of Pickit, by default 169.254.5.180 |
Input |
P049 |
object_pose |
object pose expressed relatively to the robot base frame (used in the reachability check) |
Output |
P048 |
object_dimension |
[0]: length or diameter (m) [1]: width or diameter (m) [2]: height (m) |
Output |
P047 |
object_offset |
pick point offset of the last requested object |
Output |
P046 |
rx_flip |
helper pose to calculate a correct offset pose |
Internal |
P040 |
Above pick area |
Position that is defined above the pick area (used in the reachability check) |
Input |
P043 |
Pre pick pose |
Position the robot moves to before picking the object (used in the reachability check) |
Output |
P045 |
Post pick pose |
Position the robot moves to after picking the object (used in the reachability check) |
Output |
D042 |
pick_ref_id |
ID of the selected pick point’s reference pick point |
Output |
D041 |
object_remaining |
number of remaining objects that can be sent in next messages to the robot |
Output |
D040 |
object_age |
amount of time that has passed between the capturing of the camera data and the moment the object information is sent to the robot |
Output |
Tip
If these registers are already used on your robot, please contact us at support@pickit3d.com, and we will assist you in finding a solution.