Warning

You are reading the documentation for an older Pickit release (3.0). Documentation for the latest release (3.3) 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.

System macros

MACRO	Field name	Comment
MACRO7	PI_RUN	Check the current mode of Pickit.

Detection macros

MACRO	Field name	Comment
MACRO2	PI_LOOK	Trigger a Pickit object detection using the currently active setup and product Configuration.
MACRO4	PI_NEXT	Request the next detected object.
MACRO9	PI_CAPTU	Trigger Pickit to capture a camera image to be used by a following PI_PROCE command. If the camera moves during image capture, a warning will be shown in the web interface.
MACRO10	PI_PROCE	Trigger an object detection on the camera image that was previously captured via PI_CAPTU command (or PI_LOOK).
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: `Above pick area` in P040, `Pre pick` pose in P043, `Pick` in P049 and `Post pick` in P045. (Not available for DX100 controllers)
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.
MACRO8	PI_GPPD	Request the pick point ID and pick point offset of the last requested object.

Configuration macros

MACRO	Field name	Comment
MACRO5	PI_CFG	Load the specified setup and product Configuration.
MACRO17	PI_SV_PD	Save the currently active product file.
MACRO18	PI_SV_ST	Save the currently active setup file.
MACRO13	PI_CYL	Reset the dimensions of the cylinder model of the active product file.
MACRO11	PI_BUILD	Build the background cloud used in Advanced filters.

Calibration macros

MACRO	Field name	Comment
MACRO15	PI_CFCAL	Configure the robot-camera calibration.
MACRO1	PI_CALIB	Trigger a detection of the robot-camera calibration plate.
MACRO14	PI_CLCAL	Calculate the robot-camera calibration.
MACRO16	PI_VCAL	Validate the robot-camera calibration. Returns the calibration validation result: distance error, angle error and calib error pose.

Monitoring macros

MACRO	Field name	Comment
MACRO6	PI_SAVE	Save a Snapshots with the latest detection results.

Tip

The ID’s of the macros can be changed by manually defining the Pickit macros. Note that, if the ID’s are changed, the provided example programs by Pickit need to be altered accordingly.

Macros taking arguments

The 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.

PI_CYL

CYL LENGTH: Length of the cylinder model in mm.
CYL DIAMETER: Diameter of the cylinder model in mm.

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
P041	Calib error pose	Pose error of the calibration validation	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 image capture and the moment the object information is sent to the robot	Output
R040	distance_error	Distance error of the calibration validation [mm]	Output
R041	angle_error	Orientation error of the calibration validation [deg]	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.