Warning

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

System macros

PI_RUN()

Check if Pickit is in Robot mode. It also initiates the communication with Pickit.

Detection macros

PI_CAPTU()

Trigger Pickit to capture a camera image to be used by a following PI_PROCE() command. This command blocks the robot movements. If the camera moves during image capture, a warning will be shown in the web interface. This function is suitable if the camera is robot-mounted.

PI_PROCE()

Trigger an object detection on the camera image that was previously captured via PI_CAPTU() command. This command is non-blocking. The robot can move while Pickit is processing the image that was already captured by the PI_CAPTU() command. This function is suitable if the camera is robot-mounted.

PI_LOOK()

Trigger a Pickit object detection (capture image and process image combined) using the currently active setup and product Configuration. This command is non-blocking. The robot can move while Pickit is detecting objects. This function is suitable if the camera is fixed.

PI_NEXT()

Request the next detected object.

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.

PI_GPPD()

Request the pick point ID and pick point offset of the last requested object.

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 supported for DX100 controllers).

Configuration macros

PI_CFG()

Load the specified setup and product Configuration. And sets the frame used for picking.

Parameters

• SETUP – Setup id.

• PRODUCT – Product id.

• FRAME (USER) – 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_SV_PD()

Save the currently active product file.

PI_SV_ST()

Save the currently active setup file.

PI_CYL()

Reset the dimensions of the cylinder model of the active product file.

Parameters

• CYL_LENGTH – Length of the cylinder model in mm.

• CYL_DIAMETER – Diameter of the cylinder model in mm.

PI_BUILD()

Build the background cloud used in Advanced filters.

Calibration macros

PI_CFCAL()

Configure the robot-camera calibration.

PI_CALIB()

Detect the robot-camera calibration plate.

Parameters

USER_FRAME – User frame created at start of TEST_CALIB. By default, this is 5.

PI_CLCAL()

Calculate the robot-camera calibration.

PI_VCAL()

Validate the robot-camera calibration. Returns the calibration validation result: distance error, angle error and calib error pose.

Monitoring macros

PI_SAVE()

Save a Snapshots with the latest detection results.

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.