Hanwha Pickit interface

This article documents the interface of the Hanwha Pickit integration. For installation instructions, please refer to the Hanwha installation and setup article.

Pickit variables

The following variables need to be defined before you can use the Pickit functions. To do this go to Programming → Variables → Add. Once a variable is created, its name should be changed according to the table below.

Variable name	Type	Comment
piPose	position	Object pose expressed relatively to the robot base frame.
piPrePose	joint	Joint pose relatively to the piPose, used to approach the piPose.
piRefJoint	joint	Joint position used for robot joint configuration, typically defined in the middle of the picking area.
piPickId	number	ID of the pick point that was selected for the given object.
piRefId	number	ID of the selected pick point’s reference pick point.
piType	number	ID type of the detected object.
piDim1	number	Length or diameter (mm).
piDim2	number	Width or diameter (mm).
piDim3	number	Height (mm).
piAge	number	Amount of time that has passed between the capturing of the camera data and the moment the object information is sent to the robot.
piRemain	number	Number of remaining objects that can be sent to the robot in the next messages.
piStatus	number	Pickit status or a response to previously received robot commands.

Define piRefJoint

To prevent strange movements of the robot, we need to define the robot joint configuration for picking. This is done by jogging the robot to the center of the picking area and manually set the joint position values of piRefJoint. This position will indicate the desired robot configuration, which will be used for all calculated pick poses.

Pickit functions

First, download the integration files here. Copy all the .script files to a USB drive and plug it in the teach pendant. To add a Pickit function in your robot program go to Commands → script. A new script node will be created. Press this node and edit → file → load. This allows you to select the .script function that you want to add.

All available functions are briefly explained below.

Defining the IP adress of Pickit

Before any of these functions can be used, please make sure to set the correct IP address of the Pickit system. This is done by pressing on the node and edit. Here you can set the IP address, which is set to 169.254.5.180 by default.

Detection functions

Function name	Comment	Input
Detection	Trigger a Pickit object detection using the currently active setup and product Configuration.	pickit_offset
Next object	Request the next detected object.	pickit_offset
Capture image	Trigger Pickit to capture a camera image to be used by a following Process image function. If the camera moves during image capture, a warning will be shown in the web interface.	/
Process image	Trigger an object detection on the camera image that was previously captured via the Capture image function (or one of the Detection functions).	pickit_offset
Detection with retries	Repeatedly trigger a Pickit object detection as long as nothing is found and the ROI is not empty, up to a number of attempts.	retries, pickit_offset

Configuration functions

Function name	Comment	Input
Configuration	Load the specified setup and product Configuration.	setup, product
Build background	Build the background cloud used in Advanced filters.	/

Calibration functions

Function name	Comment	Input
Calibration	Trigger a detection of the robot-camera calibration plate.	/

Monitoring functions

Function name	Comment	Input
Save scene	Save a Snapshots with the latest detection results.	/

Hint

In some functions, input values have to be set manually. This is done by pressing on the node and edit. The mentioned input variables can be found under the header Input at the beginning of each function.