Denso

Warning

This robot integration is in beta stage. As such, it supports most functionality but is not yet feature-complete.

Installation and setup

Setup the network connection

Hardware connection

The Pickit processor and the robot controller connect via Ethernet. An Ethernet cable should be connected to the Ethernet port of the Denso controller and to the Pickit processor as described here.

IP configuration

To allow communication between Pickit and the Denso controller, both must have an IP address in the same subnet.

By default, the Pickit robot connection is configured to have the following static IP address: 169.254.5.180 with a subnet mask of 255.255.0.0.

Set the IP address of the Denso controller to an address in the same subnet as the Pickit IP address (for example, 169.254.5.182) with a subnet mask of 255.255.0.0.

Setup TCP/IP communication

On the Denso teach pendant, navigate to Home → Settings (bottom right) → Communication and token → Data communication → Ethernet.

../../../_images/denso-ethernet.png

Configure two TCP clients (Client #8 and Client #9), both pointing to the Pickit robot IP and port 5001, with the following settings:

  • TCP/UDP: TCP

  • IPAddress: 169.254.5.180 (the Pickit robot IP)

  • Port: 5001

  • Timeout: -1 (wait forever)

  • DataType: Binary

  • Delimiter: LF

  • Header: None

  • Keep-Alive Time: -1

Attention

The Pickit integration requires clients 8 and 9 specifically these numbers are defined in Pickit_Const.h and the integration will not use any other client slots. If clients 8 or 9 are already used by another application two options are available:

  • Reassign the conflicting application to different client numbers, freeing 8 and 9 for Pickit.

  • Edit the client number constants in Pickit_Const.h to point to two unused clients, and configure those same clients on the Denso side instead of 8 and 9.

Client #8:

../../../_images/client-8.png

Client #9:

../../../_images/client-9.png

Test robot connection on Pickit

On the Pickit side, details on testing the connection to the robot can be found on: Testing the Robot to Pickit connection.

Load the program files

Download the Pickit Denso files and upload them to the robot controller.

The integration is composed of the following files:

File

Purpose

Pickit_Const.h

Internal constants. Do not include directly from programs.

Pickit_Lib.h

Pickit function library. Include this from programs.

TSR1.pcs

Background task that streams the robot pose to Pickit.

Pickit_PickPlace.pcs

Bin picking application example.

Pickit_Calibration.pcs

Robot-camera calibration program.

Pickit_CalibValidation.pcs

Calibration validation program.

Pickit_PartLocation_Teach.pcs

Teach step for the part location workflow.

Pickit_PartLocation_Exec.pcs

Execution step for the part location workflow.

Start communication and run an example

Quick guide to get up and running:

  1. Configure both clients as described above, and enable robot mode in the Pickit web interface.

  2. Start TSR1.pcs as a background (auto-start) task and check the ✓ icon next to Robot in the top bar of the Pickit interface.

  3. Choose one of the ready-to-use example programs to run.

Note

Before running an example program, remember to define the robot poses and the other settings listed at the top of the program file.