Yaskawa example picking program

This example program requires that Pickit is installed and set up with your robot. For installation instructions, please refer to the Yaskawa installation and setup article.

Before you can start picking, make sure that Calibration is done. This can be done by running the Yaskawa calibration program.

Example program: TEST_SIMPLEPICK

Warning

On DX100 controllers, the reachability check is not available. The PI_REACH call should be removed.

This example program can be found in JOBSELECT JOB.

NOP
PI_RUN
'Initiallization PI count
SET B021 0
MOVJ VJ=10.00  //Home pose
'Load config
PI_CFG SETUP:2 PRODUCT:2 U/FRAME:5 TOOL:1 TIMEOUT:20000
*LABEL
'Picking
IFTHEN I040=20
    'Prepick pose
     MULMAT P043 P049 P022
    'Postpick pose
     MULMAT P045 P049 P021
    'Check reachable object pose
     PI_REACH
    'GET PICK POINT DATA
     PI_GPPD
    'If reachable
     IFTHENEXP I043=0
             MOVJ P040 VJ=50.00  //Above pick area
             MSG "Moving to object"
             MOVJ P043 VJ=10.00  //Prepick pose
             MOVL P049 V=800.0 PL=0  //Pick pose
            'Add grasping logic here
             MOVJ P045 VJ=10.00  //Post pick pose
             MOVJ P040 VJ=50.00  //Above pick area
             MOVJ P025 VJ=50.00  //Detect pose
             MSG "Looking for objects"
             PI_CAPTU
             PI_PROCE
            'Drop off part
             MULMAT LP000 P047 P029
             MSG "Moving to dropoff"
             MOVL P029 V=23.0  //Dropoff pose
             MOVL LP000 V=23.0  //Corr dropoff pose
            'Add realese logic here
             MOVJ P025 VJ=50.00
             PI_WAIT
     ELSE
             MSG "OBJECT OUT OF REACH"
             PI_NEXT
             PI_WAIT
     ENDIF
ELSEIFEXP I040=23
     MSG "ROI is empty"
     JUMP *EMPTY
ELSE
     INC B021
     IFTHENEXP B021>3
             MSG "No objects found after 3 times"
             PI_SAVE
             JUMP *EMPTY
     ENDIF
     MOVJ P025 VJ=50.00
     MSG "Looking for objects"
     PI_CAPTU
     PI_PROCE
     PI_WAIT
ENDIF
JUMP *LABEL
*EMPTY
END

The idea of the program is the following:

  • If an object is found, and is within reach of the robot arm. The robot moves to the object to pick it. Next, the robot moves to a fixed drop off position, and finally it moves to a corrected drop off position. The corrected position is based on the pick offset and the fixed drop off position. During these motions when the robot is out the field of view of the camera, a new Pickit detection is triggered immediately.

  • If the ROI is empty, the program stops.

  • If no object is found but ROI is not empty, the robot moves outside the field of view of the camera and a new detection is triggered. If three times no object is found, a snapshot is saved on the Pickit system and the robot program stops.

Define the tool for picking

Create a tool frame with the actual TCP values. Again it is important that tool0 is not changed. Any other tool can be used.

Set PI_CFG

In this command the input arguments have to be set. See PI_CFG for more information on how to do this.

Variables used in TEST_SIMPLEPICK

Below you find an overview of the variables used in this example program. The Pickit variables, in the 40 range, can’t be changed by the user, an overview of these can be found in the Yaskawa Pickit interface article. All other variables can be adapted according the changes you want to apply to this example program.

Variable

Field name

Comment

Set by user

B021

Detection counter

This variable keeps track of the number of detections that are triggered

Yes

P021

Post pick offset

Distance offset to calculate the post pick position

Yes

P022

Pre pick offset

Distance offset to calculate the pre pick position

Yes

P025

Detect position

Position not blocking the field of view of the camera when triggering detections

Yes

P029

Drop off position

Position where the part is dropped off

Yes

LP000

Corrected drop off positon

Drop off position corrected with offset of the pick point

No

C000

Home position

Position where the robot starts his program

Yes

Tip

The positions P021-P029 can be changed in the position variable menu.

Add grasping/releasing logic

Grasping and releasing logic need to be added at the Add grasping logic here and Add realese logic here comments, respectively.

Execute the picking program

To run this program either do Play + Start, Interlock + FWD or Interlock + Test. Happy picking!