Help: about connect Camera vision to ABB IRB 1200!

linh_le_vn

Hi everyone!
I really have no experience in connecting camera vision to ABB robot, but my present job requires me to have knowledge about this, so i'm trying to learn. When i search on internet, i realized that: in some cases, people use these instructions: "Camgetresult, CamloadJob, CamReqImage.....", but in robot program of my company, i see other instructions " SocketCreate, SocketClose, SocketReceive,...." like below:

PROC rGetVisionData_AMT1_L()

        Vision_data_AMT1_JIG1_OK:=FALSE;

        nOff_AMT1_L_X:=0;

        nOff_AMT1_L_Y:=0;

        nAng_AMT1_L_Z:=0;

        bOKX:=TRUE;

        bOKY:=TRUE;

        bOKAngle:=TRUE;

        stReceived:="";

        ! Instruct In-Sight to Acquire an Image and not return until complete

        !CheckStatus;

        !SocketSend ComChannel \Str:="LFAMT41.job\0d\0a";

        ! Get the value in cell C7

        WaitTime 0.1;

        SocketSend ComChannel\Str:="gvB072\0d\0a";

        !SocketSend ComChannel \Str:="EV GetCellValue(""Job.RobotCustomFormatString"")\0D\0A";

        SocketReceive ComChannel\Str:=stReceived\Time:=2;

        len:=StrLen(stReceived);
So what is the difference here? Could anyone help me make it clear?
Thank you all very much!

Keke

CamGetResult etc. are Integrated Vision commands that can only be used with ABB cameras and Cognex In-sight series cameras. Integrated Vision is a software option that adds this interface to IRC5.

Socket messaging is more general way of communicating with cameras and other devices as well. Socket Messaging requires only option "PC Interface" for the robot. It is not as easy to use is Integrated Vision but it is more general.

-Keijo

linh_le_vn

thank you for your reply Keijo. Robots in my company use Cognex camera and In-sight software. Could you recommend some documents, manuals related to IRC5 socket messaging,( how to connect, how to setup, In-sight software..) for me?
Thank you Keijo!

Keke

Hi,

You can check the online documentation for robots here (notice, these are for RW6.06, but I doubt there have been any radical changes to sockets lately):

http://cdn.robotstudio.com/documentation/17.2/start.html

I recommend to check at least these:

-Application_manuals/RobotWare_optionse/Controller_software_IRC5 - Chapter 8.4

-Technical_reference_manuals/Robot_controllers/RAPID_instructions_functions_and_data_types - all socket instructions

Also you will probably find some documentation for Cognex on their website.

BR, Keijo

linh_le_vn

thank you very much Keijo