EGM timing synchronization with external vision system
john_LRW
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does EGM or robot controller have an output signal to the external device, which can be used to synchronize the external device and EGM? if not, is there a time protocol for the synchronization purpose? We'd like to have a way to get both of the robot pose and vision data at the same time, what's the best way to do it with ABB controller and EGM?
Thanks,
Thanks,
0
Comments
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The output data for the EGM sensor protocol is very well documented in the Application Manual - Externally Guided Motion (p31)
https://abb.sluzba.cz/Pages/Public/OmniCoreRoboticsDocumentationRW7/Controllers/RobotWare/en/3HAC073318-001.pdf
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@xerim, thanks for the quick response. but it looks like I cannot get the answer from the manual. let me give an example about my question: Assume, I have a vision system PC which sends EgmSensor data package to robot, the time stamp within the EgmSensor is recorded based on PC/sensor timer; The robot send EgmRobot data to vision system with the time stamp based on robot timer. Because we are using 2 different timers, so we cannot calculate the time difference between the 2 time stamps. my question is how we can sync the 2 different timing system?0
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When using a vision system with Pickmaster 3 there is a time synchronization service between the PC and the controller.
I do not know much more than that - it may be part of PickMaster or it may be a Windows service...
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@graemepaulin, thanks! we tried PTP but it was neither accurate nor stable. I think it will help a lot if ABB can add a timing IO signal.0
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