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EGM timing synchronization with external vision system

john_LRW
john_LRW ✭
in Developer Tools
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,
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  • xerim
    xerim ✭
    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
  • john_LRW
    john_LRW ✭
    @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?
  • graemepaulin
    graemepaulin mod
    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...


  • john_LRW
    john_LRW ✭
    @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.

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