Fanuc 與 COGNEX Insight系統連結.doc

Tech Note: Robot Communications - FANUC 1 Overview 2 1.1 Scope 2 2 Serial communications 2 2.1 Needed Hardware 2 2.2 Needed Software 2 2.3 In-Sight Setup 2 2.4 Robot Controller KAREL code 2 2.5 In-Sight Serial Port Setup 3 2.5.1 Input Settings 4 2.5.2 Serial Settings 4 2.6 In-Sight Job Setup 5 3 Ethernet Communications 5 3.1 Needed Hardware 5 3.2 Needed Software 5 3.3 In-Sight Setup 6 3.4 Robot Controller Setup 6 3.4.1 Configuring the Socket Messaging Option 6 Setup the Client Tag 6 Set the System Variable (Client Tag) 7 3.4.2 Robot Controller KAREL code 8 3.5 In-Sight Job Setup 10 4 Sensor Interface Communications 11 4.1 Needed Hardware 11 4.2 Needed Software 11 4.3 In-Sight Setup 11 4.4 Robot Controller Teach-Pendant code 11 4.5 In-Sight Serial Port Setup 12 4.5.1 Serial Settings 12 4.6 In-Sight Job Setup 13 5 Trouble Shooting 13 5.1 Serial with HyperTerminal 13 5.1.1 In-Sight Serial Port Setup 13 5.1.2 Input Settings 13 5.1.3 Serial Settings 13 5.1.4 Setup a Test Job 14 5.1.5 Connect to In-Sight 15 5.2 Verify Ethernet connection with Telnet 15 5.2.1 Setup a Test Job 15 5.2.2 Connect to In-Sight 16 Overview Scope The purpose of this document is to outline the steps needed to connect and transfer data from a Cognex In-Sight Sensor to a FANUC Robot Controller. In all setups outlined the robot controller will be the device controlling the acquisition and transfer of data. In general the robot controller, with the use of In-Sight Native Mode commands, will trigger the sensor to acquire and process an image and then the robot controller will request specific data from the sensor. For a full list of Native Mode commands from In-Sight Explorer Select Help | In-Sight Explorer Help; from the Contents tab expand Communications Reference | Native Mode Communications and here youll find the full list of all Basic and Extended Native Mode commands. Serial communications Needed Hardware In-Sight Sensor (models 3400 or 5x00) In-Sight I/O module (model 1450 or 1460) DB9