Cognex Designer Block Seqence

3.2.2 Program

Send trigger signal

Program sequence:

Robot

Vision

Trigger task sequence

Trigger camera

Run toolblock

Processing of received coordinates

Split string into X,Y,Z, state

Send string X,Y,T, status

Move to the received coordinates

Figure 3. 6 block sequences of Cognex Designer

Blocks:

Block one: Cam_Acquire : Allows setting input image

Figure 3. 7 Block Cam_Acquire

Toolblock 2: The software's image processing center, a library containing all the tools that meet the main needs of Machine Vision. In the framework of the thesis, the tool "CogPMalignTool" is used. Allows determining the X, Y, T coordinates of the object to be located, in addition, it can also be used. CogPMalignTool allows users to train the recognition area (scan area) and recognition features (mark points) from which they can recognize objects at different positions in the visible area and give the required results.

Figure 3.8 Training mark points and scan area

Block 3 Offset: Because the coordinate system of the robot and vision are different, we need to accurately transmit the coordinates for the robot to move to solve the problem as follows. First, we let the robot go to the most accurate pick-up point and put the product to be picked in that position, then take a photo and save the selected coordinates as the Master coordinates. The position of the next products is equal to the product coordinates minus the master coordinates.

Figure 3.9 Description of offset principle

$Xoffset = ( $X- $Xmaster ) * 100 ;

$Yoffset = ( $Y-$Ymaster) * 100 ;

$Rotationoffset = -($T-$Rotationmaster )* 100 * 180 /Math.P

Block four Scriptblock1: This block performs string concatenation for Xoffset, Yoffset, Rotationoffset data and the ABB robot format status received via socket is string form. Content of string input command:

string a =

Xoffset. ToString ( "F2" ) + "," + Yofffset1. ToString ( "F2" )+ "," +Rotationoffset.

ToString ( "F2" )+ "," +trangthai. ToString (); return a;

Three blocks: Now, Scriptblock, Subsequence are responsible for creating the database.

3.3 Mitsubishi PLC Programming

Software using GX Works2 provided by Mitsubishi

Steps to follow: step 1 install parameter, step 2 install intelligent Function Module, step 3 programming.

3.3.1 Parameter settings

There are 2 main parameter groups that need to be set: PLC parameter, Network parameter.

Figure 3. 10 required settings

PLC parameters

Required settings:

Built Ethernet port setting: In the installation window, you need to set parameters such as setting IP Address for PLC device, Communication data code, and you can also install additional FTP setting, Time setting...

Figure 3.11 Built in Ethernet port setting window

In the I/O Assignment section: Declare devices using I/O mounted on the base. In the thesis, the QD77MS4 device is used for motor control.

Figure 3. 12 I/O Assignment Setup Window

Program: Declare programs to be scanned for PLC to execute. In the lesson, there are 6 declared programs: ALARM, ROB_VIS, INITIAL, SER_MOTO, NAME, MAIN

Figure 3.13 Program settings window

QJ61BT11N

CClink master

1 intelligent Station DSQ378B

Robot communication

7 Remote I/O Station

Peripheral control I/O

Network Parameter: Set parameters for communication modules. In the thesis, the communication module used is CClink QJ61BT11N configured as follows:

Robot communication


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Parameters to note during setup: First Start I/O No: Is the first address that the module

Second Type: Is the type of module in the system. If it is a multi-module system, there will be 1 Master and many Slaves.

Third Total Module connected: Is the total number of modules and cclink master module connected to.

Fourth Remote input(Rx) is the first X address of cclink. Fifth Remote is address(Ry) is the first Y address.

Sixth Remote Register(Rwr) : Address of the first read register.

Seventh Remote Register(Rww) : First input register address.

Eighth Station information setting: we need to declare all usage status in this section

Figure 3.14 CClink configuration window

Declare station information setting:

Figure 3. 15 Station information setting

3.3.2 Install Intelligent Function Module

The group sets up Mitsubishi intelligent modules such as: Analog Module, temperature module, Counter module, Motion module... In the thesis we use Motion module QD77MS4.

The setup window allows us to set parameters for the motor through modules such as: Speed, velocity, torque, home speed, return method, travel method...