RBP 3 to communicate with Hiwin Robot

sushant1727 · 2018-08-01 19:05:24

Hello,

I am a student at Kalamazoo Community College and taking the PLC Class. I am proficient in Python and learning Ladder Logic Programming.

We've Hiwin RA605 robot that I want to use for my project to pick and place parts.

I have coordinates of each part to be picked up written in Python using Ubuntu and USB Camera. I was wondering if I can use Rasberry Pi and Rexygen to send the data(coordinates)(basically read/write) to Hiwin Robot using Ethernet IP that will activate Registers on it, hence I can tell the Robot where to go & pick the part.

Is Rexygen the solution to this problem? If yes I will go ahead and purchase the license through my college.

If not, is there any other way I can achieve this?

Thanks
Shan

Last edited by sushant1727 (2018-08-01 19:07:06)

tomáš čechura · 2018-08-02 10:07:18

Hello Shan,

thank you for reaching out. REXYGEN can help you to solve the whole task you proposed.

Unfortunately we don't utilise Ethernet IP communication in REXYGEN. Are there any other ways for the robot to accept the data? I checked the manuals and didn't find any satisfactory answer. May be you have some more-to-the-deep manual available since you have the robot in your lab.

There are some other communication protocols we can offer - Modbus RTU/TCP, serial, UDP, EtherCAT (experimental for now - only for advanced users).

I recommend you to go through our Getting started guide, which will show you the basic idea of REXYGEN programming - https://www.rexygen.com/doc/PDF/ENGLISH … Pi_ENG.pdf

I look forward to hearing from you soon.

Regards, Tomas

sushant1727 · 2018-08-02 15:02:04

Hello Tomas,

I checked the manual and these are the communication protocols that Robot Supports:
>LAN Connector (CN6) Ethernet signal transmission
>USB Connector (CN9) USB signal transmission
>RS232 Connector (CN8) RS232 signal transmission

It also has integrated PLC and uses HRSS SOFTWARE - Easily program logic functions (If, While, Wait, For, GOTO, etc.) with the press of a button with Offline PC programming ability.

I've started the Basic Tutorial from Blinking LED w button. Moving forward my whole idea is the ability to send data(x-y coordinate) to the robot through RBP using Rexygen. (X-Y) Coordinates are being generated in CSV, XML & text file by another python program. Is there a similar program in any of the examples?

Also, please guide me if I can utilize other Boards you guys sell that will for this application, I can ask my professor to purchase.

Thanks
Shan

sushant1727 · 2018-08-02 16:15:49

Wanted to share something similar I am working on. https://www.youtube.com/watch?v=w7-KGaYGuMA

And here's how they're able to send the coordinates: A Modbus TCP connection to the robot to transfer X-Y coordinates and the rotation of the part in three different registers. The robot pendant to create those registers, then read them into the robot to offset the pickup position based on where the camera found the part.

tomáš čechura · 2018-08-03 09:57:34

Hello Shan,

I checked with the local HIWIN dealer and he told me that he don't know for now about any external commanding communication. According to his knowledge it is still in development. Do you have another experiences in your lab? Do you know someone who commanded the robot from external device?

Do you have manual for the RCA605 controller available? Please, can you share it? There could be some more information about various communications.

Thanks for the video - it confirmed my thoughts. We are also able to command the UR robot via Modbus registers - we have one in our lab too. Is it also possible for you to choose this robot? It would solve the "communication" issue

About REXYGEN: I would continue with sending data from your Python script to REXYGEN. There are various ways how to exchange the data with external program - for your intended use I would use REXYGEN REST API. Please, find the example attached. There is also documentation available: https://www.rexygen.com/doc/PDF/ENGLISH … pi_ENG.pdf
If you run into any troubles - let me know.

Cheers, Tomas

0302-03_REST_API_Python_Bash_etc.zip

sushant1727 · 2018-08-27 18:04:07

Thanks, I go the robot and I am able to communicate using Ethernet.

I am wondering how can I send the coordinates to the robot. I've CSV files with coordinates X, Y but that X, Y may be different for Robot, right?

tomáš čechura · 2018-08-28 10:12:24

Hi Shan,

thanks for update. What exactly does it mean that you "communicate with robot using Ethernet"? What instructions are available to you via Ethernet? What SW do you use for it? Just trying to figure out how to connect to the robot from REXYGEN...

How does the CSV file look like? One line with two numbers? Multiple lines? What about Z coordinate and all the 3 rotations? Are the coordinates in the same coordinate system as robot base coordinate system or is it bound to camera coord. system?

Regards, Tomas

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#1 2018-08-01 19:05:24