2D Camera Integration

Different cameras can be integrated in the CPRog software. This allows to pick parts with a not precisely defined position.

Currently plugins are available for:

• IFM O2D, a compact camera with integrated image processing
• Matrox camera systems

Both systems aquire an image and process it internally. Then they send the target position via Ethernet to the CPRog software. Here they are received by an plugin and stored in a variable. This variable can be used in a motion.

A more in-depth explanation and an example program can be found in the documentation (german): Dokumentation_PlugIn_IFM-O2D_V03.pdf (DE) The english version of that same documentation is being worked on below

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UNDER CONSTRUCTION. Currently the english translation of the documentation is being generated

Scope

This document explains the use of an IFM 3D camera in CPRog.

Safety

• Caution! Personal safety has to be ensured during operation.
• This is especially relevant during configuration and set up of the camera application. All motion has to be carried out at slow speeds.
• The operator has to be ready to stop the robot
• It is recommanded that all programs are tested in the simulation prior to moving the robot.

Mechanical and electrical setup

Preferred camera mounting position

The camera has to be mounted at ample height above the work-pieces. Care has to be taken to avoid any collisions. For acceptance cone and minimum distance from camera, please look at the IFM-Documentation.

• The camera should be mounted parallel to the coordinate axes of the robot, if at all possible. - That means either overhead, in front or from the side. This will simplify calibration significantly (see image on the right).

• Power requirements: Connect the leads of the black power cable a 24V supply:
  • blue lead: GND
  • brown lead: 24V (bitte verifizieren Sie die Belegung mit der IFM-Dokumentation).

PC network address configuration

• Plug ethernet cable into camera and PC.
  • Set IP of PC to a free IP in the 192.168.0/24 range, e.g. 192.168.0.50
  • Camera IP is factory configured for 192.168.0.49

Camera configuration

The image processing is done entirely in camera. To recognize a work-piece an "application" has to be set up containing the model of the work-piece. The camera settings are configured using the IFM Software efector dualis E2D200.

IFM Camera TCP/IP setings

Communication with the CPRog-Plugin requires the following settings:

• General TCP/IP settings: The TCP/IP address and port configuration have to remain the IFM factory defaults.

IFM Protocol Version settings

• The Protocol Version has to remain in the factory default setting.