3.1.5. PICKIT.ITF
3.1.5. PICKIT.ITF
Description | A statement that designates the settings required for the interoperation with Pick-it communication. | ||
Syntax | • PICKIT.ITF ENETNUMBER,CNX=NUMBER,WAIT=NUMBER | ||
Parameter | ENETNUMBER | ENET number | 1-3 |
CNXNUMBER | Periodic sending of robot pose on/off | 1 (ON), 0 (OFF) | |
WAIT | Pick-it result wait time (second) | 0-20 | |
Example of usage | • PICKIT.ITF ENET1,CNX=1,WAIT=3 • (ENET1 in use, Periodic sending of robot pose on, Pick-it result wait set for three seconds) | ||
Detailed description | • PICKIT.ITF is a statement that is used to input the setting values for the Pick-it interface internally in the robot controller. • ENETNUMBER is for designating the ENET number to use. • CNX is for determining whether the robot sends the pose information periodically to the Pick-it equipment. • Even when CNX is set to 0, the work of interoperating with the Pick-it equipment can be carried out. • WAIT is for setting the number of seconds to wait between sending a command and receiving the result. • If there is no response from the Pick-it equipment for more than the set time, the processing of the statement is considered to be a failure and PICKIT.STATUS will become -1. | ||
l The robot and the Pick-it equipment communicate using Ethernet. The robot controller can simultaneously communicate with three pieces of equipment at the same time. For this, it is required to set and differentiate the Ethernet connection for each device as ENET1, ENET2, and ENET3.
l The Pick-it equipment should periodically receive the robot position and pose variable to estimate the robot pose. CNX commands the start and stop of the periodic sending of the robot pose information. When CNX is set to 1, the periodic sending of the robot pose will start. When CNX reaches 0, the process will stop. CNX must be set to 0 at the end to ensure that the sending of the robot pose can stop when all the works in the JOB file are finished.
l WAIT is a variable that determines the waiting time for the Pick-it processing result. If the waiting time exceeds the set value, it will be judged that there is no response from the Pick-it equipment, and the robot will not wait any longer and will judge the processing result of the command to be a failure. When PICKIT.STATUS is checked and the stored value is found to be -1, it should be judged to be a failure.
l When it comes to the ENET setting for the controller communication, refer to the Ethernet part of the Hi5a Controller Manual.