Send Coordinates: Cognex Camera to PLC (Siemens) and from PLC to Robot (Pick and place with camera)

Technical Questions
1

Hello,

I want to make a Pick and Place application, with a Cognex camera (IS7600) and a Siemens 1215C PLC.

The procedure is:

  1. Photo with camera (using calibration tools to world) . OK
  2. Send coordinates (by profinet) from the camera to the PLC. OK
  3. Now there is my doubt, how do I forward these coordinates to the robot? I have installed the UR3 GSD but I don’t know how to manage it.

Any suggestions on how to start?

Thank you.

Jose

2

Have you set up the robot configuration in the PLC according to the PROFINET tutorial made by UR? :slight_smile:
It can be found here (assuming you have a CB3 since you said UR3): Universal Robots - PROFInet How-To Guide CB3

When the robot is set up with the data type, it’s fairly straightforward to write to the General Purpose integer/float registers with your coordinates.

3

Thank you for your response.

I have checked the link and the communication between the PLC and the robot, it is done correctly.

Still I have a doubt which is the following:

In the example program, the PLC sends a value to the URO registers of interest and the robot reads them by means of the sript function “read_input_integer_register(address)”

To send a point now I must send x, y, z, Rx, Ry, Rz. I understand that in the PLC I can send it through the float registers of URO, but what should I put in the script function to be able to read the 6 values of the point?

Thanks