Introduction

Coherix Predator 3D is a vision solution for solving adhesive and sealant bead inspection and process control problems. This is a laser-based solution so its not depended on nor affected by the contrast between the bead and the part to perform the 3D bead detection. The predator 3D can incorporate the robots tool center point information, allowing automatic adjustments to their inspections to accommodate changes within the dispensing program. This allows on the fly changes to the speed of the dispensing path without having to update the inspection. This document is a step-by-step guide on configuring the Coherix predator 3D to Yaskawa’s YRC 1000 robot controller.

Configuration Guide

Configure the ethernet IP setting within maintenance mode for the Coherix device. Our controller MUST be configured as an adapter. The YRC1000 can communicate both multicast and unicast when setup as adapter only multicast when setup as the scanner. Once in maintenance mode login to Safety Mode password is all 5’s then navigate through the following tabs.

System>Setup>Option Function>Ethernet/IP(CPU BOARD)>Adapter Details. Set the configuration to the values below.
Press the enter key to register the configuration. Proceed by continuing pressing the enter key to register the Coherix device within the IO Module and External IO allocation.

*In this example the external IO addressing for the Coherix is the following External Inputs=20720 External Outputs=30720*

By Default, the YRC 1000 Controller IP Address is set to below if needed changed navigate through the following tabs and change accordingly.

System>Setup>Option Function>Lan Interface Settings
After Configuring the settings perform a safety flash reset if required. This can be performed through the following tabs File>Initialize>Safety Flash Reset. Once done re-boot the YRC1000 controller into normal operation mode and login into Safety Mode.

The following parameters will need to be set accordingly for capturing the robot’s current position in cartesian coordinates via double word format.

In the configuration above the current position is being written to the M-Registers below.

Getting the current position values from the M- Register to the Coherix device will require a robot CIO change. The CIO change will also implement the bits controlling the Block Data Counter, Block Data Time Stamp, and Block Data Verification. Please Follow the below mapping.