Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 2.0 .

Sample program

Here we introduce an example of a program to perform a basic pick and place.

Fig. 6 Production scenario with get_part

It is necessary at this stage to have already performed the camera configuration, as well as the creation of a recipe with its hand-eye calibration.

Basic scenario - get_part

Initialization

1. Prepare the robot

Initialize robot frames and tools.
Initialize the robot gripper.
Move the robot out of the field of view.

2. Initialize the communication

Call the command EYE_CONFIGURE with the correct IP address and port number.

3. Start EYE+ in production

Stop the current state of the EYE+ if needed and start the production with the desired recipe.

Cyclic part of robot program

4. Get the part coordinates

Call the command EYE_GET_PART to get the coordinates of the part to be picked. These coordinates will be stored in the variable EYEPos.

5. Check if no error occurs while requesting the part coordinates

Call the command EYE_CHECK_LAST_ERROR and check if it returns 0. If it does not, an error has occurred (e.g., a timeout)

6. Calculate position

Create the needed positions:

Pick position: EYEPos with the Z, RX and RY coordinates,
Pick position with Z offset: Define a Z-offset from the pick position to make sure to not hit anything when picking the part, whether it is the Asycube or another part.

Fig. 7 Path to pick the part

7. Pick

Follow the path from OutOfView to EYEPosDZ to EYEPos and pick the part with your gripper.

8. Place

Follow the path from EYEPos to EYEPosDZ to OutOfView to PlacePos and place the part with your gripper.

Out of cyclic part

9. Stop EYE+ state

Stop the EYE+ production state by calling the command EYE_STOP.

Example of Denso program

Here is an example of a simple pick and place in PacScript:

Listing 1 “sample_program.pcs”

#include "densoEyeplusPlugin.pcs"

sub Main
  ' Take control of the robot arm with default work and tool
  takearm keep = 0

  ' Use the right work and tool for robot pick and place
  changework 1
  changetool 1

  ' Move to initial home position
  move P, J[0]

  ' Initialize communication configuration (must be done at least once)
  call EYE_CONFIGURE("192.168.0.50", 7171)
  if EYE_CHECK_LAST_ERROR() <> 0 then
    printmsg("[EYE+] Wrong socket configuration")
    exit sub
  end if

  ' Move to initialized position (OutOfView)
  move P, P[0]

  ' Start EYE+ in production
  call EYE_START_PRODUCTION(40077)
  if EYE_CHECK_LAST_ERROR() <> 0 then
    printmsg("[EYE+] cannot start production")
    exit sub
  end if

  '' vvvvvvvv Start pick and place vvvvvvvv ''
  for i = 1 to 20
    ' EYE+ get part
    call EYE_GET_PART()
    if EYE_CHECK_LAST_ERROR() <> 0 then
      ' If an error occurred, raised an error and abort
      printmsg("[EYE+] Error: " + toString("", eye:EYELastErr))
      exit sub
    else
      ' Calculate the pick positions
      LetZ EYEPos = // enter z-offset
      LetRx EYEPos = // = 180, = 0, ..
      LetRy EYEPos = // = 180, = 0, ..

      ' Pick the part
      Approach L, EYEPos, 50
      call GripperON()
      Move P, EYEPos
      call GripperOFF()

      ' Place the part
      Depart L, 50
      Approach L, PlacePos, 50
      Move P, PlacePos
      call GripperON()
      Depart L, 50
    end if
  next

  ' Move to home position
  move P, J[0]

  // Stop EYE+
  call EYE_STOP("production")
  if EYE_CHECK_LAST_ERROR() <> 0 then
    printmsg("[EYE+] Cannot stop production")
    exit sub
  end if

end sub