Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 4.2 .

Parameters

Parameters are accessible through the commands get_parameter <parameter> (<value>…) and set_parameter <parameter> <value>…. The parameters can be read from any EYE+ state. However the parameters can only be changed when EYE+ is in production state.

Important

Changing the parameters value will affect the behavior of the EYE+ commands.

Table 31 List of parameters
Parameter	Type 1	Additional value	Valid value	Default value
state	RO	<none>	string	<none>
recipe	RO	<none>	string	<none>
timeout	R/W	<none>	float	30.0s
image_after_send	R/W	<none>	true/false	false
is_prepared	RO	<none>	true/false	false
n_parts_prepared	RO	<none>	int	0
part_quantity	R/W	<none>	int	1
version	RO	<none>	string	<none>
is_analysis_running	RO	<none>	true/false	<none>

1: RO: Read Only; R/W: Read and Write

state

It is the system state (e.g. error, production, recipe_edition, camera_configuration, handeye_calibration). States are described in EYE+ states.

start production 21180
200
get_parameter state
200 production

recipe

This command returns the identifier and name of the recipe currently running in production.

Note

If you did not start EYE+ in production, the get_parameter recipe response will be: 200 no recipe.

start production 21180
200
get_parameter recipe
200 21180 'Recipe_name'

timeout

It is the timeout (in seconds) when calling the get_part command. The command stop <state> is sent if the timeout is exceeded during a get_part.

get_parameter timeout
200 30.0
set_parameter timeout 12
200
get_parameter timeout
200 12.0

image_after_send

It forces the acquisition of an image after a part is picked. Each time you call the get_part or prepare_part commands, the system will automatically take an image just before. It is used to correct the coordinates of the good candidates already found (stored in memory) if you know that the parts have moved in the meantime due to some external disturbance.

get_parameter image_after_send
200 false
set_parameter image_after_send true
200
get_parameter image_after_send
200 true

is_prepared

It returns status of the last prepare_part.

true if enough parts are prepared
false if not enough parts are prepared

get_parameter is_prepared
200 false

n_parts_prepared

It returns the number of parts currently prepared. If the returned value is greater than one, get_part will return a part immediately.

get_parameter n_parts_prepared
200 0

part_quantity

It is the number of parts requested by prepare_part and get_part each time it takes an image. If this number of parts is not found during image acquisition, then the get_part or prepare_part will start again (vibration + image acquisition) until this number of parts is found.

get_parameter part_quantity
200 1
set_parameter part_quantity 8
200
get_parameter part_quantity
200 8

version

Return the software version of EYE+.

get_parameter version
200 1.3.0

is_analysis_running

This will return whether the system is currently running an image analysis: true if running, false otherwise.

Note

If queried outside production, it will always return False. You will need to use a different socket to poll the value of this parameter effectively.

-------- Socket 1 ------------------ -------------- Socket 2 -------------
start production 123456             |
get_part                            |
                                    | get_parameter is_analysis_running
                                    | 200 false
                                    | get_parameter is_analysis_running
                                    | 200 false
                                    | get_parameter is_analysis_running
                                    | 200 true
200 x=0.12345 y=0.11111 rz=0.99     |