Warning
You are reading an old version of this documentation. If you want up-to-date information, please have a look at 5.0 .Protocol specifications
Communication with EYE+ is done using a simple text-based ASCII protocol. The client sends a command, EYE+ responds with a status code followed by a message.
Important
ASCII command must be followed by a unique end of line delimiter as specified in
TCP Configuration, the default configuration is LF (i.e \n, ASCII code 0x0A).
From TCP terminal, the character is automatically sent and does not need to be specified.
EYE+ command
The command must be written in lower case with underscored separations (e.g. get_parameter). A space must be placed between the command and the parameter and between the parameter and the value. Refer to section Commands for all available commands.
without parameter or value
<command>\n
with parameter and no value
<command>␣<parameter>\n
with parameter and value
<command>␣<parameter>␣<value>\n
EYE+ response
EYE+ responds to each client’s command using a code to inform the client of the command’s status. The response always proceeds in the same way:
<response_code>␣<further information>\n
If the response holds more than one line, the number of lines is added after <response_code>.
<response_code>␣<n>␣<further information>\n
<further information>\n
...
<further information>\n
|
Signification |
|---|---|
200 |
The command ran successfully |
201 <n> |
The command ran successfully and contains <n> lines in the output |
4xx |
Error from the Client |
5xx |
Error from the Server (i.e. EYE+) |
Error codes
In case of an error, the error code is followed by a unique description of the error.
Client error codes
- 401
The received command is unknown
- 402
The given argument is not valid for this command
- 403
System is not in production state
Ensure that a recipe has been started in production.
- 404
The given parameter does not exist
- 405
A get_part command is already active, most likely using a different connection
- 406
The requested transition to a different system state is not allowed
- 407
The recipe identifier is not found in the system
Ensure you used the correct recipe identifier and that the recipe is valid for production.
- 408
The recipe is not ready to be used in production
Edit the recipe and complete the teaching wizard.
- 409
The system is not in a valid state
- 410
No valid license found
Ensure that a valid license has been installed.
- 411
All internal concurrent connections are exhausted
Reduce the number of concurrent connections to the TCP/IP protocol.
- 412
The purge option is not enabled in the Asycube settings
Navigate to configuration > Asycube and enable the purge option.
- 413
System is not in purge state
Ensure that the purge has been started.
- 414
A purge command is already active, most likely using a different connection.
- 415
Invalid duration for purge command
Ensure that the argument is between 1 and 30000 (inclusive).
- 416
Not enough points registered to perform hand-eye calibration
You must register 4 vision points and 4 robot points before calibrating.
- 417
Requested point is not set
You must register the calibration point at least once before calling get_calibration_point.
- 418
Purge flap couldn’t be closed
Make sure nothing is impeding the flap and the actuator is still functional.
Server error codes
- 501
Timeout occurred while trying to find valid parts
Check that there is a correct number of parts on the plate, the plate is not empty nor overfilled.
- 502
An Asycube alarm was raised while trying to find valid parts, causing the command to timeout.
- 503
Timeout occurred while the system was waiting on can_take_image to become true
- 510
get_part was interrupted by a stop/abort, most likely received on a different connection
- 511
The system is not able to connect to the Asycube
Verify the cabling, the power supply and the IP settings.
- 512
A communication error occurred while sending/receiving a message to/from the Asycube
Verify the cabling and the power supply.
- 513
The command sent to the Asycube returned an error (ErXXXXX)
Logs should contain more information. Check the Asycube programming guide.
- 514
Error while turning the back light on or off
Verify the cabling, power supply and connection to the Asycube.
- 515
Error while turning the front light on or off
Logs might contain more information.
- 516
The camera is not connected
Logs should contain more information. Verify the cabling. The led should be green.
- 517
The purge flap could not be opened/closed within the allowed time
Check that the purge flap can be operated properly, that no part is stuck. Check the sensor on the side.
- 518
The purge was interrupted by a stop, most likely received on a different connection
- 519
No calibration available
You must calculate the hand-eye calibration before saving or using it.
- 520
No pick point match
No match found in last image analysis.
- 596
Internal error related to the production
Logs should contain more information about the problem.
- 597
Internal error related to the vision
Logs should contain more information about the problem.
- 598
Internal error related to the feeder
Logs should contain more information about the problem.
- 599
Internal error related to system
Logs should contain more information about the problem.