Your system is now mounted, calibrated and configured. This section will introduce the TCP Terminal that can be used to test your system and present you the basic production scenario.

## TCP Terminal¶

Go to HELP and click on . The following page (Fig. 11) will appear.

Fig. 11 TCP Terminal

The two terminals communicate with the EYE+ Controller through TCP/IP socket messaging (one socket per terminal).

• The EYE+ Controller state must be in ready state. Check the current state by sending the command get_parameter <parameter> (<value>…) where <parameter> is state. It should answer 200 ready.

Note

If you are in recipe edition, camera configuration, hand-eye calibration, or already in production state, check that you do not have another EYE+ Studio page open. Should it be the case, make sure that you saved everything and close it.

## Basic production scenario¶

Fig. 12 shows the basic production scenario.

Fig. 12 Basic production scenario

• Send the command get_recipe_list. It will display the list of existing recipes saved in the EYE+ Controller. Your first recipe should appear with its name and its identifier.

• Start the production by sending start production (where <recipe_id> is your recipe identifier). This will switch EYE+ into production state.

• Make sure that the robot is not in the field of view of the camera.

• Put at least one part on the Asycube and send get_part. You will receive a message similar to: 200 x=0.12345 y=6.78910 rz=11.12, where 200 is a positive confirmation and where x, y and rz are the coordinates of the detected part in the robot frame.

• Go to the received coordinates with your robot and pick the part.

• Once your robot picked the part and you want to get the next one, simply send get_part again.

Note

If you do not get the response 200 from any of the commands, check the error_codes to get more information about your issue and how to troubleshoot it.

Note

By sending stop <state> (where <state> is production), you can switch the system back to ready state.

## Your first pick and place¶

Now you are ready to implement your first robot/PLC program to communicate with EYE+.