Warning

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 5.1 .

Default scenario

In this scenario, the robot is allowed to pick parts from any model, with no specific order. The model_quantity parameter is therefore not required. The command get_part simply returns the first part found.

The return value from the command get_part contains the model associated. See command’s documentation for more information on how to parse and extract the model number from the return value.

../../../../_images/model_quantity_default.png

Fig. 299 Production scenario for multi-model

  1. [get_part]: Call the command get_part. If there is already one part available in the list of good candidates, the system will directly return the coordinates of that part. Otherwise, it will vibrate the Asycube and take a picture. The Asycube vibration and image analysis do not stop until the system finds a part (of any model).

  2. [Pick & place part N]: Pick and place the part of model N. Alternatively, if required, the part can be placed on a flipping station.

  3. Start again from step 1. The cycle stops when EYE+ receives the command stop production.