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/IP 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

Table 24 Response codes
`<response_code>` (ASCII)	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.

419

Invalid command for the recipe type

Commands related to a different recipe type are not supported on the current recipe. For instance, try to set a value for the multi part quantity variable on a single part recipe.

420

The advanced purge is disabled in the recipe

Open the recipe and enable the feature in the purge configuration step.

421

Missing reference image for the advanced purge

Ensure that the reference image in the recipe is configured in the purge configuration step.

422

The purge vibrations aren’t fully configured

Ensure the purge vibrations in the recipe are fully configured.

423

The Asyfill is not calibrated

Ensure that the Asyfill is calibrated. See Calibration procedure

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 also the Asycube error codes.

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.

521

All parts could not be purged within the given timeframe

Try running the command again. If no parts are left, try taking a new reference image from the recipe.

522

A communication error occurred while sending/receiving a message to/from the Asyfill

Verify the cabling and the power supply to the Asyfill

595

Internal error related to the Asyfill