Alternating part models

First option

The model_quantity parameter is used to ask EYE+ to look for one or several parts of a specific model, either 1 or 2. This means that every time EYE+ takes a picture, it will look for at least <n> parts of the specific model(s) on the image. If it does not find those parts, no coordinates will be sent and it will start vibrating and taking a new image until it gets those <n> parts.

This parameter influences the operation of the command get_part and prepare_part.

The following scenario describes how to get a part of model 1, then a part of model 2 and so on, always in an alternating way.

../../../../_images/model_quantity_alternating.png

Fig. 306 Production scenario for alternating part models

  1. [set_parameter model_quantity 1 1]: Set the parameter model_quantity for 1 to 1.

  2. [set_parameter model_quantity 2 0]: Set the parameter model_quantity for 2 to 0.

  3. [get_part]: Call the command get_part. If there is already one part of model 1 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 model 1. Since model_quantity for 2 is set to 0, no part 2 will ever be returned here.

  4. [Pick & place part 1]: Pick and place the part of model 1.

  5. [set_parameter model_quantity 1 0]: Set the parameter model_quantity for 1 to 0.

  6. [set_parameter model_quantity 2 1]: Set the parameter model_quantity for 2 to 1.

  7. [get_part]: Call the command get_part. If there is already one part of model 2 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 model 2. Since model_quantity for 1 is now set to 0, no part 1 will be ever returned here.

  8. [Pick & place part 2]: Pick and place the part of model 2.

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

Second option

The following scenario is not strictly speaking equivalent to the first option described above but it could be used to achieve a similar result. Instead of requesting alternatingly a part of model 1 and a part of model 2, we ask now for both 1 and 2 at the same time. Here, the system will ensure that get_part returns both parts in the same response. This means that at least one part of each model must be pickable at the same time.

This can be useful if the robot has for example two grippers and must pick both 1 and 2 in order to continue its operation.

Requiring both 1 and 2 to be pickable at the same time reduces the probability that get_part can be fulfilled after a feeding sequence and can therefore increase the cycle time of the application.

../../../../_images/model_quantity_together.png

Fig. 307 Production scenario to always get one part of model 1 and one part of model 2

  1. [set_parameter model_quantity 1 1]: Set the parameter model_quantity for 1 to 1.

  2. [set_parameter model_quantity 2 1]: Set the parameter model_quantity for 2 to 1.

  3. [get_part]: Call the command get_part. If there is already one part of model 1 and one part of model 2 available in the list of good candidates, the system will directly return the coordinates of these two parts. Otherwise, it will vibrate the Asycube and take a picture. The Asycube vibration and image analysis do not stop until the system finds one part of model 1 and one part of model 2.

  4. [Pick & place part 1 & 2]: Pick and place the part of model 1 and the part of model 2.

  5. Repeat from step 1. The cycle stops when EYE+ receives the command stop production.