Image after send

The parameter image_after_send is used to automate a force_take_image before each get_part or prepare_part.

Note

The scenario in Fig. 251 has almost a similar behavior as the right scenario in Fig. 249.

../../../../_images/image_after_send.png

Fig. 251 image_after_send scenario

  1. [set_parameter image_after_send true]: set the parameter image_after_send to true.

  2. [Move robot out of field of view]: Before calling the get_part command, you have to ensure that nothing obstructs the camera view.

  3. [get_part]: Call the get_part command, it will either make the Asycube vibrate and take a picture, or send you directly the coordinates of a part.

  4. [Pick & place part]: Pick and place the part. When the part is picked up or when it is placed or during a robot displacement, the robot touches the Asycube and makes the remaining parts move.

  5. [Move robot out of field of view]: Before calling the get_part command, you have to ensure that nothing obstructs the camera view.

  6. [take new image]: EYE+ takes a new image before the command get_part automatically in response to the parameter image_after_send set to true. It ensures the parts coordinates.

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