Parameters

Parameters are accessible through the commands get_parameter <parameter> (<value>…) and set_parameter <parameter> <value>…. The parameters can be read from any EYE+ state. However the parameters can only be changed when EYE+ is in production state.

Important

Changing the parameters value will affect the behavior of the EYE+ commands.

Table 25 List of parameters

Parameter	Type 1	Additional value	Valid value	Default value
state	RO	<none>	string	<none>
recipe	RO	<none>	string	<none>
timeout	R/W	<none>	float	30.0s
image_after_send	R/W	<none>	true/false	false
is_prepared	RO	<none>	true/false	false
n_parts_prepared	RO	<none>	int	0
part_quantity	R/W	<none>	int	1
version	RO	<none>	string	<none>
is_analysis_running	RO	<none>	true/false	<none>
hopper_fill_ratio	RO	<none>	float	<none>

1

RO: Read Only; R/W: Read and Write

state

It is the system state (e.g. error, production, recipe_edition, camera_configuration, handeye_calibration). States are described in EYE+ states.

start production 21180
200
get_parameter state
200 production

recipe

This command returns the identifier and name of the recipe currently running in production.

Note

If you did not start EYE+ in production, the get_parameter recipe response will be: 200 no recipe.

start production 21180
200
get_parameter recipe
200 21180 'Recipe_name'

timeout

It is the timeout (in seconds) when calling the get_part command. If the command get_part does not complete before the specified timeout, it will return an error, see Server error codes.

get_parameter timeout
200 30.0
set_parameter timeout 12
200
get_parameter timeout
200 12.0

image_after_send

It forces the acquisition of an image after a part is picked. Each time you call the get_part or prepare_part commands, the system will automatically take an image just before. It is used to correct the coordinates of the good candidates already found (stored in memory) if you know that the parts have moved in the meantime due to some external disturbance.

get_parameter image_after_send
200 false
set_parameter image_after_send true
200
get_parameter image_after_send
200 true

is_prepared

It returns status of the last prepare_part.

• true if enough parts are prepared

• false if not enough parts are prepared

get_parameter is_prepared
200 false

n_parts_prepared

It returns the number of parts currently prepared. If the returned value is greater than one, get_part will return a part immediately.

get_parameter n_parts_prepared
200 0

part_quantity

It is the number of parts requested by prepare_part and get_part each time it takes an image. If this number of parts is not found during image acquisition, then the get_part or prepare_part will start again (vibration + image acquisition) until this number of parts is found.

get_parameter part_quantity
200 1
set_parameter part_quantity 8
200
get_parameter part_quantity
200 8

version

Return the software version of EYE+.

get_parameter version
200 1.3.0

is_analysis_running

This will return whether the system is currently running an image analysis: true if running, false otherwise.

Note

If queried outside production, it will always return False. You will need to use a different socket to poll the value of this parameter effectively.

-------- Socket 1 ------------------ -------------- Socket 2 -------------
start production 123456             |
get_part                            |
                                    | get_parameter is_analysis_running
                                    | 200 false
                                    | get_parameter is_analysis_running
                                    | 200 false
                                    | get_parameter is_analysis_running
                                    | 200 true
200 x=0.12345 y=0.11111 rz=0.99     |

hopper_fill_ratio

This parameter returns whether a connected Asyfill smart hopper is empty (returns 0.0) or has some remaining parts in the container (returns 1.0). This parameter can only be requested during Production or Purge.

Tip

This parameter is particularly useful when used in Purge full scenario to check whether that your Asyfill smart hopper is empty before loading a new batch of parts, therefore preventing any mix-up of parts.

For this parameter to properly work, please note the following:

• An Asyfill smart hopper with firmware of at least version 1.2.0 is required.

• A hopper vibration of at least ~150 ms is needed. In case the Asyfill smart hopper did not complete a long enough vibration, an error 426 is returned instead.

Note

Depending on the part, this parameter might return a status of empty when the container still has some parts remaining. Usually, rigid parts and/or heavy parts are reasonably detected by the Asyfill smart hopper while soft parts and/or light parts can lead to an inferior detection.

# ... production scenario

stop production
start purge 123456

get_parameter hopper_fill_ratio
200 1.0

purge full
200

# Depending on the response, you might want to perform a purge full again
get_parameter hopper_fill_ratio
200 0.0