Reserved memory

Global variable - EYEPos

This variable stores the last part coordinates received after sending a EYE_GET_PART. A position variable (E6POS) takes the following form: {X xx,Y xx, Z xx, A xx, B xx, C xx, E1 xx, E2 xx, E3 xx, E4 xx, E5 xx, E6 xx}

  • The X and Y coordinates of the part stored in the variable are only valid in the robot frame you defined during the hand-eye calibration. These coordinates are also only valid with the tool you used during the hand-eye calibration.

  • The Z coordinate is set to 0. You have to add an offset in the Z direction in the position to avoid hitting the plate of the Asycube when picking up a part.

  • The angles A and B are set to 0 by default. You must assign a value to those variables at least once if 0 angle is not correct.

  • The C variable is the RZ angle sent by EYE+ in degree.

  • Components E1 to E6 are used to actuate external axes. These axes are not used by this plugin.

Reserved flags

Some of the robot flags are reserved for the plugin. Those flags must not be modified during the use of the plugin. You can chose which flags will be reserved using the command EYE_CONFIGURE by choosing the parameter value of socketFlag1 and socketFlag2:

  • $FLAG[ socketFlag1 ]

  • $FLAG[ socketFlag2 ]

  • $TIMER_FLAG[ socketFlag1 ]

  • $TIMER_FLAG[ socketFlag2 ]

  • $OUT[ socketFlag1 ]

  • $OUT[ socketFlag2 ]