Reserved memory
PEYEPos
This variable stores the last part coordinates received after sending a EYE_GET_PART. A position
variable takes the following form: (X, Y, Z, A, B, C, L1, L2)(Flag1, Flag2)
The
X
andY
coordinates of the part stored in the variable are only valid in the robot base 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 by default. You have to add an offset in theZ
direction in the position to avoid hitting the plate of the Asycube when picking up a part.The angles
A
andB
are set to 0 by default. You must assign a value to these variables at least once to make the position accessible by the robot.The
C
variable is the RZ angle sent by EYE+ in degree.Components
L1
andL2
are used to actuate external axes. These axes are not edited by the plugin.Components
Flag 1
andFlag 2
are used to set the posture data. These flags are not edited by the plugin.
Timers
M_Timer number 7 and 8 are reserved for the plugin. You must not used those timers.