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 and Y 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 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 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 and L2 are used to actuate external axes. These axes are not edited by the plugin.

  • Components Flag 1 and Flag 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.

Private variables

Some variables are internally used by the plugin and must not be used in your programs. Those variables are defined in Table 1.

Table 1 Private plugin variables

Name

Type

EYEClient1

Integer

EYEClient2

Integer

EYEInternalError

Integer

EYEInTimeout1

Integer

EYEInTimeout2

Integer