Plugin variables

Some functions of the plugin use variables to store their output. Here is the list of variables used in the plugin:

Table 1 Plugin variables
Name	Description	Type	By default
EYEFrame	Store the frame used in hand-eye calibration	frame	{0,0,0,0,0,0}
EYEPos_Rx	Store the last EYE+ pick point position read for 6-axis robots	pointRx	{0,0,0,0,0,0}
EYEPos_Rs	Store the last EYE+ pick point position read for SCARA robots	pointRs	{0,0,0,0,0,0}
EYELastErr	Stores the last error found by E_CHECK_ERR	number	0
EYERawRes	Stores the last response found by E_RAW_COMMAND	string	“”

EYEFrame

EYEFrame is the father of the two position variables EYEPos_Rx / EYEPos_Rs and the father of this frame is the robot’s world[0] frame. By default, this frame is not initialized. You have to initialize it at least once by defining p0 (origin of the frame), pX (p0-pX defines the X direction of the frame) and pY (p0-pY defines the Y direction of the frame).

Method 1: Using the dedicated wizard for this on SP2 in the JOG/Frame section:

Fig. 11 Stäubli wizard to initialize a frame
Method 2: Or manually in your robot program using the command setFrame(p0, pX, pY, eye:Frame).

Warning

If you don’t set the EYEFrame correctly, it will remain equal to the world[0] frame, and as a result, your robot movement could damage your setup.

EYEPos_Rx / EYEPos_Rs

These variables store the last part coordinates received after sending a E_GET_PART. A position variable is defined as a structure containing a transformation and a configuration. The transformation takes the following form: {X,Y,0,0,RZ}.

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. For this reason, make sure to link the position EYEPos_Rx or EYEPos_Rs to the right frame and tool in your program.

Note

Stäubli robots work in millimeters. Then make sure to enter millimeters value 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.
RZ is the angle sent by EYE+ in degree.

Note

This RZ orientation is referenced to the Asycube frame you defined for the hand-eye calibration. Therefore, if the Z axis of your frame is oriented upwards and your robot’s tool is oriented downwards, you should use -RZ instead of RZ. See section RZ angle correction for more details.

The coordinates of the part found with E_GET_PART are written in either EYEPos_Rx or EYEPos_Rs depending on your robot type:

EYEPos_Rx for 6-axis robots
EYEPos_Rs for SCARA robots

Important

To set the robot type in the plugin, you must have called the E_CONFIGURE command at least once.

See below an example of an initialization program for pick and place.

Robot initialization program example

Listing 10 “init.pgx”

// vvvvvvvv Initialize robot settings vvvvvvvv

// Initialization of mdesc
mDesc.accel = 100
mDesc.vel = 100
mDesc.decel = 100
mDesc.rvel = 99999
mDesc.tvel = 99999
mDesc.leave = 10
mDesc.reach = 10

//Set Asycube frame manually (same used in hand-eye calibration)
pFrameO.trsf = {336.43, 121.32, -155.17, 180, 0, 0}
pFrameX.trsf = {335.16, -93.86, -155.51, 180, 0, 0}
pFrameY.trsf = {507.32, 120.04, -155.25, 180, 0, 0}
setFrame(pFrameO, pFrameX, pFrameY, eye:EYEFrame)

// Link tool with flange[0] based on your tool properties
tRobotTool.trsf.x = 5.38
tRobotTool.trsf.y = 0
tRobotTool.trsf.z = 48.76
tRobotTool.trsf.rx = 0
tRobotTool.trsf.ry = 15
tRobotTool.trsf.rz = 0

// Assign EYEPos_Rx remaining components
eye:EYEPos_Rx.trsf.z = 40
eye:EYEPos_Rx.trsf.rx = 180
eye:EYEPos_Rx.trsf.ry = 0
eye:EYEPos_Rx.trsf.rz = -eye:_Rx.trsf.rz

Listing 11 “start.pgx”

  call eye:E_RESET()
  call eye:E_CONFIGURE("192.168.0.50", 7171)

  call init()

  call eye:E_START_PROD(12345)
  call eye:E_GET_PART()
  call eye:E_CHECK_ERR()
  // if no error, move on the part
  if eye:EYELastErr == 0
    movel(eye:EYEPos_Rx, tRobotTool, mDesc)
  endIf

EYELastErr

This global variable is used to store the return value of the E_CHECK_ERR command. Once the error is returned as output from the function, the error is cleared internally (value set to 0).

EYERawRes

This global variable is used to store the return value of the E_RAW_COMMAND command. Each time a new response is received, the last response stored in the variable is deleted and replaced by the new one.