Plugin variables

Public user variables

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

Table 1 Public plugin variables

Name	Description	Type	By default
EYELastErr%	Stores the last error found by EYE_CHECK_LAST_ERROR	Integer	0
EYERawRes$	Stores the last response found by EYE_RAW_COMMAND	String	“”

EYELastErr%

This global variable is used to store the return value of the EYE_CHECK_LAST_ERROR 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 EYE_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.

Reserved system variables

One robot point is reserved to store the position of the part.

Table 2 Plugin reserved memory

Name	Description	Type	By default
Pxxxx	Store the last EYE+ pick point position read	Point	0.000 0.000 0.000 0.000 0.000 0.000

This point stores the last part coordinates received after sending a EYE_GET_PART. This point and type of point is chosen when calling the command EYE_CONFIGURE (SCARA or 6 axis robot).

For the SCARA robot, the point is described by the components: A1 = X, A2 = Y, A3 = Z, A4 = RZ.

For 6-axis robot, the point is described by the components: A1 = X, A2 = Y, A3 = Z, A4 = RX, A5 = RY, A6 = RZ.

• The X and Y coordinates of the part stored in the point are only valid in the robot frame and tool that you used during the hand-eye calibration.

  Note

  Yamaha 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.

Private user variables

Some global variables are internally used by the plugin and must not be used in your programs. Those variables are defined in Table 3.

Table 3 Private plugin variables

Name	Type
stMessageS1_GLO$	String
stMessageS2_GLO$	String
EyePluginTimeout%	Integer
inError%	Integer
inTimerLST%	Integer
inRobotTypeGO%	Integer
inRunning1%	Integer
inRunning2%	Integer
pointNumberGO%	Integer