IpAddress - is the IP address of your EYE+. The parameter must be a string with the IP address format
x.x.x.x.
Port - is the port number of your EYE+. The parameter must be an integer.
StartingPoint - is the starting point of the memory area reserved by the plugin. The parameter must be an integer.
Make sure that they do not overlap with variables already used in your program.
Note
Refer to section Reserved memory for more details on the range.
This command must always be called at the beginning of your program to define the client configuration and to define the
starting point of the reserved memory zone.
Warning
If you have not configured the clients correctly, you will get the following error
602 - Client configuration error and the client configurations will not be changed.
The returned part is stored in the point P[StartPoint].
When a part is found, only the X, Y and RZ values are overwritten. You have to assign the other components (Z,
RX, RY) yourself according to your robot setup.
This command is used to request one part from EYE+. This is a blocking command, meaning it will keep going until it
gets a response.
Important
You must initialize the output position at least once before using the EYE_GET_PART command. To do
this you need to go to the output position configured as P[StartPoint] in the Yaskawa position variables and
change the following information:
Section 1: Select either BASE, ROBOT or UTIL. The choice depends on your application. Your choice must
match the robot frame you have defined for your pick and place.
Section 2: You must initialize the position elements Z, Rx, Ry.
Section 3: You must select the correct tool to use for your pick and place application.
This command is used to request one part from EYE+. This command is not a blocking command. The part coordinates can be
retrieved later with the EYE_GET_PART command.
LI000 is a local integer that specify the position in memory where length of the data to send is stored. It can
have two values:
LI000 = StartingPoint when using client 1,
LI000 = StartingPoint+150 when using client 2.
LI001 is a local integer specifying the position in memory of the first byte to write. It can have two values:
LI001 = StartingPoint+1 when using client 1,
LI001 = StartingPoint+151 when using client 2.
LS000 is a local string containing the data to send.
Warning
The length of the message that can be sent to EYE+ can be up to 64 characters. However, the maximum length
of a string variable (e.g. LS000), can only be up to 32 characters.
1' Configure EYE+ and set StartingPoint = 300 2CALLJOB:EYE_CONFIGUREARGF"192.168.0.50"ARGF7171ARGF300 3' 4' Choose position in memory containing the size of data to send on client 1 5SETLI000300' = StartingPoint + 0 6' Choose position in memory containing the first data to send on client 1 7SETLI001301' = StartingPoint + 1 8' 9' Set string variable to send command "start production 65447"10SETLS000"start production 65447"11'12' Write the string "start production 65447" (LS000) from byte 301 (LI001)13' The lenght of variable is written in Byte B300 (LI000 = 300)14CALLJOB:GSI_MAKEBARRAYARGFLI000ARGFLI001ARGF0ARGFLS00015'16' Send the full command17CALLJOB:EYE_RAW_COMMANDARGF1
1' Get EYE_RAW_COMMAND response code
2' Define the beginning of the memory area for data received on client 1
3SET LI002 367 ' = StartingPoint + 67
4CHR$ LS000 B[LI002] ' Get first caracter to string
5INC LI002
6CHR$ LS002 B[LI002] ' Get second caracter to string
7CAT$ LS003 LS000 LS002
8INC LI002
9CHR$ LS000 B[LI002] ' Get third caracter to string
10CAT$ LS003 LS003 LS000
11'
12IFTHEN LS003="200"
13 ' SUCCEED
14ENDIF
Usage example for long commands (more than 32 characters)
1' Configure EYE+ and set StartingPoint = 300 2CALLJOB:EYE_CONFIGUREARGF"192.168.0.50"ARGF7171ARGF300 3' 4' Choose position in memory containing the size of data to send on client 1 5SETLI000300' = StartingPoint + 0 6' Choose position in memory containing the first data to send on client 1 7SETLI001301' = StartingPoint + 1 8' 9' Set 2 string variables to send command "set_parameter image_after_send true"10SETLS000" set_parameter image_"' lenght of 2011SETLS001" after_send true"' lenght of 1512'13' Write the string "set_parameter image_" (LS000) from byte 301 (LI001)14' The lenght of variable is written in Byte B300 (LI000 = 300) : B300 = 2015CALLJOB:GSI_MAKEBARRAYARGFLI000ARGFLI001ARGF0ARGFLS00016'17' Calculate beginning of 2nd part of the command18' Position of the first character + previous length = 32119SETLI002EXPRESSLI001+2020'21' Write the string "after_send true" (LS001) from byte 321 (LI002)22' The lenght of variable is written in Byte B300 (LI000 = 300) : B300 = 1523' WARNING: this new length value has erased the previous length value24CALLJOB:GSI_MAKEBARRAYARGFLI000ARGFLI002ARGF0ARGFLS00125'26' Write in the byte position 300 the correct value of the total length to send27' Combination of both lengths = 20 + 15 = 3528SETB3003529'30' Send the full command31CALLJOB:EYE_RAW_COMMANDARGF1
