Part quantity = <n>

The part_quantity parameter is used to ask EYE+ XTD to look for several parts at the same time. This means that every time EYE+ XTD takes a picture, it will look for at least <n> parts on the image. If it does not find those parts, no coordinates will be sent.

This parameter influences the operation of the command get_part and prepare_part.

Important

Once EYE+ XTD sends the n coordinates to the client, it assumes that in the next step all of these parts have been picked up. It means that the coordinates of the parts are then erased from the list of good candidates.

../../../../_images/prepare_part_n_parts.png

Fig. 196 Production scenario with get_part and part_quantity = <n>

  1. [set_parameter part_quantity <n>]: Set the parameter part_quantity to <n>.

  2. [Move robot out of field of view]: Before calling the get_part command, you have to ensure that nothing obstructs the camera view.

  3. [get_part]: Call the command get_part. It may take a picture. The command will send you the coordinates of <n> parts or return an error if not enough parts are found.

  4. [Pick & place <n> parts]: Pick and place the <n> first parts.

  5. Start again from step 3. If error 504 is returned, add more parts to the picking area and start over from step 2 or stop the production with stop production.