Pick your first parts

Your system is now mounted, calibrated and configured. This section will introduce the TCP Terminal that can be used to test your system and present you the basic production scenario.

TCP Terminal

The TCP Terminal can be accessed from the Resources area on the HOME page.

You can also access it from the HELP page. Click on the HELP and then on ACCESS TCP TERMINAL.

The following page (Fig. 18) will appear.

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Fig. 18 TCP Terminal

The two terminals communicate with the EYE+ XTD Controller through TCP/IP socket messaging (one socket per terminal).

The EYE+ XTD Controller must be in the ready state. Check the current state by sending the command get_parameter <parameter> (<value>…) where <parameter> is state. It should answer 200 ready.

Note

If you are in recipe edition, camera configuration, hand-eye calibration, or already in production state, verify that no other EYE+ XTD Studio pages are open. If other pages are open, ensure all work is saved and then close them.

Basic production scenario

Fig. 19 shows the basic production scenario.

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Fig. 19 Basic production scenario

  • Send the command get_recipe_list to display the list of existing recipes saved in the EYE+ XTD Controller. Your first recipe should appear with its name and identifier.

  • Start production by sending start production with your recipe identifier (e.g., <recipe_id>). This will switch EYE+ XTD into the production state.

  • Ensure the robot is not within the camera’s field of view.

  • Place at least one part on the picking area and send get_part. You will receive a message similar to 200 x=0.12345 y=6.78910 rz=11.12, where 200 indicates a positive confirmation, and x, y, and rz are the coordinates of the detected part in the robot frame.

  • Move your robot to the received coordinates and pick the part.

  • To obtain the next part’s coordinates after picking, simply send get_part again.

Note

If you do not receive the 200 response from any command, consult the error_codes for more information on the issue and how to troubleshoot it.

Tip

You can return the system to the ready state by sending stop <state> with the state parameter set to production (e.g., stop production).

Your first pick and place

Now you are ready to implement your first robot/PLC program to communicate with EYE+ XTD.