Glossary

Angle

Rotation of the part relative to a reference. The zero angle corresponds to the X direction of the part when it is horizontal. The angle unit is the degree [°].

Angle repetition

For symmetrical parts. For example, a hexagon can be created by repeating a triangle shape around the center 6 times.

The angle repetition implies that the same part can be picked up by the robot from each of its angles.

Asyril SA

A Swiss company that develops flexible feeding systems.

Asycube

It is a vibratory plate developed by Asyril SA. Synonym: feeder

Asyfill

It is the vibrating hopper series developed by Asyril SA. Synonym: hopper

Bounding box

The virtual box (green or red) enclosing the detected parts.

Bad candidate

Candidates that have been classified as bad for the robot pick up because of their orientation. The side of the part that faces upwards is not pickable by the robot.

Calibrated unit

Distance unit using the metric or imperial measurement system depending on the user settings. The connection with the real world is assured by the vision calibration during the camera configuration process.

Candidate

A potential good part. Candidates are the outputs of the 2. Candidate Detection step: all the detected parts.

Classification

The act or process of dividing things into groups according to their type. The EYE+ XTD classification classifies the detected parts in the groups of good or bad candidates.

EYE+ XTD

EYE+ XTD is an efficient and intuitive part coordinates provider developed by Asyril SA.

Frontlight

Is the optional light that illuminates the picking area from above.

Good candidate

Candidates that have been classified as good for the robot pick up because of their orientation. The side of the part that faces upwards is pickable by the robot.

Gripper

A mechanical tool that is installed at the end of a robot arm or other moving element and that is used to pick good parts from the plate.

Hand-eye calibration

This is the process of finding 4 different robot coordinates and correlating them with the 4 corresponding vision coordinates. The objective is to obtain a transformation matrix from the vision system to the robot system.

Orientation

The orientation of a part corresponds to a part configuration in which a specific face of the part faces upwards. For example, a cube has 6 different orientations.

Part

A part is an object that is placed on the picking are to be detected by the EYE+ XTD vision system in order to be picked by a gripper.

Pick point

The pick point is the point that you have to define in your recipe that represents the pick position of the robot. This point will then be converted into X and Y vision coordinates which will be converted into robot coordinates after hand-eye calibration. These robot coordinates are sent directly in response to a get_part command.

Pick angle

The pick angle is the angle of the part that you have to define in your recipe and that represents the pick angle of the robot. This angle is converted to RZ coordinates (in degrees). This angle (in vision coordinates frame) is sent directly in response to a get_part command.

Picking area

The picking area designates the region where a robot or automated system can pick parts. This area is defined within the camera’s field of view and calibrated to the robot’s workspace, allowing the system to accurately locate and grasp individual components.

Position

Refers to the position of the part on the picking area. It is usually expressed in X and Y coordinates in the robot frame.

Production cycle

This is the series of commands executed by EYE+ XTD along with the robot to search/find parts on the plate in order to pick them up.

RCF

Robot Coordinate Frame, see Robot coordinate frame (RCF) for more information.

Recipe

A file that contains comprehensive information about a part. It stores all configuration data used for the part, including acquisition settings and vision parameters. These parameters enable part classification, determine the pick point and angle, and define manual inputs such as part size, height.

Each recipe is associated with a unique name and identifier, and includes timestamps for its creation and last modification.

TCF

Tool Coordinate Frame, see Tool coordinate frame (TCF) for more information.

Vision calibration plate

Is the plate that needs to be setup on top of the picking area to perform the vision calibration. A regular pattern is printed on it (checkerboard).