Outputs
The output module contains all status and result data of the feeder station.
Information: This function requires a licence. A separate TCP/IP communication can therefore be omitted.
| Signal | Byte / Bit | Data type | Edge | Description |
|---|---|---|---|---|
| Smart Sequence OK | 0.0 | Bit | Rising | Smart Sequence was successfully processed. |
| Smart Sequence NOK | 0.1 | Bit | Rising | Smart Sequence was terminated with an error. |
| Positions valid (Toogle) | 0.2 | Bit | Rising / Falling | Positions 1-5 are valid and values can be used. This is a response to 'Get Part'. |
| Station active (online/offline) | 0.3 | Bit | Rising / Falling | Current status of the station (online / offline). |
| Parts Prepared | 0.4 | Bit | Rising / Falling | Response to 'Prepart Part'. Indicates that parts are ready for collection for 'Get Part'. |
| Programme change OK | 0.5 | Bit | Rising | This bit signals that the last initiated programme change was successful. |
| Programme change NOK | 0.6 | Bit | Rising | This bit signals that the last initiated programme change was not successful. |
| Smart Sequence Running | 0.7 | Bit | Rising / Falling | This bit signals that a Smart Sequence is active. |
| Smart Sequence done (Toogle) | 1.0 | Bit | Rising / Falling | This bit signals that a Smart Sequence has ended. |
| Camera calibration Valid | 1.1 | Bit | - | Indicates whether the camera calibration is present and the RMS error is within the permitted range. |
| Robot calibration valid | 1.2 | Bit | - | Indicates whether the robot calibration is present and the RMS error is within the permitted range. |
| Asycube connected | 1.3 | Bit | - | Connection status to the Asyril Asycube. True = Device connected |
| Asycube Alarm | 1.4 | Bit | - | Alarm status of the Asyril Asycube. True = Alarm active (e.g.: S supply interrupted - Emergency Off). To cancel the alarm, a Stop Production / Start Production is required. |
| Programme number | 2-3 | Integer | - | Programme number of the currently loaded programme. |
| SmartSequence Code | 4-5 | Integer | - | Response / error code of the last Smart Sequence |
| Parts on platform | 6-7 | Integer | - | Approximate number of parts on the platform. This is an estimate based on the area occupied. |
| Pickable parts | 8-9 | Integer | - | Number of reachable parts in the buffer that have not yet been requested. Each call to 'Get Part' reduces this number. |
| Number of positions | 10-11 | Integer | - | Number of valid positions (1-5) as confirmation of Get Part. Corresponds to the 'Number of parts / pick' parameter. |
| Position 1 | ||||
| X | 12-15 | Floating point | - | X Coordinate of the part |
| Y | 16-19 | Floating point | - | Y Coordinate of the part |
| Rotation | 20-23 | Floating point | - | Rotation of the part |
| ID | 24-25 | Integer | - | ID of the part for later use. Current: ID = 1 if position is valid |
| Position 2 | ||||
| X | 26-29 | Floating point | - | X Coordinate of the part |
| Y | 30-33 | Floating point | - | Y Coordinate of the part |
| Rotation | 34-37 | Floating point | - | Rotation of the part |
| ID | 38-39 | Integer | - | ID of the part for later use. Current: ID = 1 if position is valid |
| Position 3 | ||||
| X | 40-43 | Floating point | - | X Coordinate of the part |
| Y | 44-47 | Floating point | - | Y Coordinate of the part |
| Rotation | 48-51 | Floating point | - | Rotation of the part |
| ID | 52-53 | Integer | - | ID of the part for later use. Current: ID = 1 if position is valid |
| Position 4 | ||||
| X | 54-57 | Floating point | - | X Coordinate of the part |
| Y | 58-61 | Floating point | - | Y Coordinate of the part |
| Rotation | 62-65 | Floating point | - | Rotation of the part |
| ID | 66-67 | Integer | - | ID of the part for later use. Current: ID = 1 if position is valid |
| Position 5 | ||||
| X | 68-71 | Floating point | - | X Coordinate of the part |
| Y | 72-75 | Floating point | - | Y Coordinate of the part |
| Rotation | 76-79 | Floating point | - | Rotation of the part |
| ID | 80-81 | Integer | - | ID des Bauteils für spätere Verwendung. Aktuell: ID = 1, wenn Position gültig ist |
| Parameter | ||||
| Number of parts / pick (part_quantity) | 82-83 | Integer | - | Defines the number of parts that must be recognised by 'Get Part' and 'Prepare Part' for successful execution. Parameter: part_quantity |
| Detection time (s) (timeout) | 84-85 | Integer | - | This timeout (in seconds) is used when executing smart sequences (such as get_part). If the timeout is exceeded, the command is cancelled and a timeout message is sent. Parameter: timeout |
| New image (image_after send) | 86 | Byte | - | Forces an image to be taken after a part has been removed. Each time 'Get Part' or 'Prepare Part', the system automatically captures an image immediately beforehand. Parameter: image_after_send |
| Calibrierung | ||||
| Kamera Rms | 88-91 | Floating point | - | Current Rms error of the camera calibration. |
| Roboter Rms | 92-95 | Floating point | - | Current Rms error of the robot calibration. |