Inputs

The input module contains all the functions for controlling the feeder station and setting the parameters.

Information: This function requires a licence. A separate TCP/IP communication can therefore be omitted.

Signal Byte / Bit Data type Edge Description
Get Part 0.0 Bit Rising Requests 'Number of parts / pick', if no parts are available, the corresponding Smart Sequence is started
Active (online/offline) 0.1 Bit Rising / Falling A positive edge of this signal switches the station online, a negative edge switches the station offline.
Programme change 0.2 Bit Rising A positive edge of this signal triggers a programme change, whereby the programme is loaded with the current programme number from bytes 2 & 3 of this module.
Prepare Part 0.3 Bit Rising Prepares the 'Number of parts / Pick' so that they can be collected with 'Get Part'.
Automatic programme change 0.4 Bit - If this bit is set to logic 1, the programme is automatically changed each time the programme number is changed.
Start backup 0.5 Bit Rising Starts the creation of a local backup.
Cancel smart sequence 0.6 Bit Rising Cancels the current Smart Sequence.
Shut down system 0.7 Bit Rising Triggers the shutdown of the controller by rising edge.
(Available from EasySightPro® 10.1.2)
Force new image 1.0 Bit Rising Forces a new image acquisition and updates the list of all coordinates to ensure that all coordinates are valid for the extraction.
Smart Purge Full 1.1 Bit Rising Starts the complete emptying of the hopper and platform. This function is used to empty the system at the end of production.
Smart Purge Plate 1.2 Bit Rising Starts the emptying of the platform. This function is used to remove non-grippable parts (breakage, dirt).
Camera field of view blocked 1.3 Bit - 0: Camera field of view is clear and images can be captured
1: Camera field of view is blocked. Image recording is suppressed.
Start robot calibration 1.4 Bit Rising Performs the robot / camera calibration for the selected position.
Test robot calibration 1.5 Bit Rising Tests the current robot calibration.
Set PickPoint robot automatically 1.6 Bit Rising Automatically calculates the robot's picking point.
Programme number 2-3 Integer - Programme number of the programme that is loaded on the positive edge of the programme change signal.
Parameter

Information: All parameters are only synchronised with the EasyFeeder station when they are changed
Number of parts / pick (part_quantity) 4-5 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) 6-7 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) 8 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
Roboter Calibration
Position 9 Byte - Current position for 'Start robot calibration'.
Roboter X 10-13 Floating point - Current coordinate X
Roboter Y 14-17 Floating point - Current coordinate Y
Roboter Rotation 18-22 Floating point - Current part placement angel for 'Set robot pickpoint automatically'

Description Signals

Requests one or more parts. The number of parts returned can be changed using the part_quantity parameter. This parameter is set to 1 by default.

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

Execution

  • Until the detection time has been reached or the number of parts has been found

Output

  • Parts on platform

  • Pickable parts

  • Number of positions

  • Position 1 to 5 depending on parameter

  • Signal Positions valid (toggle)

  • Signal Parts ready

  • Smart Sequence Running signal is set

  • Signal Smart Sequence done (Toogle)is set

  • Signal Smart Sequence OK, Smart Sequence NOK and Smart Sequence Code

Prepares the parts for GetPart so that they are ready on time when they are collected. The number of parts returned can be changed using the part_quantity parameter. This parameter is set to 1 by default.

Smart Sequence

Information: Does not block any Smart Sequence and is automatically terminated by all other Smart Sequences.

Parameter

Execution

  • Endless until number of parts found or sequence cancelled

Output

  • Parts on platform

  • Pickable parts

  • Position 1 to 5 depending on parameter

  • Signal Parts ready

  • SignalSmart Sequence Running is set

  • Signal Smart Sequence done (Toogle) is not set, not blocking is executed Timing

Deletes the current part buffer and executes a new Get Part.

This is to ensure that the parts buffer is up to date and that all positions are valid. This is useful if the parts may have moved due to external influences (robot, gripper, machine).

Information: The function is identical to the 'New image' parameter (image_after_send) and the call to Get Part.

Empties the hopper and platform with camera support. This function is used at the end of production to empty the system completely.

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

Execution

  • Until the detection time is reached or no more parts are detected

Output

  • Signal Smart Sequence Running is set

  • Signal Smart Sequence done (Toogle)is set

  • Signals Smart Sequence IO, Smart Sequence NIO and Smart Sequence Code

Only empties the platform with camera support. This function is used to remove non-reachable parts (breakage, soiling, foreign parts).

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

Execution

  • Until the detection time is reached or no more parts are detected

Output

  • Signal Smart Sequence Running is set

  • Signal Smart Sequence done (Toogle) is set

  • Signals Smart Sequence IO, Smart Sequence NIO and Smart Sequence Code

Takes a new image and searches for the calibration part. If the calibration part is found, a point pair of robot and camera coordinates is saved for the selected position.

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

  • Detection time (timeout)

  • Roboter Position, X, Y (The angle is not used for calibration)

Execution

  • Until the first image has been analysed or the detection time has been reached

Output

  • Signal Smart Sequence Running is set

  • Signal Smart Sequence done (Toogle) is set

  • Signals Smart Sequence IO, Smart Sequence NIO and Smart Sequence Code

  • Signals Roboter Rms and Roboter calibration valid

Takes a new image, searches for the calibration part and outputs the recognised position. This can be used to check whether the robot coordinates in the feeder match the actual coordinates.

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

Execution

  • Until the first image has been analysed or the recognition time has been reached

Output

  • Signal Smart Sequence Running is set

  • Signal Smart Sequence done (Toogle) is set

  • Signals Smart Sequence IO, Smart Sequence NIO and Smart Sequence Code

  • Signals Position 1 to 5 (X / Y / Rotation / ID), Number of positions and positions valid (Toogle)

Automatically calculates the robot's picking point calculation. The robot places a part at a defined position and transmits the placement coordinates. The new pick point is calculated using a new image and the transmitted coordinates.

Smart Sequence

Information: Blocks all other smart sequences until the sequence is ended.

Parameter

Execution

  • Until the first image has been analysed or the recognition time has been reached

Output

  • Signal Smart Sequence Running is set

  • Signal Smart Sequence done (Toogle) is set

  • Signals Smart Sequence IO, Smart Sequence NIO and Smart Sequence Code