Robot-Vision Communication Protocol

Robot-Vision Communication Protocol#

FlexiVision One communicates with the robot via TCP/IP protocol over an Ethernet network.

Protocol specifications#

Parameter

Value

Protocol

TCP/IP

Port

Configurable (default: FB1 → 4001 ; FB2 → 4002 ; FB3 → 4003)

Termination character

CHR(13) - Carriage Return

Data format

ASCII string

Timeout

Configurable (default: 5000 ms)

Encoding

UTF-8

Available commands#

The system supports the following commands via text strings sent over the TCP/IP connection.

Recipe management#

Command

Action

Return Value

set_recipe=<name>

Loads the specified recipe and starts synchronization of the connected FlexiBowl® units.

None

get_recipe

Returns the name of the currently loaded recipe.

<recipe_name>

Example:

set_recipe=MyRecipe

or:

get_recipe
→ MyRecipe

Locator commands#

Command

Action

Return Value

start_Locator

Starts the part-locating process. If no pickable parts are present, it automatically calls the FlexiBowl® movement routine. If the Locator is already active, the command is ignored and the process is not restarted.

Important

If no model is selected/enabled at the time the command is issued, the system returns an error message and the Locator does not start.

Pattern_n;x;y;r / Hopper;signalnumber;time

stop_Locator

Stops the locating process.

None

turn_Locator

If no part has been picked, it requests a new FlexiBowl® movement and restarts the search process.

Pattern_n;x;y;r

test_Locator

Starts the locating process without activating the FlexiBowl®; only image acquisition and search are performed.

Pattern_n;x;y;r / None

state_Locator

Returns the diagnostic status of the locating process.

Locator is Running / Locator is in Error / Locator is not Running

mix_Locator_<models>

Tip

For more information, see the section on mix commands

Dynamically selects one or more models and starts the Locator. Previously selected models are first disabled. Available numbers range from 1 to 8 (e.g. mix_Locator_12, mix_Locator_248, mix_Locator_12345678).

Note

If the Locator is already running, the command is ignored and the current selection is not changed.

Normal Locator result / #Error_mix_locator_not_valid (if no valid model is found)

Note

Other available string separators, besides ;, are: ,, |, :, &, $, @, #.

Note

For start_Locator and mix_Locator_<models>, when the Locator is already running, no response is sent to the robot.

FlexiBowl® commands – Emptying#

Command

Action

Return Value

start_Empty

Starts the FlexiBowl® Quick-Emptying sequence. The command cannot be executed while the Locator is active.

Start_Empty Started / Locator is Running / #Error_flexibowl_not_connect

stop_Empty

Stops the FlexiBowl® emptying sequence.

Stop_Empty Command Sent / #Error_flexibowl_not_connect

state_Empty

Returns the current status of the emptying sequence.

Emptying Running / Emptying Stopped / #Error_flexibowl_not_connect / #Error_invalid_emptying_state

Optional hopper signals#

Note

If the hopper needs to be activated, the following string will be received: "Hopper;signalnumber;time"

General errors#

Note

FlexiVision license: if the software license is not active, robot commands are rejected and the following is returned: #Error_License_not_active

Advanced / Service Commands#

The following commands are reserved for technical personnel.

FlexiBowl® connection#

Command

Action

Return Value

connect_flb

Requests connection to the FlexiBowl®. If not connected, the related connection task is started.

#Flb1_connected / #Flb1_Not_connected

For detailed information on physical installation and electrical connections, proceed to the following sections:


V. 1.00 V. 1.01
DE EN ES FR IT