Mix Application Commands

Mix Application Commands#

Note

Prerequisites

Before proceeding with this section, make sure you understand how the Mix Application works and that you have correctly configured the recipe with the models of the different components. See Mix Application Overview.

Robot side differences#

In a Mix application, the TCP/IP commands sent by the robot to the vision system change compared to those in a Standard application.

The main difference concerns the family of tracking commands: the commands that in the Standard application have the prefix start_ are replaced by the equivalent family with the prefix mix_.

This variation allows the vision system to activate the multi-component identification logic, returning to the robot not only the coordinates of the part located, but also the recognised model identifier, so that the robot program can select the correct picking strategy for each type of part.

Important

The return value of Mix commands always includes the recognised pattern identifier (Pattern_n). The robot program must be set up to manage the different response types and adopt the appropriate picking logic according to the identified model.

Commands available in Mix mode#

Recipe management#

Command

Action

Return Value

set_Recipe=nome_ricetta

Upload the specified Mix recipe

None

get_Recipe

Returns the name of the currently uploaded recipe

nome_ricetta

Note

The recipe management commands for Standard and Mix modes are identical.

Mix tracking commands#

Mix tracking commands allow the robot to request the coordinates of a specific model within the recipe. Each command is dedicated to a single model and autonomously manages the search cycle, including moving the FlexiBowl® and activating the hopper if necessary.

The mix_Locator_n acts as follows:

  1. The system captures an image and searches for the Model n.

  2. If the model is not found at the first capture, the FlexiBowl® is automatically activated and the search resumes.

  3. The cycle continues until the Model n is located or the command stop_Locator is sent.

  4. During the entire search phase, the hopper is automatically switched on if necessary.

Important

Each mix_Locator_n command only searches for the model corresponding to the number n. This means that to request the coordinates of a different model, the specific command for that model must be used (e.g. mix_Locator_2 for Model 2, mix_Locator_3 for Model 3, and so on).

Command

Action

Return Value

mix_Locator_1

Start searching for Model 1. If not found, activate the FlexiBowl® and repeat the search automatically until found or at stop_Locator. Activate the hopper if necessary.

Pattern_1;x;y;r / Hopper;signalnumber;time

mix_Locator_2

As above, for Model 2

Pattern_2;x;y;r / Hopper;signalnumber;time

mix_Locator_3

As above, for Model 3

Pattern_3;x;y;r / Hopper;signalnumber;time

…

…

…

mix_Locator_8

As above, for Model 8

Pattern_8;x;y;r / Hopper;signalnumber;time

turn_Locator

If no part has been picked, rotate the FlexiBowl® and restart the multi-component search

Pattern_n;x;y;r

test_Locator

This starts multi-component tracking without activating the FlexiBowl® (image capture only)

Pattern_n;x;y;r / None

stop_Locator

It interrupts any search in progress

None

state_Locator

It returns the diagnostic status of the locator.

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

Tip

The maximum number of models that can be managed within a single Mix recipe is 8, corresponding to the commands mix_Locator_1 … mix_Locator_8. The robot program can request the models in any order and combination, depending on the application logic.

FlexiBowl® Commands#

Command

Action

Return Value

start_Empty

It starts the FlexiBowl® quick emptying sequence.

start_Empty ended

Optional hopper signals#

Note

If the hopper needs to be switched on, we will receive the string: "Hopper;signalnumber;time"

Return value format#

In Mix mode, the return value of tracking commands has the following format:

Pattern_n;x;y;r

Field

Description

Pattern_n

Identifier of the recognised model (e.g. Pattern_1, Pattern_2, …). It corresponds to the model number requested with the command mix_Locator_n.

x

X coordinate of the part in the working area (in mm, in the robot reference system)

y

Y coordinate of the part in the working area (in mm, in the robot reference system)

r

Angle of rotation of the part (in degrees)

Tip

The field Pattern_n is the key parameter for Mix applications: the robot program must use it to select the correct picking routine (approach position, gripper opening, picking force, etc.) according to the type of part identified.

For information on the communication protocol and TCP/IP connection parameters, see:

→ Robot-Vision Communication Protocol


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