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 of a Standard application.

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

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

Important

The return value of Mix commands always includes the identifier of the recognized pattern (Pattern_n). The robot program must be prepared to manage the different response types and adopt the appropriate picking logic based on the identified model.

Commands available in Mix mode#

Recipe management#

Command

Action

Return Value

set_Recipe=nome_ricetta

Loads the specified Mix recipe

None

get_Recipe

Returns the name of the currently loaded recipe

nome_ricetta

Note

Recipe management commands are identical between Standard and Mix modes.

Mix localization commands#

Mix localization commands allow the robot to request the coordinates of a specific model within the recipe. Each command is dedicated to a single model and independently manages the search cycle, including FlexiBowl® movement and hopper activation if necessary.

The behavior of mix_Locator_n is as follows:

  1. The system acquires an image and searches for Model n.

  2. If the model is not found on the first acquisition, the FlexiBowl® is actuated automatically and the search resumes.

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

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

Important

Each mix_Locator_n command searches exclusively for the model corresponding to 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

Starts the search for Model 1. If not found, it actuates the FlexiBowl® and automatically repeats the search until found or until stop_Locator. Activates 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, rotates the FlexiBowl® and restarts the multi-component search

Pattern_n;x;y;r

test_Locator

Starts multi-component localization without activating the FlexiBowl® (image acquisition only)

Pattern_n;x;y;r / None

stop_Locator

Stops any search currently in progress

None

state_Locator

Returns the diagnostic status of the locator

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

Tip

The maximum number of models manageable 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

Starts the FlexiBowl® quick emptying sequence

start_Empty ended

Optional hopper signals#

Note

If the hopper must be activated, we will receive the string: "Hopper;signalnumber;time"

Return value format#

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

Pattern_n;x;y;r

Field

Description

Pattern_n

Identifier of the recognized model (e.g. Pattern_1, Pattern_2, …). Corresponds to the number of the model requested with the mix_Locator_n command.

x

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

y

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

r

Rotation angle of the part (in degrees)

Tip

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

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

→ Robot-Vision Communication Protocol


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