©
Copyright Asyril S.A.
Advanced use of the Asycube Control URCap
Version: A2
34/50
Through the
Production
node, the current number of parts and the coordinates [X, Y] of the
center of mass must be linked to 3 dedicated variables, typically returned by the vision
system. The user is responsible for creating and linking this variable to the output returned by
the vision system. In a similar way as the
Hopper
and
Platform
nodes, the user must select
these variables by pushing on the button
. A new interface appears allowing the
user to select the variable. Once selected, the user must push on
, to come back
to the production interface of the
Sequence
node. The number of parts must be an integer
value, whereas the coordinates [X, Y] of the center of mass must be floating values, included
between -1 and 1.
The maximum number of parts is a constant integer value set by the user. To modify it, the
user must click on the related text field, displaying then a virtual keyboard to enter the new
value.
The
Test
mode allows the user to test the sequence without having to execute a UR program.
Numerical values can be given to the process parameters using dedicated text fields. The
user tests the process with to the
and the
buttons, provided by
the interface. Once executed, the real duration of the sequence, retrieved from the Asycube,
is displayed.
The execution of a sequence is synchronous. During the execution of the UR program
involving the use of a Asycube platform, the nodes following a
Sequence
node will be
executed only when the sequence is finished.
Figure 4-14 - Production mode (left) & Test mode (right)
