SmartSight
Programming Guide

Document

SMARTSIGHT_Programming_Guide_EN
000.100.531

VersionC2

Date

25.07.2019

Version SW

From

4.0.2

To

SmartSight
Programming Guide
Table of Contents

Version: C2

Table of Contents
TABLE OF CONTENTS ................................................................................................................................ 2
1.

INTRODUCTION .................................................................................................................................... 4
1.1.

GENERAL INFORMATION.......................................................................................................................... 42.

GENERAL INTRODUCTION ................................................................................................................ 5

3.

CONTROL UNIT .................................................................................................................................... 7
3.1.

3.1.1.

Locking the C partition ................................................................................................................. 8

3.1.2.

Unlocking the C partition ............................................................................................................. 8

3.2.

General Information ..................................................................................................................... 8

3.2.2.

Control of the number of cameras ............................................................................................. 8

3.2.3.

Updating the licence ..................................................................................................................... 96.

STARTING THE ASYVIEW ....................................................................................................................... 10

3.3.1.

General Information ................................................................................................................... 10

3.3.2.

Checking C partition lock status ................................................................................................ 11

3.3.3.

Checking Asyril licence .............................................................................................................. 12

3.3.4.

Checking Cognex licence .......................................................................................................... 13

3.4.

5.

ASYRIL LICENCE ...................................................................................................................................... 8

3.2.1.

3.3.

4.

OPERATING SYSTEM ............................................................................................................................... 7

ASYRIL DATA BACKUP FROM D PARTITION............................................................................................ 14

ASYVIEW INTERFACE ....................................................................................................................... 15
4.1.

USER ACCESS LEVEL ............................................................................................................................ 17

4.2.

ARCHITECTURE ..................................................................................................................................... 17

4.3.

LOGS (COM LOGGER AND LOGFILE) ................................................................................................... 17

4.4.

TESTCLIENT .......................................................................................................................................... 19

4.5.

SIMULATOR ........................................................................................................................................... 20

ASYVIEW COMMUNICATION PROTOCOL ..................................................................................... 21
5.1.

TCP/IP PARAMETERS ........................................................................................................................... 21

5.2.

PROTOCOL ............................................................................................................................................ 21

5.2.1.

MessageType .............................................................................................................................. 21

5.2.2.

Command .................................................................................................................................... 22

5.2.3.

Standard Parameters ................................................................................................................. 26

5.2.4.

Parameters .................................................................................................................................. 27

5.2.5.

Termination .................................................................................................................................. 27

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6.1.

MODES .................................................................................................................................................. 28

6.2.

W ORKING MODE ................................................................................................................................... 28

6.2.1.

Active Working Mode ................................................................................................................. 29

6.2.2.

Passive Working Mode .............................................................................................................. 34

6.3.
7.

8.

Version: C2

RECIPE .................................................................................................................................................. 35

ASYVIEW INSTRUCTIONS ................................................................................................................ 36
7.1.

TABLE OF INSTRUCTIONS ...................................................................................................................... 37

7.2.

RECIPES ................................................................................................................................................ 39

7.3.

CALIBRATION ......................................................................................................................................... 43

7.4.

PRODUCTION ......................................................................................................................................... 50

7.5.

UTILITIES ............................................................................................................................................... 58

TECHNICAL SUPPORT ...................................................................................................................... 62
8.1.

TO HELP US PROVIDE THE BEST SERVICE … ........................................................................................ 62

8.2.

CONTACT............................................................................................................................................... 62

REVISION TABLE ....................................................................................................................................... 63

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SmartSight
Programming Guide
Introduction

1.

Version: C2

Introduction
1.1.

General information

This document is the property of Asyril SA; it may not be reproduced, modified orcommunicated, in whole or in part, without our prior written authorization. Asyril SA reserves
the right to modify any information contained in this document for reasons related to productimprovements without prior notice. Before using the product, please read this entire
document to ensure that the product is used correctly. However, if you encounter difficulties
when using the product, do not hesitate to contact our customer service department.
In this manual, the safety information that must be respected is split into three types:"Danger", "Important" and "Note". These messages are identified as follows:
DANGER!
Failure to respect this instruction may result in serious physical injury.
DANGER!
This instruction identifies an electrical hazard. Failure to respect this instruction may
result in electrocution or serious physical injury due to an electric shock.
IMPORTANT!
Failure to respect this instruction may result in severe damage to equipment.
NOTE:
The reader's attention is drawn to this point to ensure that the product is used correctly.
However, failure to respect this instruction does not pose a danger.
Reference …
For more information on a specific topic, the reader is invited to refer to another manual oranother page of the current manual.
IMPORTANT!
Asyril cannot be held responsible for damage to property or persons caused by the failure torespect the instructions contained in the manual for your machine.
NOTE:
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SmartSight
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General introduction

2.

Version: C2

General introduction
SmartSight describes Asyril’s intelligent visual part detection system, ensuring straightforward
integration of any Asycube flexible feeder with any industrial robot brand.

Figure 2-1: SmartSight for the automated and efficient handling of feeding and visionsystem.
SmartSight comprises Asyril’s powerful visual part detection and feeder management
software (Asyview), an industrial PC (Control Unit) as well as an optimally configured
Asycube and vision kit including camera, objective and all necessary cabling. It makes theimplementation of high performance flexible feeding system as simple as setting up
conventional feeders.
Capable of controlling up to 7 cameras and feeders, SmartSight is able to control the partmovements, ensuring their optimal separation and distribution on the platform. The location of
the parts to be picked is then provided to the robot or industrial controller. The feeding
recipes can be easily programmed thanks to Asyril’s intuitive user interface (HMI).
Alternative configurations for functionalities such as control part presence, position in gripper,
placing position are available on demand.

This document describes the function and operation of the SmartSight and its softwareinterfaces and the various functions involved in its use and integration.
For information about the hardware configuration and setup, please refer to SmartSight
Operating Manual.

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General introduction

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The SmartSight software is called Asyview. It has an interface dedicated to the integrator
tasks as well as some log functionalities available for the end-user. The configuration of any
recipes and calibration tasks is operated through the Asyril HMI. Asyview, Asyview Interface
and HMI are installed on the SmartSight control unit.

Figure 2-2: SmartSight Control Unit

Asyview core

Role

More information in:

Visual part detection and feeder

Ch. 5 Asyview Communication

management

protocolCh. 6 Asyview Methods
Ch. 7 Asyview Instructions

Asyview interface

Monitoring and support to theCh. 4 Asyview interface

integration
HMIInterface for monitoring, configuring

See SmartSight User Guide

and teaching new recipes and as
well as defining image configurationand calibration
Control Unit

Starting procedure

Ch. 3 Control Unit

License information
Backup and protection
Table 2-1: role of Asyview and interfaces

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Control Unit

3.

Version: C2

Control Unit
The control unit is factory configured and ready to use out of the box.
IMPORTANT!
This control unit is configured exclusively for the use of Asyril’s Asyview and HMI software;
NOT anything else. Failure to comply with this directive will void your warranty.

NOTE:
The control unit uses industrial-grade PC that were validated, tested and certified by Asyril assuitable for the use of our software. As no guaranties can be given as to the suitability of any
other hardware, it is not possible to get the software as a standalone and install them on thecustomer’s own system.

3.1.

Operating system
The SmartSight control unit runs on Windows 7 Embedded Edition with the Enhanced Write
Filter enabled (EWF).

The idea behind this feature is to create an image of the C partition and lock it. Then, at eachstart up, this image is run instead, and every changes made to it will be temporarily written insystem RAM, leaving the original C partition unchanged This implies that any change madewhile the filter is enabled will be lost when power is lost (PC restart, power outage…)

The pros are as follows:-

Faster operation (not bottlenecked by the SSD’s read and write speeds).

-

Virus protection (since a restart of the PC lets you start from a healthy image), so noneed to use any anti-virus software (usually resource-intensive programs).

The only con is:-

Having to unlock the partition to be able to perform any kind of permanent modification
on it (in the case of the C partition, this includes any OS configuration changes, portchanges….) .

NOTE:
To keep the system running within the optimal operating conditions such as defined by Asyril,
the customer may freely change the configuration of the Process and Remote ports, but NOTchange the OS default language (doing so may prevent the Asyview from functioning properly
if the number separator of the new language happens not to be a dot but a coma instead).
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3.1.1. Locking the C partition
To enable the EWF and lock the C partition and allow the use of the SmartSight system, abatch file is included while the system is being configured at the factory. You can find this fileunder:
C:\ Program Files \ Asyril\ EWF\ Lock.bat
Make sure all your other programs are closed and double click on this file to run it. After a few
seconds, the computer will restart and the C partition will be locked.

3.1.2. Unlocking the C partition
To disable the EWF and unlock the C partition and allow the configuration SmartSight system(within the limits allowed by Asyril), a batch file is included while the system is being
configured at the factory. You can find this file under:
C:\ Program Files \ Asyril\ EWF\ Unlock.bat
Make sure all your other programs are closed and double click on this file to run it. After a few
seconds, the computer will restart and the C partition will be unlocked.

NOTE:
While the C partition is unlocked, the Asyview will not be able to be started and an error
message will appear on its starting window, stating that the EWF check has failed. When the
C partition is locked again, the Asyview will be able to be started.

3.2.

Asyril licence

3.2.1. General Information
The Asyview software implements a licencing system that allows you to pay only for what thecustomer really need i.e. the number of cameras you will be using with your control unit. In practice,
you will receive with your control unit a licence dongle that allows you to use the number of cameras
you have selected in your order. That licence can be upgraded if you need it, just get in touch with oursales department.

3.2.2. Control of the number of cameras
Whenever you start the Asyview, a licence check will be performed to make sure the licence
you are using is authorizing at least as many cameras as you have configured for the
Asyview.

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Shows

whethertheprovidedlicencehas

thecorrect

parameters for the number ofcameras in the configuration file
(here a maximum of 3 cameras
can be used)

3.2.3. Updating the licence
It may happen that you want to add more cameras to your control unit in the future. In thiscase, you may ask for an update to our sales department.
The control unit comes with a little program to help you in this regard. Once you have gotten
in touch with our customer support department so they can make you an offer for the
upgrade, you can find the program by typing “LicenceUpdaterTool” in the Windows searchbar or by following this link:

C:\Program Files\Asyril\AsyView\LicenceUpdaterTool.exe
Once it’s started, you may click on “Create Update Request File”. This will generate a file on
your desktop that you may then send to Asyril. We then will send back an updated file thatyou will need to copy to your desktop and restart the “LicenceUpdaterTool”. Finally, click on“Import Update to Protection Dongle”. A confirmation message will inform you that theprocedure has been successfully completed.

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Control Unit

3.3.

Version: C2

Starting the Asyview

3.3.1. General Information

When the control unit is powered on, the Asyview will auto start with Windows, run a few
checks (EWF, licences…) and initialise the various components that are in the Asyview.arc
configuration file. When everything has been run successfully (or if a non-critical error
occurred such as a camera that was not found), it will trigger the HMI to start.

On this screen, you can get information on the progress of the various steps the Asyview istaking when starting up such as checking the licences, loading the calibration files andconnecting to the various components. If a red cross appears, it means something went
wrong at a particular step. In this case, the starting up may be interrupted and the user has
no other choice but to close the window using the dedicated button (in that case, pleasecheck the Log file at D:\Asyril\Logs\AsyView.log), or as stated before if the error is noncritical, the starting up will proceed and the error will be displayed in the Log tab on the
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3.3.2. Checking C partition lock status

At start-up, the Asyview performs a check to see whether the C partition is indeed locked. If it
is, start-up can proceed, otherwise it will be aborted.

Shows that the EWF is enabledand start-up can proceed

Shows that the EWF is disabledand start-up will be aborted

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3.3.3. Checking Asyril licence

The next check being performed is for the Asyril licence. If one is found, you will see 3 morelines appear in the start-up window. The first confirms that the licence dongle has beenfound. The next shows you whether the licence you have allows you to have as manycameras as you have defined in the configuration file. The last checks the number of
Asycubes connected. In the current version of the Asyview, this number is not restricted, andit will always be “Unlimited”.

Confirms the licence dongle for
the SmartSight system has beenfound.

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3.3.4. Checking Cognex licence

The last check performed at start-up is the presence of the Cognex licence dongle. Again,
should it not be found, start-up will be aborted.

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3.4.

Version: C2

Asyril data backup from D partition

The SmartSight control unit also comes bundled with a tool allowing you to back up the“Asyril” and “AsyrilData” folders found on D:\.
This tool can be accessed either by typing “SmartSight_Backup_Tool” in Windows search, orat the following link:
C:\Program Files\Asyril\AsyView
When you start the program, it will scan the D: partition for both the “Asyril” and “AsyrilData”
folders. If either one is not found, backing up will not be possible (they both must be locatedat the root of the D: partition). After the folders have been successfully located, you will be
asked to confirm the folder through a dialog window; pressing the Ok button is all you need to
do as the tool is only capable of backing up the aforementioned folders. Once the operation iscomplete, the tool will save the backup file as a zip file at the root of the D: partition.

NOTE:
This procedure is not automated, and it is the responsibility of the integrator and the client toperform it if they desire.

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Asyview interface

4.

Version: C2

Asyview interface
NOTE:
Asyview interface can be launched by right clicking on thelogo on the icon bar

At starting the Asyview interface is automatically logged with the end-user access level(Figure 4-1). It allows showing the last entries of the Log File and informs also about the
installed release and configured architecture.

Figure 4-1: Asyview interface
NOTE:
To optimize the process speed, make sure to hide the Asyview interface window. A factor of
10x could be gained by closing this window.

Once logged on, you will have access to different tags function as shown in Figure 4-2 andTable 4-1.

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Figure 4-2: structure of the Asyview interface

1

Asyview interface

Contents

Login & SW information

Login, project description and software release information(§4.1)
2

Architecture (§4.2)

Architecture of the SmartSight
Allow accessing to each of the different levels

3

Tabs
COM Logger

when checked, show all sent/received commands(§4.3)
LogFile (§4.3)

monitor and save all messages

TestClient (§4.4)

description and structure of all commands

Simulator (§4.5)

simulates the whole process with vision detection, feeding
management and pick&place

4

Tabs content

Content will depends on the selected tabs
with export/clear/execute action buttons
Table 4-1: Asyview interface content

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4.1.

Version: C2

User access level

There are 4 access levels for the Asyview software. By default, after a startup you will not be
logged in at all and have only access to the log file.
You then have 3 user-accessible levels to choose from: “Standard”, “Advanced” and“Expert”. The first two have no password to log in whereas “Expert” does.
Each level has its own set of instructions allowed to be run, with “Standard” being the mostrestrictive
The last one is reserved for Asyril as it offers no restrictions to what you can do with thesoftware.

Figure 4-3: Connection and project information on Asyview interface

4.2.

Architecture

By selecting a level in the architecture section (Figure 4-4), the information showed in the tab
content will be filtered to show only the corresponding message or commands.

Figure 4-4: Architecture of the SmartSight with access to the different levels
NOTE:
Asyril is responsible for the SmartSight architecture configuration, which serves as a specificencryption based on the customer's requirements.

4.3.

Logs (COM Logger and LogFile)

The Asyview has two different logging options: LogFile and COMLogger.

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The former is a log of everything related to the state of the system (connection to subcomponents, user log-ins…etc). This is where you will see if something went wrong during
start up, or if another error would happen at execution time. Everything that appears on theinterface is being read from the files located at D:\Asyril\Logs.
The latter log file is a copy of all the TCP-IP requests that are being sent to and from the
Asyview. That way, you can make sure that your connection to the Asyview is working
properly and that your PLC is sending the proper instructions to the Asyview, and/or that you
get a proper answer. Everything that appears on the interface is being read from the files
located at D:\Asyril\Logs
Should you need support from Asyril about a technical issue that may have occurred, it would
be best if you linked the latest version of both these files to your request.

NOTE:
The COM Logger tab gives you the option of always enabling logging. This option is meant to
be used for a short sequence/ amount of time and only for testing purposes, as it may incur
slowdowns.

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Asyview interface

4.4.

Version: C2

TestClient

Depending on the selected architecture level, the TestClient tab will list all corresponding
and available commands (Chapter 7 “Asyview Instructions”). It can help then to build acommand by selecting and informing the keywords and parameters. By clicking on-

the Insert button: the complete command will be written on the console-

the Execute button: the complete command is written on the console and sent to thesystem-a message line: the command is displayed in a more intuitive and readable format toextract all parameters.

Figure 4-5: TestClient tab

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4.5.

Version: C2

Simulator

In the Simulator tab one can launch a cycle with the simulated pick requested. It allows
testing and seeing how to implement the process and the synchronization between the(robot) controller and the SmartSight controller. The different parameters allow to set sometimer and to follow the results. Please note that a vision configuration must be done before
starting the simulation.

Figure 4-6 : Simulator tab

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5.

Asyview Communication protocol
5.1.

TCP/IP parameters

The Asyview is implemented as a TCP/IP server operating as a slave to the machine. You
will therefore need to implement a TCP Client to connect to the Asyview.
The default configuration for the Asyview server port (PROCESS) is as follows:
IP address

Subnet Mask

Port

192.168.0.70

255.255.255.0

7171

Table 5-1: Asyview PROCESS TCP/IP parameters

5.2.

ProtocolThe protocol is based on textual command. Here below is the general description of its
syntax, followed by the different response modes available.
A message contains up to 5 blocks separated by a “white space” character.

Figure 5-1: Protocol description

The syntax of the 5 different blocks is described here below.

5.2.1. MessageType

The MessageType helps to filter and trace request / answer in case of troubles (for example
with the help of WireShark or with the COMLog file).
It indicated a new request / answer as following:-

Request begins with cmd/?

-

Answer begins with ?/cmd

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5.2.2. Command

The command is subdivided in three blocks:-

The Address indicates to which device the instruction is addressed-

The Keyword indicates the action which should be executed on the addressed device-

The CallType indicates how the system should answer to the request

The separator between the Address and the Keyword is the character “:”

5.2.2.1. Command / Address

The Address indicates to which element the message is addressed. The separation between
two elements are done by a “/”Two diverse ways to write the Address are possible:
1. Full : the name of each element is used (AsyView/Cell/Module/Vision)
2. Short: the index of each element is used (a[0[/c[0]/m[0]/f[0])-a[0] => Asyview-

c[0] => Cell (cell with the index 0)-m[0] => Module (module with the index 0)-i[0] => ImageAcquisition (ImageAcquisition with the index 0)-

f[0] => Feeder (feeder with the index 0)

The Asyview is structured in a way allowing the building of different configurations of feeders
and cameras that could work independently. Figure 5-2 shows the generic architecture of the
Asyview.

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Figure 5-2: Architecture level of the Asyview

Also, you can find the indexes assigned to the elements in your system by looking at the tree
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5.2.2.2. Command / Keyword

The Keyword indicates which action should be executed by the addressed element:-

Keyword for the standard process are for example- Start- Stop- SetParameter (WorkingMode / FieldOfView)- GetResult- RemoveResult-

All the Keywords are listed in Chapter 7. Asyview Instructions as well as in the
TestClient.

5.2.2.3. Command / CallType

The CallType indicates how the system will answer to the caller.
The system can answer in two different ways:-

Synchronous:• 1 x Request => 1 x Answer (at the end of the execution)-

Asynchronous:• 1 x Request => 1 x Answer (after validation) & 1 x Answer (end of
execution)• 1 x Request => 1 x Answer (if validation fails)

IMPORTANT!
The system is never blocked. You can always send commands. There is no blocking call.
Sometimes the action cannot be executed because the system is not in the correct state but
the AsyView always accepts any request and answer.

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5.2.2.3.1. Command / CallType / Synchronous

With the Synchronous CallType the asyview will respond to each request with one single
answer once the action is finished or if an error occurred. The request does not block otherrequests.
To use this CallType no sign or special character are between the Keyword and theStandardParameters.

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5.2.2.3.2. Command / CallType / Asynchronous CallWith the Asynchronous CallType the asyview will respond to each request at least with one
answer. The first answer will be sent directly after the reception of the command to confirm
the validation of its parameters and the execution state.
• If the validation fails, only one answer will be sent (after the validation)• If the validation succeeds, a first answer will be sent directly and a second one will besent once the action is done.
A request does not block other requests.
To use this CallType the following two characters have to be added after the Keyword: “/!”The answer will have the CallType character-“/!” for the validation-“/#” for the end of action

5.2.3. Standard Parameters

Standard Parameters can be used in every message.

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In a request:• CID: Caller Identifier can be freely defined by the caller or used to differentiate thecaller (integer).
In an answer:• CID: Repeat the CID (if added in the request).
• PID: ProcessIdentifier => Unique internal identifier given by the Asyview• Status: Indicates the success/state of the messageo102 => Processing (used in AsynchronousCall – CallType)o200 => Successo

4xx => Error

The syntax is the following:-

begins with the character «@»,-

use the character «=» to assign a value-

add «:» between two StandardParameters

NOTE:
If the status is equal to 4xx, the reply contains parameter ErrorMsg indicating additional
information about the error. Also see log file for details.

5.2.4. Parameters

Parameters are specific to each Keywords (the description of all the instructions and theirparameters is available in chapter 7. Asyview Instructions as well as in the TestClient) Notethat some messages do not have any Parameters.
The syntax is the following:-«=» to assign values;-«:» between two Parameters.

5.2.5. Termination
To signal the end of a message, ASCII characters Carriage Return (CR : ASCII #13) and Line
Feed (LF : ASCII #10) have to be added.
IMPORTANT!
If this termination signs are missing, the Asyview will not send any answer.

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6.

Asyview Methods
6.1.

Modes

The Asyview controller has two modes: Configuration and Process. Their functions are as
follows:-

Configuration:oDefault modeo

Allows recipes to be created and modified
 Adjusting image and lighting acquisition sequences Teaching vision models
 Adjusting Asycube parameters Selecting the operating mode-o

Loading and saving recipesoCalibration (calculation)

Process:oActive mode: once this state is reached, the system launches the cycle to obtainthe first available component (feeding by Asycube, then acquiring an image assoon as the field of view is unlocked)oPassive mode: the system is ready to receive image and then position requests.

The Start and Stop commands are used to switch from one mode to another.

Each module can be switched independently from one state to another. This means that one
camera can be in configuration mode while a process is under way on another module.

Below are descriptions of the different usage methods concerning the Active and Passive
Process, as well as the various calibration procedures for calibrating the fields of view.

All the instructions are listed in chapter 7.

6.2.

Working Mode

There are two types of operation. The main difference between them is whether the feeder
has to be automatically managed or not.
A distinction can therefore be made between the uses of-a camera placed above an Asycube to prepare a list of available parts in order to send
their position once the request is made,-a control camera whose image acquisition is subject to a request (e.g. by moving themanipulator into the control field of view).

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Their main characteristics are as follows:-

Active mode:oautomatic management of the Asycube and image acquisition using information
concerning synchronization with the pick & place processoautomatic “feeding cycle – image acquisition – data processing” sequence until a
result is obtainedoduring a position request: sending of the position of the first available part, even if
the image analysis is not completeo-camera/lighting synchronization

Passive mode:oimage acquisition on requestocamera/lighting synchronizationono Asycube management

6.2.1. Active Working Mode
Figure 6-1 shows the standard interaction between a SmartSight module and the machine tosynchronize the two cycles and transfer the position information.

Reminder: in the Active type, the Asyview manages the Asycube feeding system
automatically. This means that, when an image is being processed, an initial step is executed
to deliver the positions of the available parts as quickly as possible based on the configured
criteria. These positions can be read even if the image processing is not complete, to enable
the Pick&Place operations to be started as soon as possible. In the second step, once all thepossible positions have been detected, the system evaluates also the distribution of thecomponents on the surface of the Asycube to generate the appropriate vibration sequence. It
is then ready to launch the feeding sequence as soon as all the positions have been deleted.

The simulator (Asyview interface) details the same method and describes the instructions
used and the responses obtained.

There is a possibility to force the system to take a new picture before every pick. To do that,
send a command to clear all the results after placing the part (see Figure 6-1). This can be
useful when the position of the parts that are still on the platform may change between two
picks because of an external perturbation (for example: parts move while picking anotherone, vibration of the overall system is inducing movement of parts on the platform).

In the following diagrams, the red boxes are action with communication with Asyview.
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6.2.1.1. With only one modelSet Working Mode to Active

Start Vision Device

Working mode has to be
defined once for each
moduleAsyview switches from
Configuration to Processmode

Robot is out of the
field of view

Free field of view

Part pick andplace loop

Position request

Stop

Block field of view

From this point, Asyview
can take a picture andfeed parts if no part isavailable.

A result is given as soon
as the first correct parthas been found. Image
processing will thencontinue to prepare thenext results and the next
feeding movements
Asyview can no longer
take a picture (the robot
will enter the field ofview)

Robot picks part

Remove position
from list

From this point, and if
necessary because theposition list is empty,
the system can feed
(vibrate)

Robot leaves field ofview

Free field of view

From this point, thesystem can take apicture (and continue tofeed if necessary)

Robot places parts

No

Need newpicture ?
Yes

Take a new picture

Asyview forces thesystem to capture a new
pictureEnd of cycle

Asyview switches from
Process to Configuration
mode

Figure 6-1: Schematic of the Active mode with one model

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6.2.1.2. With Multi-models, without choosing the part to take
This mode of production is for example when you have 2 parts on the same surface and you
want to take all the parts independently of the order.
Set Working Mode to Active

Start Vision Device

Working mode has to be
defined once for each
moduleAsyview switches from
Configuration to Processmode

Robot is out of the
field of view

Free all field of view

Part pick andplace loop

Position request

Block fields of view
impacted

From this point, Asyview
can take a picture andfeed parts if no part isavailable.

A result is given as soon
as the first correct parthas been found. Image
processing will thencontinue to prepare thenext results and the next
feeding movements
Asyview can no longer take a picture (therobot will enter the field of view). Block
all fields of view which are obstructed by
the robot.

Stop

Robot picks part

Remove position
from list

From this point, and if
necessary because theposition list is empty,
the system can feed
(vibrate)

Robot leaves field ofview

Free field of view
impacted

From this point, the system can take apicture (and continue to feed if
necessary). Release all fields of view
locked before.

Robot places parts

No

Need newpicture ?
Yes

Take a new picture

Asyview forces thesystem to capture a new
pictureEnd of cycle

Asyview switches from
Process to Configuration
mode

Figure 6-2: Schematic of the Active mode with multi-models, pick all parts

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6.2.1.3. With Multi-models, with choosing the part to take
This mode of production is for example when you have 2 parts on the same surface and you
want to take the parts in a specified order.
Set Working Mode to Active

Start Vision Device

Working mode has to be
defined once for each
moduleAsyview switches from
Configuration to Processmode

Robot is out of the
field of view

Free all field of view

Part pick andplace loop

Position request

Block fields of view
impacted

Stop

Robot picks part

Remove position
from list

From this point, Asyview
can take a picture andfeed parts if no part isavailable.
Add indication for the requested part in the command(ModelName or ImageConfigurationName)
A result is given as soon
as the first correct parthas been found. Image
processing will thencontinue to prepare thenext results and the next
feeding movements
Asyview can no longer take a picture(the robot will enter the fields ofview). Block all fields of view which
are obstructed by the robot.
From this point, and if
necessary because theposition list is empty,
the system can feed
(vibrate)

Robot leaves field ofview

Add indication for the next requested part in the command(NextModelName or NextImageConfigurationName)Free field of view
impacted

From this point, the system can takea picture (and continue to feed if
necessary). Release all fields of view
locked before.

Robot places parts

No

Need newpicture ?
Yes

Take a new picture

Asyview forces thesystem to capture a new
pictureEnd of cycle

Asyview switches from
Process to Configuration
mode

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IMPORTANT!
When the Asyview has multi-models using various image configurations, be careful to block
all the fields of views that are impacted by the arrival of the robot. Otherwise, the newacquisition can take place when the robot is in the field of view and the parts will not be
detected.
When all the fields of view used are in the same geometric region (for example on the same
Asycube and using all the resolution), it is possible to block (or release) all the fields of viewin the same time. Just do not specify the name of the image configuration in the command.

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6.2.2. Passive Working Mode
With the passive process, the vision system simply responds to requests and does not
manage the Asycube at all. Its operating diagram is described in Figure 6-4.

Figure 6-4: Schematic of the Passive mode (in red: Asyview/machine interactions)000.100.531

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6.3.

Version: C2

RecipeDifferent recipes can be created, saved and loaded corresponding to the different level in thearchitecture and with the extension as following:
Level

Extension

Content

Machine*.vrec

The complete machine recipe

Cell*.cavaf

With complete modules

Module*.mavaf

Vision and feeder parameters

ImageAcquisition*.iamod

Vision parameters

Feeder*.fconf

Vibration parameters for all batch*.fproc

Process description
Table 6-1: recipes level

All the recipe are in the form of an xml file.
All these recipes can be saved and loaded through the HMI.

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7.

Version: C2

Asyview Instructions
Here below are listed all instructions implemented in the Asyview. The TestClient tab in the
Asyview interface can be used to create the instructions and test them. The instructions are
categorized by domain.
All the instructions are detailed in a table like the one below.

Instruction nameBlack banner  Standard Login in Test Client
Grey banner  Advanced Login in Test Client
Syntax:Architecturelevel:
Function:

Lists the different parameters that this command can have. Parameters in italic are
optional.
Command [Parameter1=<parameterType1
ParameterValue1>]:[Parameter2=<parameterType2 ParameterValue2>]
Indicates which element(s) the command can be sent toPossible elements are: AsyView, Cell, Module, Feeder, ImageAcquisition.
Explains the purpose of the command.

Parameters:

Lists the name of the parameters that the user must send and their description.

Feedbackparameters:

Lists the name of the parameters from the reply and their description

Example:Gives an example of how to use the command and the typical reply from the Asyview

 Example command Example reply
See also:

Refers to other instructions that are linked to this one
Table 2 – Description of the instruction table

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7.1.

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Table of Instructions

RECIPES39

CLEARTEACHING

39

7.2.

LOADFILE (ASYVIEW / CELL / MODULE) 39
LOADFILE (FEEDER)

39

LOADMODELFILE

40

SAVEFILE (ASYVIEW / CELL / MODULE) 41
SAVEFILE (FEEDER)

41

SAVEMODELFILE

42

7.3.

CALIBRATION 43

ADDPOINTPAIRCALIBRATE

43

43

GETPARAMETER [CALIBRATION] (MODULE / FEEDER)

44

GETPARAMETER [CALIBRATION] (VISION) 44
GETPARAMETER [CALIBRATIONPOINTPAIR]45

GETPARAMETER [CALIBRATIONPOINTPAIRNUMBER]
LOADCALIBRATION

47

SAVECALIBRATION47

SETPARAMETER [CALIBRATION] (MODULE / FEEDER)

46

48

SETPARAMETER [CALIBRATION] (VISION) 49
UNCALIBRATE 50
7.4.

PRODUCTION 50

ACQUIRE50

CLEARRESULTS

50

GETPARAMETER [AVAILABLERESULTS]

51

GETPARAMETER [FIELDOFVIEW ]51

GETPARAMETER [MODE]

52

GETPARAMETER [MODELNAMES]

52

GETPARAMETER [PARTSONFEEDER]

53

GETPARAMETER [PROCESSMANAGERSTATE]GETPARAMETER [STATES]

54

GETPARAMETER [W ORKINGMODE]GETRESULT

54

55

REMOVERESULT55

SETPARAMETER [FIELDOFVIEW ]56

SETPARAMETER [W ORKINGMODE]

57

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START

Version: C2

57

STOP 57
7.5.

UTILITIES58

EXECUTECMD 58
GETPARAMETER [SAVEIMAGESSTATE]GETPARAMETER [VERSION]
RESET

58

59

SAVELATESTIMAGES

59

STARTSAVEIMAGES60

STOPSAVEIMAGES

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7.2.

Version: C2

Recipes

ClearTeaching
Syntax:Architecturelevel:
Function:

ClearTeaching [ModelName=<string ModelName>]
ModuleDeletes the teaching for the specified model name.

Parameters:

ModelName

Name of the model that will be cleared.

Feedbackparameters:

ImageAcquisitionManagerName

Name of the ImageAcquisitionManager linked tothe model.

ModelName

Name of the model, same as request.

Example: cmd/? asyview/cell/module:clearteaching modelname=model1
 ?/cmd asyview/cell/module:clearteaching @pid=727:@status=200
imageacquisitionmanagername=vision:modelname=model1

See also:

GetParameter [ModelNames]

LoadFile (AsyView / Cell / Module)
Syntax:Architecturelevel:
Function:
Parameters:

LoadFile [FilePath=<string FilePath>]
AsyView, Cell, Module
Loads a recipe at the element level. The extension of the recipe depends on the level,see 6.3 Recipe.
FilePath

Full path to the recipe. The recipe must be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example)

Feedbackparameters:
Example: cmd/? asyview:loadfile
filepath=d&#58\asyrildata\recipes\recipe.vrec

 ?/cmd asyview:loadfile @pid=170:@status=200
See also:

SaveFile (AsyView / Cell / Module)

LoadFile (Feeder)
Syntax:Architecturelevel:
Function:
Parameters:

000.100.531

LoadFile [ConfigurationFilePath=<string FilePath>] OR [ProcessFilePath=<string
FilePath>]
FeederLoads the specified recipe type (configuration or process) in the feeder. The extensionof the recipe depends on the type, see 6.3 Recipe.
ConfigurationFilePathNot in the same command as ProcessFilePath
Full path to the feeder configuration (.fconf). The
recipe must be located on the AsyView controller
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or a remote server accessible from the AsyView
controller.
The : in D:\Folder must be replaced by &#58
(see example)

ProcessFilePath

Not
in
the
same
commandasConfigurationFilePath
Full path to the process configuration (.fproc). The
recipe must be located on the AsyView controller
or a remote server accessible from the AsyView
controller.
The : in D:\Folder must be replaced by &#58
(see example)

Feedbackparameters:

Example:ConfigurationFilePath

Path to the file, same as sent.

ProcessFilePath

Path to the file, same as sent.

 cmd/? asyview/cell/module/asycube:loadfile @pid=123:@status=200
configurationfilepath=d&#58\asyrildata\recipes\feeder1.fconf

 ?/cmd asyview/cell/module/asycube:loadfile @pid=123:@status=200
configurationfilepath=d&#58\asyrildata\recipes\feeder1.fconf
See also:

SaveFile (Feeder)

LoadModelFile
Syntax:Architecturelevel:
Function:

LoadModelFile [FilePath=<string FilePath>]:[NewModelName=<string
NewModelName>]:[NewImageConfigurationName=<string
NewImageConfigurationName>]
ModuleLoads a model recipe (.iamod) into the selected module with the specified name.
As the maximum number of models is two, adding a third model will generate anerror (function_not_possible). A model must be deleted before adding this model (seeClearTeaching)Parameters:

FilePath

Full path to the recipe. The recipe must be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example)

NewModelName

Optional parameter. If not specified, the namestored in the recipe file will be use.
Name of the model
If the name is already used in this module, anerror will be returned.

NewImageConfigurationName

Name of Image Configuration that will be linked to
the loaded model

Feedbackparameters:

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Example:Version: C2

 cmd/? asyview/cell/module:loadmodelfile
filepath=d&#58\asyril\recipes\model1.iamod:newmodelname=model1:ne
wimageconfigurationname=default

 ?/cmd asyview/cell/module:loadmodelfile @pid=697:@status=200
See also:

ClearTeaching / GetParameter [ModelNames] / SaveModelFile

SaveFile (AsyView / Cell / Module)
Syntax:Architecturelevel:
Function:
Parameters:

SaveFile [FilePath=<string FilePath>]
AsyView, Cell, Module
Saves a recipe at the element level (see 6.3 Recipe) in the specified folder.
FilePath

Full path to the recipe. The recipe will be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example).

Feedbackparameters:
Example: cmd/? asyview:savefile
filepath=d&#58\asyrildata\recipes\recipe.vrec

 ?/cmd asyview:savefile @pid=206:@status=200
See also:

LoadFile (AsyView / Cell / Module)

SaveFile (Feeder)
Syntax:Architecturelevel:
Function:
Parameters:

SaveFile [ConfigurationFilePath=<string FilePath>] OR [ProcessFilePath=<string
FilePath>]
FeederSaves the specified recipe type (configuration or process) in the specified folder. The
extension of the recipe depends on the type, see 6.3 Recipe.
ConfigurationFilePathNot in the same command as ProcessFilePath
Full path to the feeder configuration (.fconf). The
recipe will be located on the AsyView controller ora remote server accessible from the AsyView
controller.
The : in D:\Folder must be replaced by &#58
(see example)

ProcessFilePath

Not
in
the
same
commandasConfigurationFilePath
Full path to the process configuration (.fproc). The
recipe will be located on the AsyView controller ora remote server accessible from the AsyView
controller.
The : in D:\Folder must be replaced by &#58
(see example)

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Feedbackparameters:

ConfigurationFilePath

Path to the file, same as sent.

ProcessFilePath

Path to the file, same as sent.

Example: cmd/? asyview/cell/module/asycube:savefile @pid=119:@status=200
configurationfilepath=d&#58\asyrildata\recipes\feeder1.fconf

 ?/cmd asyview/cell/module/asycube:savefile @pid=119:@status=200
configurationfilepath=d&#58\asyrildata\recipes\feeder1.fconf
See also:

LoadFile (Feeder)

SaveModelFile
Syntax:Architecturelevel:
Function:
Parameters:

SaveModelFile [FilePath=<string FilePath>]:[ModelName=<string ModelName>]
ModuleSaves the vision recipe of the specified model at the specified location. The extension of
the recipe is .iamod.
FilePath

Full path to the recipe. The recipe will be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example).

ModelName

Name of the model that will be saved.

Feedbackparameters:
Example: cmd/? asyview/cell/module:savemodelfile
filepath=d&#58\asyril\recipes\model1.iamod:modelname=model1

 ?/cmd asyview/cell/module:savemodelfile @pid=565:@status=200
See also:

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7.3.

Version: C2

Calibration

AddPointPair
Syntax:Architecturelevel:
Function:
Parameters:

AddPointPair [PositionX=<float PositionX>]:[PositionY=<float
PositionY>]:[VisionPositionX=<float VisionPositionX>]:[VisionPositionY=<float
VisionPositionY>]:[ImageConfigurationName=<string ImageConfigurationName>]
Module, Feeder
Associates a pair of vision point to a pair of other points.
PositionX

X coordinate of the position

PositionY

Y coordinate of the position

VisionPositionX

X coordinate of the detected vision position

VisionPositionY

Y coordinate of the detected vision position

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:
Example:ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

 cmd/? asyview/cell/module:addpointpair
positionx=1:positiony=1:visionpositionx=1:visionpositiony=1:image
configurationname=default

 ?/cmd asyview/cell/module:addpointpair @pid=379:@status=200
imageconfigurationname=default
See also:

GetParameter [CalibrationPointPair] / GetParameter [CalibrationPointPairNumber]

Calibrate
Syntax:Architecturelevel:
Function:
Parameters:

Calibrate [ImageConfigurationName=<string ImageConfigurationName>]
Module, Feeder, ImageAcquisition
Executes the calibration and applies it to the targeted element.
ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

Calibrated

Boolean, indicates
successful.

if

the

calibration

was

If False, no other feedback parameters are
sent.

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RMSError

Value indicates the quality of the calibration

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

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Example:Version: C2

 cmd/? asyview/cell/module:calibrate
imageconfigurationname=default

 ?/cmd asyview/cell/module:calibrate @pid=385:@status=200
calibrated=true:rmserror=0:imageconfigurationname=default
See also:

Uncalibrate

GetParameter [Calibration] (Module / Feeder)
Syntax:Architecturelevel:
Function:
Parameters:

GetParameter [Name=Calibration]:[ImageConfigurationName=<string
ImageConfigurationName>]
Module, Feeder
Returns the state of the current calibration and the calibration parameters
Name

Calibration

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

Example:Name

CalibrationPointPairNumber

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

Calibrated

Boolean, indicates if the element is currently
calibrated.

RMSError

Value indicates the quality of the calibration.

RotationConstantInternal use only.

RotationSpaceInternal use only.

 cmd/? asyview/cell/module:getparameter
name=calibration:imageconfigurationname=default

 ?/cmd asyview/cell/module:getparameter @pid=111:@status=200
name=calibration:imageconfigurationname=default:calibrated=true:rmserror=0:rotationconstant=0:rotationspace=calibrated
See also:

SetParameter [Calibration] (Module / Feeder)

GetParameter [Calibration] (Vision)
Syntax:Architecturelevel:
Function:
Parameters:

GetParameter [Name=Calibration]:[ImageConfigurationName=<string
ImageConfigurationName>]
ImageAcquisition
Returns the state of the current calibration and the calibration parameters.
Name

Calibration

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple

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configurations are not needed.

Feedbackparameters:

Name

CalibrationPointPairNumber

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

Calibrated

Boolean, indicates if the element is currently
calibrated.

ComputationMode

Mode to compute the calibration.
Usual value: Linear

ExposureTime

Exposure time for the calibration picture

FeatureFinder

Type of feature to detect
Usual value: CheckerboardExhaustive

FiducialMark

Type of fiducial marks
Usual value: StandardRectangles

Output01
Output02
Output03

Boolean, indicates if the output is used or not totake the calibration picture.

Output04

Example:TileSizeX

Size of the tile in X direction.

TileSizeY

Size of the tile in Y direction.

RMSError

Value indicates the quality of the calibration.

 cmd/? asyview/cell/module/vision:getparameter
name=calibration:imageconfigurationname=default

 ?/cmd asyview/cell/module/vision:getparameter@pid=110:@status=200
name=calibration:imageconfigurationname=default:calibrated=false:
computationmode=linear:exposuretime=5:featurefinder=checkerboarde
xhaustive:fiducialmark=standardrectangles:output01=true:output02=
false:output03=false:output04=false:tilesizex=2:tilesizey=2:rmser
ror=0
See also:

SetParameter [Calibration] (Vision)

GetParameter [CalibrationPointPair]
Syntax:Architecturelevel:
Function:
Parameters:

GetParameter [Name=CalibrationPointPair]:[ImageConfigurationName=<string
ImageConfigurationName>]:[Index=<int Index>]
Module, Feeder
Returns the values of the chosen calibration point pair.
NameCalibrationPointPair

ImageConfigurationName

Name of the ImageConfiguration
The

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ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

Index

Index of the calibration point. Starts at 0. Usually
between 0 and 3.

Name

CalibrationPointPair

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

Index

Index of the calibration point, same as the sent
parameter.
If the index doesn’t exist, the highest index will
be return.

Example:PositionX

X coordinate of the position

PositionY

Y coordinate of the position

VisionPositionX

X coordinate of the detected vision position

VisionPositionY

Y coordinate of the detected vision position

 cmd/? asyview/cell/module:getparameter
name=calibrationpointpair:imageconfigurationname=default:index=3

?/cmd asyview/cell/module:getparameter @pid=93:@status=200
name=calibrationpointpair:imageconfigurationname=default:index=3:
positionx=1:positiony=0:visionpositionx=1:visionpositiony=0
See also:

GetParameter [CalibrationPointPairNumber]

GetParameter [CalibrationPointPairNumber]
Syntax:Architecturelevel:
Function:

GetParameter [Name=CalibrationPointPairNumber]:[ImageConfigurationName=<string
ImageConfigurationName>]
Module, Feeder
Indicates how many calibration points are already defined.
A calibration must have 4 points to be valid, otherwise it will not be possible to apply
the calibration.

Parameters:

Name

CalibrationPointPairNumber

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

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Name

CalibrationPointPairNumber

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

NumberInteger, number of calibration points alreadydefined. Usually between 0 and 4.

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Example:Version: C2

 cmd/? asyview/cell/module:getparameter
name=calibrationpointpairnumber:imageconfigurationname=default

 ?/cmd asyview/cell/module:getparameter @pid=351:@status=200
name=calibrationpointpairnumber:imageconfigurationname=default:nu
mber=0See also:

GetParameter [CalibrationPointPair]

LoadCalibration
Syntax:Architecturelevel:
Function:
Parameters:

LoadCalibration [ImageConfigurationName=<string
ImageConfigurationName>]:[FilePath=<string FilePath>]
Module, Feeder, ImageAcquisition
Loads manually a saved calibration for a specific element.
ImageConfigurationName(Module Level only)

Name of the ImageConfiguration

FilePath

Optional parameter, possibility to save acalibration somewhere else and load it manually
later.
Full path to the file. The file will be located on the
AsyView controller or a remote server accessible
from the AsyView controller.
File Extensions:
Module: *.pcalib
Feeder: *.fcalib
ImageAcquisition: *.vcalib

The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

The : in D:\Folder must be replaced by &#58
(see example).
Feedbackparameters:

Example:ImageConfigurationName(Module Level only)

Name of the ImageConfiguration, same as sent
parameter.

FilePath

File Path, same as sent parameter.

 cmd/? asyview/cell/module:loadcalibration
imageconfigurationname=default:filepath=d&#58\asyril\calibration\cell\module\vision_default.pcalib

 ?/cmd asyview/cell/module:loadcalibration @pid=54:@status=200
imageconfigurationname=default:filepath=d&#58\asyril\calibration\cell\module\vision_default.pcalib
See also:

SaveCalibration

SaveCalibration
Syntax:Architecturelevel:
Function:
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SaveCalibration [ImageConfigurationName=<string ImageConfigurationName>]
Module, Feeder, ImageAcquisition
Saves the calibration into the default folder (or a specific folder) so the calibration can be
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loaded automatically (or manually) on next system boot.
Parameters:

ImageConfigurationName(Module Level only)

Name of the ImageConfiguration

FilePath

Optional parameter, possibility to save acalibration somewhere else and load it manually
later.
Full path to the file. The file will be located on the
AsyView controller or a remote server accessible
from the AsyView controller.
File Extensions:
Module: *.pcalib
Feeder: *.fcalib
Vision: *.vcalib

The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

The : in D:\Folder must be replaced by &#58
(see example).
Feedbackparameters:

Example:ImageConfigurationName(Module Level only)

Name of the ImageConfiguration, same as sent
parameter.

FilePath

Only if in the command, same as sent parameter.

 cmd/? asyview/cell/module:savecalibration
imageconfigurationname=default

 ?/cmd asyview/cell/module:savecalibration @pid=47:@status=200
imageconfigurationname=default
See also:

LoadCalibration

SetParameter [Calibration] (Module / Feeder)
Syntax:Architecturelevel:
Function:
Parameters:

SetParameter [Name=Calibration]:[ImageConfigurationName=<string
ImageConfigurationName>]:[RotationSpace=<Calibrated/Constant/Uncalibrated>]:[RotationConstant=<int RotationConstant>]
Module, Feeder
Sets the calibration parameters for the specific ImageConfiguration
Name

Calibration

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

Example:Name

CalibrationPointPairNumber

ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

 cmd/? asyview/cell/module/asycube:setparameter
name=calibration:imageconfigurationname=default:rotationspace=cal
ibrated:rotationconstant=0

 ?/cmd asyview/cell/module/asycube:setparameter
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Version: C2@pid=354:@status=200
name=calibration:imageconfigurationname=default

See also:

GetParameter [Calibration] (Module / Feeder)

SetParameter [Calibration] (Vision)
Syntax:Architecturelevel:
Function:
Parameters:

SetParameter [Name=Calibration]:[ImageConfigurationName=<string
ImageConfigurationName>]:[TileSizeX=<float TileSizeX>]:[TileSizeY=<float
TileSizeY>]:[FiducialMark=<DotGridAxes/None/StandardRectangles>]:[FeatureFinder=<Checkerboard/CheckerboardExhaustive/DotGrid>]:[ComputationMode=<Linear/Line
scan2DWarp/LinescanWarp/PerspectiveAndRadialWarp>]:[ExposureTime=<int
ExposureTime>]:[Output01=<True/False>]:[Output02=<True/False>]:[Output03=<True/F
alse>]:[Output04=<True/False>]
ImageAcquisition
Sets the calibration parameters for the specific ImageConfiguration
Name

Calibration

ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

TileSizeX

Size of the tile in X direction.

TileSizeY

Size of the tile in Y direction.

FiducialMark

Type of fiducial marks
Usual value: StandardRectangles

FeatureFinder

Type of feature to detect
Usual value: CheckerboardExhaustive

ComputationMode

Mode to compute the calibration.
Usual value: Linear

ExposureTime

Exposure time for the calibration picture

Output01
Output02
Output03

Boolean, indicates if the output is used or not totake the calibration picture.

Output04
Feedbackparameters:
Example:Name

CalibrationPointPairNumber cmd/? asyview/cell/module/vision:setparameter
name=calibration:imageconfigurationname=default:tilesizex=2:tiles
izey=2:featurefinder=checkerboardexhaustive:fiducialmark=standard
rectangles:computationmode=linear:exposuretime=5:output01=true:ou
tput02=false:output03=false:output04=false

 ?/cmd asyview/cell/module/vision:setparameter@pid=358:@status=200 name=calibration
See also:

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Uncalibrate
Syntax:Architecturelevel:
Function:
Parameters:

Uncalibrate [ImageConfigurationName=<string ImageConfigurationName>]
Module, Feeder, ImageAcquisition
Removes the calibration for the selected ImageConfiguration on the targeted element.
ImageConfigurationName

Name of the ImageConfiguration
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:
Example:ImageConfigurationName

Name of the ImageConfiguration, same as sent
parameter.

 cmd/? asyview/cell/module:uncalibrated
imageconfigurationname=default

 ?/cmd asyview/cell/module:uncalibrate @pid=340:@status=200
imageconfigurationname=default
See also:

7.4.

Calibrate

Production

AcquireSyntax:Architecturelevel:
Function:

Acquire [ModelName=<string ModelName>]
ImageAcquisition
Asks the system to take a picture and start an image analysis.
This command is not available in active production mode.

Parameters:

ModelName

Optional parameter.
If sent, only the picture(s) for the specified model
will be taken and analysed.
This parameter is useful only when working
with multiple models.

Feedbackparameters:
Example: cmd/? asyview/cell/module/vision:acquire ?/cmd asyview/cell/module/vision:acquire @pid=556:@status=200

See also:

ClearResults
Syntax:Architecturelevel:
Function:

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ClearResults [OnlyAcquire=<False/True>]
ModuleClears the list of all remaining good results.
Then, it will start with a vibration (OnlyAcquire=False) or an image acquisition andanalysis (OnlyAcquire=True).
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Depending on when the command is sent, it is possible that the system will refuse it
and send back a status=409. Then, the command must be sent again until the system
accepts it.
Parameters:

OnlyAcquire

Boolean, indicates if the next action is a vibration
or image acquisition and process

Feedbackparameters:
Example: cmd/? asyview:clearresults onlyacquire=true
 ?/cmd asyview:clearresults @pid=480:@status=200

See also:

GetResult

GetParameter [AvailableResults]
Syntax:Architecturelevel:
Function:
Parameters:

GetParameter [Name=AvailableResults]:[ModelName=<string ModelName>]
ModuleReturns the number of good parts that are considered as available (coordinates not sent
by a GetResult yet)
Name

AvailableResults

ModelName

Optional parameter.
Returns only the number of available parts of thespecified model.
This parameter is useful only when working
with multiple models.

Feedbackparameters:

Example:Name

AvailableResults

AvailableResults

Integer, indicates how many results are available.

 cmd/? asyview/cell/module:getparameter name=availableresults
 ?/cmd asyview/cell/module:getparameter @pid=411:@status=200
name=availableresults:availableresults=1

See also:

GetResult

GetParameter [FieldOfView]
Syntax:Architecturelevel:
Function:

Parameters:

GetParameter [Name=FieldOfView]:[ImageConfigurationName=<string
ImageConfigurationName]
ImageAcquisition
Returns the state of the FieldOfView for the specified ImageConfiguration. If no
ImageConfiguration specified, the state of the FieldOfView of all ImageConfigurations
will be returned.
NameFieldOfView

ImageConfigurationName

Optional parameter
Name of the ImageConfiguration
The

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ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:NameFieldOfView<ImageConfigurationName01><ImageConfigurationName02><…>
Example:State of the field
ImageConfiguration.
Locked or Unlocked

of

view

for

each

 cmd/? asyview/cell/module/vision:getparameter
name=fieldofview:imageconfigurationname=default

 ?/cmd asyview/cell/module/vision:getparameter@pid=500:@status=200 name=fieldofview:default=unlocked cmd/? asyview/cell/module/vision:getparameter name=fieldofview
 ?/cmd asyview/cell/module/vision:getparameter@pid=502:@status=200
name=fieldofview:default=unlocked:smdpile=unlocked:smdface=unlocked
See also:

SetParameter [FieldOfView]

GetParameter [Mode]
Syntax:Architecturelevel:
Function:

GetParameter [Name=Mode]
ModuleReturns the mode of the module.
See 6.1 Modes

Parameters:

Name

Mode

Feedbackparameters:

Name

Mode

Mode

Mode of the module.
Configuration or Process.

Example: cmd/? asyview/cell/module:getparameter name=mode
 ?/cmd asyview/cell/module:getparameter @pid=419:@status=200
name=mode:mode=process

See also:

Start / Stop

GetParameter [ModelNames]
Syntax:Architecturelevel:
Function:

GetParameter [Name=ModelNames]
ModuleReturns the names of all the models currently loaded on the module. The maximum
number of models is currently limited to two.

Parameters:

NameModelNames

Feedback

Name

Mode

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parameters:

Example:Version: C2

Model01

Returned only if existing.
Name of the 1st model.

Model02

Returned only if existing.
Name of the 2nd model.

 cmd/? asyview/cell/module:getparameter name=modelnames
 ?/cmd asyview/cell/module:getparameter @pid=446:@status=200
name=modelnames:modelname01=model1:modelname02=model2

See also:

GetParameter [PartsOnFeeder]
Syntax:Architecturelevel:
Function:
Parameters:

GetParameter [Name=PartsOnFeeder]:[ModelName=<string ModelName>]
ModuleReturns the total number of parts detected by the vision (good and bad) located on thefeeder.
Name

PartsOnFeeder

ModelName

Optional parameter.
Returns only the number of parts of the specified
model.
This parameter is useful only when working
with multiple models.

Feedbackparameters:

Example:NamePartsOnFeeder

PartsOnFeeder

Integer, indicates the number of parts on thefeeder.

AnalyzeRunning

Boolean, indicates if the analysis is still running or
finished.

 cmd asyview/cell/module:getparameter
name=partsonfeeder:modelname=model1

 ?/cmd asyview/cell/module:getparameter @pid=456:@status=200
name=partsonfeeder:modelname=model1:partsonfeeder=10:analyzerunni
ng=false
See also:

GetParameter [ProcessManagerState]
Syntax:Architecturelevel:
Function:
Parameters:

Feedback

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GetParameter [Name= ProcessManagerState]:[ModelName=<string ModelName>]
ModuleReturns the state of the process manager for a specified ModelName. Used mostly inpassive mode to know if the image analysis is finished.
Name

ProcessManagerState

ModelName

Name of the model

Name

ProcessManagerState

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parameters:

Example:Version: C2

ProcessManagerState

State of the ProcessManager. IDLE or Running.

ImageAcquisitionManagerName

Name of the ImageAcquisitionManager linked tothis ProcessManager.

ModelName

Name of the model, same as request.

 cmd/? asyview/cell/module:getparameter
name=processmanagerstate:modelname=model1

 ?/cmd asyview/cell/module:getparameter @pid=414:@status=200
name=processmanagerstate:state=idle:imageacquisitionmanagername=v
ision:modelname=model1
See also:

GetResult / Acquire / SetParameter [WorkingMode]

GetParameter [States]
Syntax:GetParameter [Name=States]

Architecturelevel:

AsyView, Cell, Module, Feeder, ImageAcquisition

Function:

Informs about the general state of the element.

Parameters:

Name

StatesFeedbackparameters:

Name

StatesConnectionState

Element connection state (connected /disconnected)

DataState

Element data state (loaded / unloaded)

Mode

Element mode (configuration / production)

State

Element state (IDLE / Running)

Example: cmd/? asyview:getparameter name=states ?/cmd asyview:getparameter @pid=166:@status=200
name=states:connectionstate=connected:datastate=loaded:mode=confi
guration:state=idle

See also:

Start / Stop

GetParameter [WorkingMode]
Syntax:Architecturelevel:
Function:

GetParameter [Name=WorkingMode]
ModuleReturns the working mode of the module.
See 6.2 Working Mode

Parameters:

NameWorkingMode

Feedbackparameters:

NameWorkingMode

Mode

WorkingMode of the module.
Active or Passive.

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Example:Version: C2

 cmd/? asyview/cell/module:getparameter name=workingmode ?/cmd asyview/cell/module:getparameter @pid=420:@status=200
name=workingmode:workingmode=active

See also:

SetParameter [WorkingMode]

GetResult
Syntax:Architecturelevel:
Function:

Parameters:

GetResult [ModelName=<string ModelName>]
ModuleSends the result of the next good part to be picked. Each result will only be sent once.
The next request will return the next good part in the list.
If no results are available, the system will wait until a result is ready and then send theresult.
ModelName

Optional parameter.
The returned result will have the requested
ModelName. If no result is available and analysis
is finished, the system will start a new sequence(vibration and vision) to find a good part.
This parameter is useful only when working
with multiple models.

Feedbackparameters:ID

ID of the current result. Necessary to remove theresult later.

X

X coordinate of the result.

Y

Y coordinate of the result.

Z

Z coordinate of the result. Always 0 in the
SmartSight

Theta

Theta angle of the result (in radian)ModelName

Name of the model.
This parameter is useful only when working
with multiple models.

ImageConfigurationName
Example:Name of the ImageConfiguration linked to thisresult.

 cmd/? asyview/cell/module:getresult
 ?/cmd asyview/cell/module:getresult @pid=406:@status=200
id=3:x=1104.93051559237:y=341.209515104439:z=0:theta=0:modelname=model1:imageconfigurationname=default

See also:

RemoveResult

RemoveResult
Syntax:Architecturelevel:

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Function:

Parameters:

Version: C2

Indicates to the Asyview that the result of the given ID can be removed from the pending
results list, because the part was picked.
This function has to be sent after the part has been removed from the platform of the
Asycube.
ID

Indicates the result ID to remove (had to be saved
when received the GetResult response).

NextModelName

Optional parameter.
Indicates the next ModelName required to allow
anticipating a new feeding of Asycube and image
capture if no part of the ModelName is available.
This parameter is useful only when working
with multiple models.

Feedbackparameters:
Example:NextModelname

Only if sent in the command.

 cmd/? AsyView/cell/module:RemoveResult/! ID=1:NextModelName=model1
 ?/cmd AsyView/cell/module:RemoveResult/# @pid=46:@status=200
NextModelName=model1

See also:

GetResult

SetParameter [FieldOfView]
Syntax:Architecturelevel:
Function:

SetParameter [Name=FieldOfView]:[ImageConfigurationName=<string
ImageConfigurationName]:[Locked=<False/True>]
ImageAcquisition
Defines the state of the FieldOfView for the specified ImageConfiguration. If no
ImageConfiguration specified, the state of the FieldOfView of all ImageConfigurations
will be changed to the defined state.
Locking a FieldOfView means that the system is not allowed to take any pictures.
Usually it is used to prevent taking a bad picture when for example the robot in in front of
the camera.

Parameters:NameFieldOfView

ImageConfigurationName

Optional parameter.
Name of the ImageConfiguration.
The system always has a “default”
ImageConfiguration that can be used if multiple
configurations are not needed.

Feedbackparameters:

Example:LockedBoolean, indicates if the field of view must be
locked or not.

Name

FieldOfView

LockedBoolean, same value as the request.

 cmd/? asyview/cell/module/vision:setparameter
name=fieldofview:locked=false

 ?/cmd asyview/cell/module/vision:setparameter@pid=510:@status=200 name=fieldofview:locked=false
See also:
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SetParameter [WorkingMode]
Syntax:Architecturelevel:
Function:
Parameters:

Feedbackparameters:
Example:SetParameter [Name=WorkingMode]:[WorkingMode=<Active/Passive>]
ModuleDefines the working mode of the module.
See 6.2 Working Mode
Name

WorkingMode

WorkingMode

WorkingMode of the module.
Active or Passive.

Name

WorkingMode cmd/? asyview/cell/module:setparameter
name=workingmode:workingmode=active

 ?/cmd asyview/cell/module:setparameter @pid=463:@status=200
name=workingmodeSee also:

GetParameter [WorkingMode]

Start
Syntax:Architecturelevel:
Function:

Start
AsyView, Cell, Module
Starts the targeted element (and all sub-elements).
This will switch the elements from configuration mode to production mode.

Parameters:
Feedbackparameters:
Example: cmd/? asyview:start ?/cmd asyview:start @pid=170:@status=200

See also:

Stop / GetParameter [Mode]

Stop
Syntax:Architecturelevel:
Function:

Stop
AsyView, Cell, Module
Stops the targeted element (and all sub-elements).
This will switch the systems from production mode to configuration mode.

Parameters:
Feedbackparameters:

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Example:Version: C2

 cmd/? asyview:stop
 ?/cmd asyview:stop @pid=170:@status=200

See also:

7.5.

Start / GetParameter [Mode]

Utilities

ExecuteCmd
Syntax:Architecturelevel:
Function:

ExecuteCmd [Cmd=<string Cmd>]
FeederSends a command directly to the Asycube. The list of available commands can be foundin the Asycube Programming Guide.
It is only possible to send Asycube commands in configuration mode.

Parameters:

Cmd

Command to send to the Asycube. See Asycube
Programming Guide.

Feedbackparameters:

AnswerAnswer sent by the Asycube. See Asycube
Programming Guide.

Example: cmd/? asyview/cell/module/asycube:executecmd cmd=ca1000
 ?/cmd asyview/cell/module/asycube:executecmd@pid=491:@status=200 answer={ca01060}

See also:

GetParameter [Mode]

GetParameter [SaveImagesState]
Syntax:Architecturelevel:
Function:

GetParameter [Name=SaveImagesState]
ModuleIndicates if the save of images is activated.

Parameters:

Name

SaveImagesState

Feedbackparameters:

Name

SaveImagesState

Activated

Boolean, indicate if it is activated.

Example: cmd/? asyview/cell/module:getparameter name=saveimagesstate ?/cmd asyview/cell/module:getparameter @pid=732:@status=200
name=saveimagesstate:activated=false

See also:

StartSaveImages / StopSaveImages

GetParameter [Version]
Syntax:Architecturelevel:
Function:

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GetParameter [Name=Version]
AsyView
Informs the user about the version of the AsyView Software.

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Parameters:Name

VersionFeedbackparameters:Name

VersionVersionVersion of the AsyView Software

Example: cmd/? asyview:getparameter name=version
 ?/cmd asyview:getparameter @pid=168:@status=200
name=version:version=4.2.0.15144

See also:

Reset
Syntax:Architecturelevel:
Function:

Reset
AsyView, Cell, Module, Feeder, ImageAcquisition
Reset the element (and all sub-elements).
In configuration mode, this will reset the states of the elements in case an error
occurred.

Parameters:
Feedbackparameters:
Example: cmd/? asyview:reset ?/cmd asyview:reset @pid=170:@status=200

See also:

Start / Stop

SaveLatestImages
Syntax:Architecturelevel:
Function:

SaveLatestImages [FolderPath=<string FolderPath>]:[Format=<string Format>]
AsyView, Cell, Module
Save the images from the latest analysis.
Saving images reduces the performance of the system and reduces the lifespan of
the SSD.

Parameters:

FolderPath

Full path to the folder. The folder will be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example).

FormatImage format. Must be one of these:•••

BMP : Source image (uncompressed and notannotated)
JPEG : Processed image (compressed andwith good/bad part information)
ALL : Save both images

Feedbackparameters:

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Example:Version: C2

 cmd/? asyview:savelatestimages
folderpath=d&#58\asyril\imagedatabase:format=bmp

 ?/cmd asyview:getparameter @pid=211:@status=200
See also:

StartSaveImages/ StopSaveImages

StartSaveImages
Syntax:Architecturelevel:
Function:StartSaveImages [FolderPath=<string FolderPath>]:[Format=<string
Format>]:[Number=<int Number>]
AsyView, Cell, Module
Saves the images for the next <Number> analysis.
Saving images reduces the performance of the system and reduces the lifespan of
the SSD.

Parameters:

FolderPath

Full path to the folder. The folder will be locatedon the AsyView controller or a remote server
accessible from the AsyView controller.
The : in D:\Folder must be replaced by &#58
(see example).

FormatImage format. Must be one of these:•••

Number

BMP : Source image (uncompressed and notannotated)
JPEG : Processed image (compressed andwith good/bad part information)
ALL : Save both images

Optional parameter
Defines the number of analysis saved until it stops
automatically. If omitted, no automatic stop.

Feedbackparameters:
Example: cmd/? asyview:startsaveimages
folderpath=d&#58\asyril\imagedatabase:format=bmp:number=10

 ?/cmd asyview:startsaveimages @pid=214:@status=200
See also:

GetParameter [SaveImagesState] / SaveLatestImages / StopSaveImages

StopSaveImages
Syntax:Architecturelevel:
Function:

StopSaveImages
AsyView, Cell, Module
Stop the current save images process if any.

Parameters:
Feedbackparameters:

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Example:Version: C2

 cmd/? asyview:stopsaveimages
 ?/cmd asyview:stopsaveimages @pid=216:@status=200

See also:

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8.

Version: C2

Technical Support
8.1.

To help us provide the best service …

Have you read the FAQ and the check-list and still not found an answer your questions?
Before contacting us, please note down the following information concerning your product:- Serial number and product key for your equipment- Software version(s) used
- Error message, alarm, or visual signals displayed by the interface.

8.2.

Contact

You can find extensive information on our website: www.asyril.com
You can also contact our Customer Service department:
support@asyril.com

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Revision table

Version: C2

Revision table
Rev.

Date

AuthorComments

B

27.03.2015

DaM

Initial version for Asyview V3.0

B1

24.08.2016

DaM

Minor corrections (architecture, product and documentation name)B2

12.06.2017

WaJ

Minor modification (Chapter 4.2)

C

16.01.2018

HsJ

Modifications for new version AsyView 4

C1

29.03.2018

HsJ

Modifications for new computer modelC2

29.07.2019

CoG/

Added instruction descriptions and changes linked to Asyview 4.2.0

GuB(Asyril licencing system)

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Version: C2

This document is the property of Asyril SA.; it may not be reproduced, modified or communicated, inwhole or in part, without our prior written authorisation. Asyril SA. reserves the right to modify any
information contained in this document for reasons related to product improvements without priornoticeAsyril SA
Z.I. le Vivier 22
Ch-1690 Villaz-St-Pierre
Switzerland
Tel. +41 26 653 71 90
info@asyril.com
www.asyril.com

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