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Festo SBO***-Q Series, Manual

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A.   Technical appendix

A-33

Festo P.BE-SBO-Q-EN  en 1602e

Rapid access to the input and output registers

Object class:

10

2

Instances:

1

Attributes

Attr. no.

Access

Description

Type

Permitted
values

Remarks

1

Get

Rapid access to
recognised parts type

UINT

Corresponds to flag
word 24 to 31

2

Get/Set

Rapid access to check
program preselection

UINT

0-255 when
written

Corresponds to flag
word 8 to 15
The Apply Inputs
signal must then be
set for application

Summary of Contents for SBO***-Q Series

Page 1: ...Manual Electronics Manual Compact Vision System SBO Q Manual 548319 en 1602e 8059655 Compact Vision System...

Page 2: ......

Page 3: ...rmany 2011 Internet http www festo com E mail service_international festo com The reproduction distribution and utilization of this document as well as the comunication of its contents to others witho...

Page 4: ...neral safety instructions II Festo P BE SBO Q EN en 1602e HARAX Harting RJ Industrial CoDeSys MODBUS EtherNet IP RSLogix ABB and KUKA are registered trademarks of the respective trademark owners in ce...

Page 5: ...ges 1 12 1 4 Accessories 1 13 1 5 Selecting a lens for type SBOC 1 14 1 6 Selecting lighting 1 18 2 Mounting 2 1 2 1 Mounting 2 3 2 1 1 Mounting the Compact Vision System 2 4 2 1 2 Dimensions of SBO C...

Page 6: ...n to higher level controller PLC IPC 4 44 4 10 1 General information on use of inputs 4 46 4 10 2 General information on use of outputs 4 50 4 10 3 Use of internal I Os 4 50 4 10 4 Use of the I O expa...

Page 7: ...put registers A 16 A 6 4 Further system status system information A 17 A 6 5 System time of the device A 18 A 6 6 Total tolerance of the type in the current check program A 18 A 6 7 Basic results of t...

Page 8: ...authorised alterations Only conversions and modifications described in the documentation supplied with the product are permitted In perfect technical condition When the product is connected to commerc...

Page 9: ...and test values which the product adheres to and fulfils can be found in the section Technical data Details of the EU directives relevant to the product can be found in the declaration of conformity C...

Page 10: ...able measures such as protective screens and warning signs Caution Electrostatically sensitive components Electrostatic dis charges can damage the internal electronics Do not open the housing Observe...

Page 11: ...damage Mount the Compact Vision System in a well ventilated location screening it from the heat emitted by other devices and light sources Service Please consult your local Festo repair service if you...

Page 12: ...tion is made between the following danger warnings Warning means that failure to observe this instruction may result in serious personal injury or damage to property Caution means that failure to obse...

Page 13: ...and references to other sources of information Accessories Specifications about necessary or useful accessories for the Festo product Environment Information on the environmentally friendly use of Fe...

Page 14: ...the Compact Vision System Additional information on commissioning parametrisation and diagnostics using the software packages can be found in the packages Help system Type Title Contents Electronics m...

Page 15: ...open Fieldbus protocol based on CAN which is a European standard Check program Definition of parts to be recognised and features to be determined CheckKon Software package for configuration and commis...

Page 16: ...nal CPX terminal Complete system consisting of CPX modules with or without pneu matics Data output Output of selected check results and feature values for communica tion with controllers or robots for...

Page 17: ...cted modules and monitor their ability to function Focal depth Depth of focus Focal length Large focal lengths create a large image while small focal lengths create a wide angle image Lenses with vari...

Page 18: ...ectional communication using TCP Telnet is normally used to offer users access to Internet computers via the command line Tools Tools are used to evaluate images from the Compact Vision System in orde...

Page 19: ...System overview 1 1 Festo P BE SBO Q EN en 1602e Chapter 1 System overview...

Page 20: ...System overview 1 1 1 1 Design of the SBO Compact Vision System 1 3 1 2 Variants 1 5 1 2 1 Mode of operation 1 8 1 2 2 Display and connecting elements 1 9 1 3 Software packages 1 12 1 4 Accessories 1...

Page 21: ...lens Appropriate lenses and additional optical elements such as filters and lenses are available on request Function The SBO Q Compact Vision System allows optical check functions to be cost effectiv...

Page 22: ...rnet interface Analyses can be controlled via digital I Os or a PC Further information can be found in chapter 3 2 2 on page 3 14 1 Compact Vision System pictured SBOC 2 PC with software packages 1 2...

Page 23: ...arrel or intermediate ring Equipment Q Surface sensor based camera for quality inspection Sensor resolution R1 VGA resolution 640 x 480 pixels R2 SXGA resolution 1280 x 1024 pixels R3 Wide VGA resolut...

Page 24: ...Like SBOI Q R1B but CMOS sensor in colour SBOI Q R3B WB CMOS sensor with resolution 752 x 480 pixels 1 3 inch monochrome Interfaces Ethernet and digital I Os no CAN Integrated lens Integrated LED lig...

Page 25: ...B CMOS sensor and interfaces as for SBOI Q R3B WB Standardised CS Mount C Mount lens adapter only with protective lens barrel or intermediate ring No integrated lighting Protection classes IP65 and IP...

Page 26: ...cessing functions are integrated in the operating system firmware of the device Communication Via the Ethernet interface the Compact Vision System can communicate via a network with the PC or a PLC Ad...

Page 27: ...connecting elements 1 Integrated lens and LED lighting behind protective glass 2 Status LEDs 3 CAN interface not SBO Q WB 4 Ethernet interface 5 Operating voltage supply and digital I Os 6 Focus adju...

Page 28: ...602e 1 Adapter for protective barrel 2 Protective barrel 3 Lens accessories 4 Status LEDs 5 CAN interface not SBO Q WB 6 Ethernet interface 7 Operating voltage supply and digital I Os 1 2 3 4 5 6 7 Fi...

Page 29: ...t Plug M12x1 4 pin d coded Pin allocation Tab 3 6 Ethernet interface Communication with higher level devices e g the PC or PLC Data output e g data analysis etc Bus Plug M12x1 5 pin Pin allocation Tab...

Page 30: ...es the following functions Theme Function Configurationand commissioning Defining the signal behaviour Defining the frame rate sensor amplification Defining the evaluation and output functions Analysi...

Page 31: ...ssories from our catalogue www festo com catalogue Cables and plug connectors for continuous use in an industrial environment are available from dealers e g HARTING Electronics GmbH Co KG product seri...

Page 32: ...meter is 38 mm The maximum possible length of the lens from the front edge of the lens to the flange surface of the thread side is 42 mm Note Note that with most lenses the lens length changes when th...

Page 33: ...ance between the camera and the object to be photographed can be calculated according to the laws of optics The following equation describes the distance between the so called main level and the objec...

Page 34: ...40 0 8 1024 1280 or 0 64 480 752 Examples for SBO Q R1 A lens with focal length of 12 mm generates a field of view approx 100 mm wide at a working distance of 200 mm in SBO Q R1 A lens with focal leng...

Page 35: ...Festo P BE SBO Q EN en 1602e 1 2 3 1 2 3 1 2 3 SBO Q R1 SBO Q R2 SBO Q R3 1 Focal length 35 mm 2 Focal length 25 mm 3 Focal length 12 mm Fig 1 5 Working distances g mm and object size G mm for typica...

Page 36: ...images created and thus the results If external lighting is used You can connect external lighting to the O2 output of the device The lighting is then controlled by the device Please note the correct...

Page 37: ...crooked surface Stains on uneven or crooked surfaces Rod light Generates even direct light on long check parts The diagonally impacting light generates diffuse reflection which permits easy differenti...

Page 38: ...overview 1 20 Festo P BE SBO Q EN en 1602e Note Preferably use a back light if the type of recognition allows this This allows mostly very reliable images and results even with interference from outsi...

Page 39: ...Mounting 2 1 Festo P BE SBO Q EN en 1602e Chapter 2 Mounting...

Page 40: ...Mounting 2 3 2 1 1 Mounting the Compact Vision System 2 4 2 1 2 Dimensions of SBO Compact Vision Systems 2 5 2 1 3 Mounting with adapter kit type SBOA HMSV 39 2 6 2 1 4 Mounting removing the lens and...

Page 41: ...System in a well ventilated location screening it from the heat emitted by other devices and sources of light Note The Compact Vision System may be damaged if it is not handled correctly Make sure tha...

Page 42: ...issioning chapter 4 7 On the bottom of the device there is a mounting profile with dovetail guide The following adapter kits can be used for fastening Type Designation Description SBOA HMSV 39 Adapter...

Page 43: ...2 Mounting 2 5 Festo P BE SBO Q EN en 1602e 2 1 2 Dimensions of SBO Compact Vision Systems 1 1 Principal axis Fig 2 1 SBOI dimensions 1 1 Principal axis Fig 2 2 SBOC dimensions with protective barrel...

Page 44: ...on System 2 3 4 1 2 1 Dovetail of the Compact Vision System 2 Clamping devices 3 Hole for socket head screw M5x16 with centring sleeve 4 Adapter plate Fig 2 3 Mounting with adapter kit type SBOA HMSV...

Page 45: ...ide of the Compact Vision System the lens or the glass surface of the protective barrel Mounting the lens 1 Unscrew the support ring from the shield tube 2 If applicable remove the protective cover fr...

Page 46: ...ving the lens Turn the lens in an anti clockwise direction and pull it for wards out of the fixture If applicable attach the protective cover to the lens and to the camera housing 2 1 5 Removing the p...

Page 47: ...Installation 3 1 Festo P BE SBO Q EN en 1602e Chapter 3 Installation...

Page 48: ...allation 3 1 3 1 General instructions on installation 3 3 3 1 1 Selecting a power supply unit 3 5 3 2 Electrical connections 3 6 3 2 1 Connecting the operating voltage supply and I Os 3 6 3 2 2 Connec...

Page 49: ...ical specifications in this documentation may include different values Warning Unintended movements of the connected actuators can cause injury to human beings and damage to property Before carrying o...

Page 50: ...ure that the cable lengths specified in the follow ing table are always observed Cable type Permitted cable lengths Signal cables Max 30 m Supply cables Max 10 m Tab 3 1 Maximum permitted cable length...

Page 51: ...st electric shock protection against direct and indirect contact is guaranteed in accordance with IEC DIN EN 60204 1 through the use of PELV circuits Electrical equipment of machines General requireme...

Page 52: ...tal I Os plug M12x1 1 2 3 Fig 3 1 Electrical connections of the SBO Compact Vision System The following connection possibilities are available chapter 4 10 and Tab 4 5 3 2 1 Connecting the operating v...

Page 53: ...g 1 Cable for operating voltage supply straight socket M12x1 8 pin wire ends zinc coated Tab 3 2 Cable for operating voltage supply and digital I Os The operating voltage is supplied together with the...

Page 54: ...on indicated Reject part 4 Red RD Metal covering 5 Screening shield 1 Tighten union nut by hand 2 Core colours of the original cable SIM M12 8GD PU 3 The signal levels edges can be configured via syst...

Page 55: ...ty O0 Ready for operation logic 1 Function at O1 Good part logic 1 Function at O2 Reject part logic 1 Tab 3 4 System parameters with standard configuration Please note that The tolerance of 24 V DC 10...

Page 56: ...SBO Q EN en 1602e 1 2 AC DC 2A 24 V I0 Trigger signal O0 Ready for operation O1 Good part O2 Reject part GND 2 1 6 4 8 7 S1 1 External fuses 2 Cable shield Fig 3 2 Example configuration of system para...

Page 57: ...be transmitted depending on the mode of operation The network between the PC and cameras will be correspondingly highly loaded A direct connection is therefore to be preferred If in doubt ask your net...

Page 58: ...For special use in an industrial environment use a screened flexible Ethernet round cable of category 5 which will fulfil your requirements as regards resistance to oil bending radius permitted bendi...

Page 59: ...3 1 TD Transmitted data 2 RD Received data 3 TD Transmitted data 4 RD Received data Metal covering Screening shield 1 d coded Tab 3 6 Pin allocation of the Ethernet interface The Ethernet interface of...

Page 60: ...network If the routers are not configured accordingly the devices cannot be found using the search function If in doubt ask your network administrator Direct connection with the PC If the PC s network...

Page 61: ...ing the integrated run time system CoDeSys The Compact Vision System has full master function under CoDeSys Observe the installation and commissioning instructions in section 4 10 6 M12 plug Pin Signa...

Page 62: ...3 Installation 3 16 Festo P BE SBO Q EN en 1602e...

Page 63: ...Commissioning 4 1 Festo P BE SBO Q EN en 1602e Chapter 4 Commissioning...

Page 64: ...o higher level controller PLC IPC 4 44 4 10 1 General information on use of inputs 4 46 4 10 2 General information on use of outputs 4 50 4 10 3 Use of internal I Os 4 50 4 10 4 Use of the I O expansi...

Page 65: ...hange the network settings of the device Carry out commissioning using the CheckKon software package CheckKon Help Create check programs using the CheckOpti software package CheckOpti Help The commiss...

Page 66: ...ger is part of the CheckKon installation Note Administrator rights are required for installation of the software packages You can install the software packages from the CD ROM as follows 1 Close all p...

Page 67: ...the PC s network connection can be found in the Windows System Control under Network Connections The available LAN connections are displayed there Select the LAN connection you want to use to connect...

Page 68: ...ia the network connection If that is not the case e g with a direct connection to the Compact Vision System the network connection must be provided with details of which IP address is to be used Fig 4...

Page 69: ...Subnetwork mask 255 255 0 0 255 255 0 0 Tab 4 1 Example of suitable network settings You can find additional information on this in chapter 4 5 and appendix A 2 Note The following address is set on t...

Page 70: ...or permitting communication 1 When the software packages installed are launched and the first attempt at communication between the program and the Compact Vision System is made a dialogue nor mally ap...

Page 71: ...odbus protocol 995 UDP EasyIP protocol 1200 TCP CoDeSys programming environment 2222 UDP EtherNet IP multicast 4386 TCP Firmware download add in download and backup with PC software 9997 1 TCP Telnet...

Page 72: ...4 Commissioning 4 10 Festo P BE SBO Q EN en 1602e Note Opening a port poses a greater safety risk than program based enabling Fig 4 4 Opening port 10000...

Page 73: ...the device Search function for devices SBO DeviceManager offers a search function This search function allows creation of a connection to devices whose network address is not known The search functio...

Page 74: ...twork nodes are enabled for multicast Check the search range and search duration in SBO DeviceManager If this is not successful Connect the device as directly as possible to your PC In doing this you...

Page 75: ...l The DHCP server manages a range of IP addresses and assigns them to the DHCP capable end terminals Note The IP address of the equipment is set to 0 0 0 0 if the DHCP server is not found assignment o...

Page 76: ...corresponding symbol on the Windows desktop or for standard installation In the Windows menu Start select the entry Festo Software Festo CheckKon The program starts and opens the dialogue window Welc...

Page 77: ...ble This occurs when Ethernet connection lines are unplugged The power supply to Ethernet network components e g switch is disconnected Deactivation of the network card in the PC due to energy saving...

Page 78: ...g the image and lighting control parameters Now perform the following steps 1 Switch the lighting on and direct it towards the check area If the lighting is controlled by the device set the system par...

Page 79: ...ere made not evident from the Live Image window For devices SBO Q R3 always take an additional un used image after you have changed these parameters A Siemens star is provided in this manual as a temp...

Page 80: ...Now adjust the lighting mounting position if necessary to provide optimal lighting for the characteristics to be checked The lighting is optimally oriented if it emphasises the rel evant check part c...

Page 81: ...nt the system parameters set The parts check takes place on the basis of the camera image and the image Preprocessing 3 whereby the test part must be depicted as a black object in Preprocessing 3 whit...

Page 82: ...function used the calcula tion time per check part can increase greatly For that reason image optimisation with regard to the characteristics to be checked should always be striven for even before pre...

Page 83: ...an be selected via the Eval uation Mode system parameter in the System Parameters window in CheckKon Triggered Frame capture and inspection with each valid triggering signal Free run Consecutive image...

Page 84: ...e inspection After that the device begins immediately with the next inspection Additionally there is the possibility to set up a image trigger Fixed frame rate Inspection of continuous parts at a cons...

Page 85: ...he system parameter setting Earliest start of output is after triggering signal termination yes output of results can be delayed by extending the triggering signal In this case the outputs can only be...

Page 86: ...dy for operation has expired or the system parameter Reset outputs at outputs during evaluation Yes has been set and a new evaluation has begun Through the above conditions it is possible to specify m...

Page 87: ...Trigger long Output duration Output duration Fig 2 Cycle duration O0 1 Outputs write Output invalid Power Img 2 Output valid Img 1 Fig 4 5 Triggered evaluation mode Signal curve with standard settings...

Page 88: ...evaluation Trig ignored wait O0 1 O0 1 Trig ignored wait Trig ignored wait Trigger long Fig 2 Cycle duration Wait to O2 Internal external outputs O1 LED D CP I Os EasyIP Power 5 6 5 6 3 1 3 1 2 1 2 2...

Page 89: ...0 1 Trig ignored wait Trig ignored wait Trigger Fig 2 Cycle duration Wait to end O2 Internal external outputs O1 LED D CP I Os EasyIP Power 2 2 1 1 3 1 3 2 2 Img 2 Img 2 5 6 5 6 4 Fig 4 7 Triggered ev...

Page 90: ...nly the internal outputs are used 4 9 2 I O process with the Free run evaluation mode In the Free run evaluation mode the mode remains active as long as a logic 1 condition controlled is present at th...

Page 91: ...eset outputs at outputs during analysis Note The rate at which the images are taken or the results out put varies and depends on the evaluation duration of the individual images Function In this evalu...

Page 92: ...rt of the next cycle has expired Outputs to outputs can be invalid even earlier depending on the setting of the following system parameters Reset outputs at outputs after Ignore triggering signal Rese...

Page 93: ...Img 3 Image evaluation short Img 2 Image evaluation long Trig ignored wait O0 1 Output invalid Internal outputs O1 O2 LED D Power Fig 4 8 Free run evaluation mode Signal sequence with standard settin...

Page 94: ...trigger Img 1 Image eval short Wait Img 2 Image evaluation long Trig ignored wait Fig 2 Cycle duration Trig ignored wait I0 O0 Output invalid O2 Internal external outputs O1 LED D CP I Os EasyIP 5 6...

Page 95: ...vailable in types SBO Q R B monochrome image sensor The function of the Free run evaluation mode with image based trigger is similar to that of the Triggered evaluation mode However the trigger signal...

Page 96: ...he process after a fulfilled trigger condition depends on the system parameter Image after fulfilled trigger condition Setting Ongoing As long as the condition of the image based trigger is ful filled...

Page 97: ...trigger Fig 4 10 Live image CheckKon window Trigger field area Evaluation of the image based trigger is made only for one image area within the field of view of the camera image This so called trigge...

Page 98: ...the trigger signal and the moment when the image is available in the processor You determine the image taking frequency with this para meter while the image based trigger is still invalid All pixels...

Page 99: ...ls corresponds here to a share of 16 of the trigger field area This value is displayed in the Live image window The following conditions must be fulfilled so that the image based trigger is tripped Tr...

Page 100: ...ation No eval uation Evaluation Outputs write Internal outputs O1 LED D O2 Fig 4 11 Free run mode with image based trigger Settings of the system parameters Standard values Earliest start of output af...

Page 101: ...results are temporally de coupled from each other The images are generated in a fixed time cycle The time until output of the related images is postponed depending on the evaluation duration of the cu...

Page 102: ...r operation output switch to logic 1 The outputs of the output module of the I O extension O0 to O3 like the internal outputs are configured via the system parameters that is they are set or reset tog...

Page 103: ...g 1 Short Evaluation Img 1 Output Outputs write Outputs write Outputs write Img 2 Output Img 3 Output Wait until last evaluation complete Trigger ignored wait for O0 1 Img 3 Short Evaluation Img 2 Lon...

Page 104: ...t Permanent trigger Img 1 short eval Img 3 Short image evaluat Outputs write Outputs write Img 1 Output Img 2 Output Img 3 Output Outputs write Img 2 Long image evaluation Wait until end Wait to end W...

Page 105: ...of the signal curves these do not contain jitter run times or system related delay times The duration for the write process of the outputs and thus the duration for an invalid output condition is ind...

Page 106: ...ut Device acts as CPI module via CAN interface 1 Trigger signal Apply Inputs signal Acknowledge Error signal Preselection check program Ready for operation Fundamental inspection results with recognis...

Page 107: ...tion Device internal I Os in combination with a powerful higher level controller PLC are preferred with automatic parts flow that is a fast inspection rate since here the lowest delay times are expect...

Page 108: ...Apply Inputs signal Acknowledge Error signal Other inputs These inputs are condition controlled that is they react to logic 1 or logic 0 They are read only after a valid Apply Inputs signal Example fo...

Page 109: ...f Apply Inputs signal input The Apply Inputs signal is used to load a new check program The number of the new check program must be specified previously via the I O possibilities The Apply Inputs sign...

Page 110: ...al O0 Ready for operation Create inputs Apply inputs and switch check program Duration Old check program New check program Apply Signal Inputs Trigger ignored wait O0 1 Duration Power Apply signal Tri...

Page 111: ...us Diagnosis can be conducted and system parameters changed during this time For this use CheckKon or all protocols that can access system parameters As soon as the error has been corrected this must...

Page 112: ...device is in chapter 4 9 The function of selected I Os can be established via system parameters This makes a flexible adaptation to the applica tion s requirements possible The following functions ar...

Page 113: ...ctly oriented Warning Error CoDeSys Check program O1 Output Good part standard value Output Reject part Output correctly oriented Output incorrectly oriented Warning Error CoDeSys Check program O2 Out...

Page 114: ...ts of individual check features via external digital outputs Notes on installation Only the following I O modules are permissible Output module types Input module types CP A04 M12 CL CP E08 M12 CL Qua...

Page 115: ...tively connect the modules in the following se quence Compact Vision System output module Compact Vision System input module Compact Vision System output module input module The 0 V line of the cable...

Page 116: ...odules 4 Connect the power supply for the device and the modules 5 Make a connection to the device with the CheckKon program and set the system parameter Function at CAN interface to I O expansion 6 A...

Page 117: ...ce is con figured to I O expansion the system parameter Check program preselection is configured to I O possibilities Input format for the input module Binary Inputs 0 7 of the module are interpreted...

Page 118: ...e 1 Check program output The functions of outputs 0 3 of the module are defined via the check program I O access tool The output format for the output module is defined via sys tem parameters Further...

Page 119: ...dule is activated the device corresponds to a CP module with extended functions CPI module in the related CP line This allows it e g to be operated on a CPX CP interface of a CPX terminal Notes on ins...

Page 120: ...End the CheckKon program 2 Switch the system off in order to avoid faults or damage Disconnect the power supply for the device and the CPX terminal 3 Attach the Compact Vision System to the desired C...

Page 121: ...he device any displayed faults of the CPI module function with the Acknowledge Error signal at input I1 or in CheckKon in the System status window A line assignment together with other modules could l...

Page 122: ...ual System Description CPI P BE CPX CP Further information on fieldbus nodes can be found in the Electronics Manual P BE CPX FB The device corresponds to a CPI module and always occupies 16 inputs and...

Page 123: ...ation Bit I1 Output result good Bit I2 Output result reject Bit I3 Output result correctly oriented Bit I4 Output result incorrectly oriented Bit I5 Unused Bit I6 Warning corresponds to LED C red flas...

Page 124: ...PX CP interface with a CPX FB13 Profibus fieldbus node The device is located in the 1st line in position 2 after a CP A04 M12 CL output module Fig 4 16 Address assignment for the CPX CP interface Inpu...

Page 125: ...CPX FEC 4 10 6 Use of the device as CANopen Master When the PLC run time system CoDeSys embedded is used the Compact Vision System can be used as CANopen master Any CANopen slaves can be connected to...

Page 126: ...N_H pin 4 and CAN_L pin 5 chapter 3 2 3 Use a screened plug connector which will guarantee continuous contact between the screening shield and the Compact Vision System Connect the screening of the CA...

Page 127: ...P protocol by the Compact Vision System must be enabled via the system parameters For communication via Ethernet FEDs generally require a bus interface Ethernet interface Further information on FEDs a...

Page 128: ...onnected to enable it to access Compact Vision System data General information on inputs can be found in chapter 4 10 1 The available memory addresses and their function can be found in appendix A 6 4...

Page 129: ...Vision System to the device to be connected e g via an Ethernet switch or hub 3 Reconnect the power supply 4 Make a connection to the Compact Vision System with the CheckKon program and set the syste...

Page 130: ...in appendix A 6 Test of Telnet communication Most PC operating systems have a Telnet program at command line level With this program you can use the Telnet connection to the Compact Vision System Win...

Page 131: ...sary If your entries in Telnet are not visible e g with Telnet in Windows 2000 you must activate the Local Echo in Telnet Information on this can be found in the Help for the Telnet program Authentica...

Page 132: ...sword is invalid the message 23 AUTH access denied appears The Compact Vision System accepts a new authentication attempt only after a safety time of 2 seconds Before successful authentication all con...

Page 133: ...on Fig 4 20 Writing to a flagword address In case of fault the response is with an error code and error message Note Use only integers when writing values on flagword addresses RFW Read FlagWord RFW a...

Page 134: ...ure name s has have been completely and correctly written Do not use any of the following characters for feature names square brackets quotation marks umlauts special characters Pay attention to upper...

Page 135: ...me of data output Outputs the values of the respective data output Note Data outputs can only be requested if they have been created previously in CheckOpti in the selected check program with the corr...

Page 136: ...ggered and Free run evaluation modes The command performs a com plete evaluation The inspection results and features are thereby entered in the corresponding flagword and string addresses CHANGEPRG Ch...

Page 137: ...ired 1 OK operation successful Command successfully executed 1 1 ERROR parse error or command unknown Command invalid Error in the instruction 5 ERROR another client is already connected Message with...

Page 138: ...data output Miscellaneous data output error 58 ERROR read data output name not defined Data output not set up for name specified 59 ERROR read data output data output not compatible Data output not s...

Page 139: ...r example Note Support for the Telnet streaming function by the Compact Vision System must be enabled via the system parameters CheckKon The Telnet streaming function outputs data in the configured TC...

Page 140: ...which data are to be output a data output also defines the format of the data binary XML Additional information on creating check programs can be found in the CheckKon Help Please consult your local F...

Page 141: ...take place via a text based command line with defined commands whereby the data to be read written are defined through memory addresses The device not only makes simple commands available for image ca...

Page 142: ...he device to be connected to enable it to access Compact Vision System data General information on inputs can be found in chapter 4 10 1 The available memory addresses and their function can be found...

Page 143: ...Compact Vision System now awaits authentication if necessary It is possible that the data you input in Telnet are not visible e g in Telnet for Windows 2000 Activate the so called Local Echo in Telne...

Page 144: ...t_RSTR STRING DataResult_RSTR Read Data Output DataResult_RDO User defined start Name of data output float32_1 REAL float32_1 float32_2 REAL float32_2 Name of data output User defined end DataResult_R...

Page 145: ...mmandResultCode CommandResultText AUTH access granted CommandResultText Camera After this message has been displayed all control and data commands are valid for the duration of the connection If the u...

Page 146: ...After this message is shown the connection is ended Telnet XML commands WFW Write FlagWord WFW address value Writes a value to the flag word address specified appendix A 6 The following example write...

Page 147: ...e read out in each case using the Telnet XML function Fig 4 27 Reading out the flagword address If the operation is successful the result will appear in the fol lowing format Camera DataResult_RFW RES...

Page 148: ...will appear in the following format Camera DataResult_RNV RESULT VALUE DataResult_RNV Camera If no match is found the device puts out the following message Camera CommandResultCode 55 CommandResultCo...

Page 149: ...Only one string address can be read out per command Simultaneous reading of multiple character strings is not possible Commas apostrophes and control characters contained in the strings are replaced...

Page 150: ...found in the CheckOpti online Help Values are output only if the data output name has been entered completely and correctly Do not use any of the following characters in data out put names square bra...

Page 151: ...program This command allows the check program to be changed The values 1 to 256 are permitted as check program numbers Requirements The system parameter Check program preselection is configured to I...

Page 152: ...addresses The device not only makes I Os available via memory addresses but also allows access to the results of an inspec tion and to the settings of the system parameters Certain memory addresses ca...

Page 153: ...um number of con nections determines how many Modbus clients are permitted to connect simultaneously to the SBO Q Compact Vision System Note If there is more than one connected Modbus client this can...

Page 154: ...mmissioning 1 Switch the system off in order to avoid faults or damage Disconnect the power supply to the Compact Vision System and the device to be coupled 2 Using the specified cables connect the Co...

Page 155: ...es manually The use of EDS files is not supported by RSLogix Version 17 but is planned for version 18 Reference source Current EDS files icon files and information on the EDS files can be found at the...

Page 156: ...revision Input size output size 32 bit 16 bit Size of the cyclically transmitted I O data Device Type SBOx Q Device type Extended Ethernet IP slave features Value Description Request Packet Interval...

Page 157: ...S library has been extended the Compact Vision System is entered in the slave list as a possible EtherNet IP slave It can now be added to a network Creating a project in RSLogix 5000 These instruction...

Page 158: ...reely selectable Description Description freely selectable Comm Format Communication format Data INT IP Address IP address of the Compact Vision System e g 192 168 2 10 Connection parameters Assembly...

Page 159: ...available in the form of a byte array and can be called up via Explicit Message The byte array consists of a fixed header followed by a variable number of data The nature and number of the data are de...

Page 160: ...d in CheckOpti Help Automatic generation of the data type Creating the structure for data output in RSLogix is very complex and time consuming To facilitate this process CheckOpti offers the possibili...

Page 161: ...ata Type in the context menu Fig 4 32 Importing a data type 2 Select a structure file l5x and then OK For each data output defined in CheckOpti you will find a DataOutput_ data type in the User Define...

Page 162: ...4 Commissioning 4 100 Festo P BE SBO Q EN en 1602e Fig 4 34 Structure of an imported data type...

Page 163: ...CoDeSys is a soft PLC that can be programmed with languages standardized by IEC 61131 3 The library Festo_SBOx Q lib is available under CoDeSys for simple communication between the CoDeSys run time s...

Page 164: ...ntrollers via CANopen Compact Vision System is CANopen master Example No additional controller is needed for fine positioning or control of handling units for flexible gripping of components To progra...

Page 165: ...stem In a similar way to a selector switch on a PLC you can use the system parameter Run stop operation to start or stop operation of the PLC program on the Compact Vision System 5 Now program the int...

Page 166: ...tions of these devices And so CoDeSys provided by Festo contains many functions that are available only on certain devices The Target Support Package for the Compact Vision System can be downloaded at...

Page 167: ...area of the program window Note Installation of a new version for an existing Target Support Package requires deinstallation of the old version Other wise files which are no longer needed e g librari...

Page 168: ...t systems and click on the Install button If the specified installation directory does not exist a safety check apprears Click on the Yes button if a new installation directory is to be created Click...

Page 169: ...ternet Explorer Note Use of the WebViewer extends the evaluation duration of the Compact Vision System Check whether the required parts rate can still be achieved Fig 4 35 Inspection results in the SB...

Page 170: ...ning 1 Set up a connection to the Compact Vision System using the CheckKon program 2 Select a setting from the following table for the WebViewer system parameter in the section Ethernet interface Sett...

Page 171: ...ger a new inspection to obtain a display If the Web browser reports a connection error check the Ethernet and Internet settings for the Web browser or the system on which the Web browser is running Op...

Page 172: ...k programs located on the device can be updated using the following system parameters in the section System Oper ating Modes Teach Mode Teach mode Parts type Parts orientation Update of a check progra...

Page 173: ...preparing check programs can be found in the CheckKon Help Please consult your local Festo Service if necessary 4 12 Checking the system settings At completion of commissioning the following points m...

Page 174: ...ystems connected to the Compact Vision System If the permitted temperature range is exceeded this will be recognised by the internal electronics and will lead to an error status Caution Further heatin...

Page 175: ...Diagnostics and error handling 5 1 Festo P BE SBO Q EN en 1602e Chapter 5 Diagnostics and error handling...

Page 176: ...iagnostics and error handling 5 2 Festo P BE SBO Q EN en 1602e Table of contents 5 Diagnostics and error handling 5 1 5 1 General diagnostic options 5 3 5 1 1 Status display 5 3 5 1 2 Error handling 5...

Page 177: ...act Vision System supply the status information listed in the following section 5 1 1 Status display Operating statuses are displayed via LEDs Operating status LED A LED Sequence Status Meaning error...

Page 178: ...Ethernet data traffic LED is off ON OFF No Ethernet data traffic no traffic Tab 5 2 Ethernet traffic LED B Activity LED C LED Sequence Status Meaning error handling LED is red ON OFF Error LED flashe...

Page 179: ...error handling LED is red ON OFF Last evaluation detected bad part LED is yellow ON OFF Last evaluation detected good part LED is off ON OFF No result Tab 5 4 Output LED D The function of the output...

Page 180: ...tem parameters incorrect Check system parameters using CheckKon The device firmware freezes Status LED A is not flashing Electromagnetic interference in the environment caused by non CE compliant devi...

Page 181: ...itch chapter 3 2 2 Your network is preventing data exchange Make sure that your router passes on the multicast address 239 255 2 3 If in doubt consult your system administrator Firewall of the PC or n...

Page 182: ...dition to the original cable This is not necessary for a connection via a hub or a switch chapter 3 2 2 Firewall of the PC or network does not permit a connection Enable program or ports in firewall C...

Page 183: ...Technical appendix A 1 Festo P BE SBO Q EN en 1602e Appendix A Technical appendix...

Page 184: ...nformation A 17 A 6 5 System time of the device A 18 A 6 6 Total tolerance of the type in the current check program A 18 A 6 7 Basic results of the last check A 19 A 6 8 Free flag words non remanent A...

Page 185: ...ctive glass is not scratched Do not use any abrasive cleaning agents Switch off the power supply before cleaning Clean the lens protective glass in case of dirt or other deposits using a blower brush...

Page 186: ...twork PC This table lists the relevant physical Ethernet address for each IP address in the network If an Ethernet address is not listed in the ARP table the IP driver can ascertain it with the aid of...

Page 187: ...scriber number This is the net mask of the tele phone number Net classes Using 0 as a placeholder the net mask for IP addresses defines which bytes are used for the addressing of the slave host ID Net...

Page 188: ...ree pieces of information are therefore required for addressing in the Internet Protocol IP IP address IP net mask IP address of the gateway Note The factory settings are as follows IP address 192 168...

Page 189: ...A Technical appendix A 7 Festo P BE SBO Q EN en 1602e A 3 Siemens star Fig A 1 Siemens star The Siemens star depicted here is a helpful template for rough focussing...

Page 190: ...depends on lens selected Field of view mm depends on lens selected 14x10 520x390 depends on lens selected 7 9x5 5 195x125 depends on lens selected Electrical data Nominal operating voltage V DC 24 Per...

Page 191: ...as per IEC 68 EN 60068 part 2 6 0 35 mm path at 10 60 Hz 5 g acceleration at 60 150 Hz Shock resistance tested as per IEC 68 EN 60068 part 2 27 30 g at 11 ms duration 5 shocks in each direction Contin...

Page 192: ...ent conditions Screened from extreme external light sources Cleanest possible ambient air Geometry Width mm 45 45 45 45 45 Height mm 45 45 45 45 45 Length mm 139 4 5 83 7 139 5 83 7 139 4 5 Materials...

Page 193: ...r E20 20 F Error in check program orientations cannot be disconnected E21 21 F Error in check program types or orientations cannot be disconnected Error in image generation E30 30 F 1 Image buffer ove...

Page 194: ...Error signal E46 46 F Insufficient memory operation cannot be executed Remedy Reduce the size of the active check program Reduce the size of the active field of view of the Com pact Vision System CP...

Page 195: ...ng E202 202 F EasyIP communication error E203 203 W Invalid EasyIP request Modbus error E300 300 F General Modbus error CoDeSys error E500 500 F 1 Error in the CoDeSys process Detailed information is...

Page 196: ...German for flag word A 6 1 Input register Name Read write FW Value type Permitted values Remarks Trigger signal R W 0 uint16 0 or 1 Apply Inputs signal R W 1 uint16 0 or 1 Acknowledge Error signal R W...

Page 197: ...heck program preselection bit 6 R W 14 uint16 0 or 1 Check program preselection bit 7 R W 15 uint16 0 or 1 Tab A 4 Input register A 6 2 Output register Name Read write FW Value type Remarks Ready for...

Page 198: ...parts type bit 4 R 28 uint16 Recognised parts type bit 5 R 29 uint16 Recognised parts type bit 6 R 30 uint16 Independent of the system parameter Output module format Recognised parts type bit 7 R 31 u...

Page 199: ...5 Device type R 102 uint16 SBOI Q R1B 701 SBOC Q R1B 702 SBOI Q R1C 703 SBOC Q R1C 704 SBOC Q R2B 705 SBOC Q R2C 706 SBOI Q R3B WB 707 SBOC Q R3B WB 708 SBOI Q R3C WB 709 SBOC Q R3C WB 710 Version of...

Page 200: ...W 154 uint16 0 to 59 Time Seconds R W 155 uint16 0 to 59 Tab A 8 System time A 6 6 Total tolerance of the type in the current check program Name Read write FW Value type Permitted values Remarks Parts...

Page 201: ...pe in the current check program A 6 7 Basic results of the last check Name Read write FW Value type Remarks Check program name R 234 byte 32 Name of the check program of the last check Check program u...

Page 202: ...ignal Date month of capture R 260 uint16 With trigger signal Date day of capture R 261 uint16 With trigger signal Time hours of capture R 262 uint16 With trigger signal Time minutes of capture R 263 u...

Page 203: ...se flag words are lost when the power is switched off Tab A 11 Free flag words non remanent A 6 9 Features results of the last check Addressing of the features values is summarised in blocks The block...

Page 204: ...number calculation of the feature has probably failed A request for the Valid Flag is unnecessary Name Read write FW 1 Value type Remarks Feature value R 10000 double64 Tolerance R 10004 double64 Tole...

Page 205: ...was successfully calculated 0 calculation failed Feature description R 10082 uint16 ID of feature description Feature description alternative R 10083 uint16 ID of the alternative feature description...

Page 206: ...arameters window in CheckKon Tab A 13 System parameters Note For the devices SBO Q R3 changes to system paramet ers relevant to creation of the image may only take effect or become apparent in the sec...

Page 207: ...tarts at 0 the string of the 2nd feature starts at 5 the string of the 3rd feature starts at 10 etc Tab A 14 Name Read write STR 1 Value type Remarks Feature value R 0 string Tool name R 1 string Name...

Page 208: ...glish in order that the original terms of the EtherNet IP specification can be used unambiguously Identity object Object class 1 Instances 1 Attributes Attr no Access Description Type Remarks 1 Get Ma...

Page 209: ...ibutes of various objects to allow exchange of data with the objects to take place via a single connection Flag words 1 32 are represented in the input assembly They can be read by the controller The...

Page 210: ...ject is used for configuring the network settings of a device Attributes Attr no Access Description Type Remarks 1 Get TCP status DWORD 2 Get Configuration capability DWORD 3 Get Set Configuration con...

Page 211: ...net link object is used for making further settings for the Ethernet connection Attributes Attr no Access Description Type Remarks 1 Get Interface speed UDINT 2 Get Interface flags DWORD 3 Get Physica...

Page 212: ...Services Service code Service name Remarks 01d 01h GetAttributeAll 14d 0Eh GetAttributeSingle 16d 10h SetAttributeSingle Input register Object class 100 Instances 1 Attributes Attr no Access Descripti...

Page 213: ...Set Check program preselection bit 4 UINT 0 1 14 Get Set Check program preselection bit 5 UINT 0 1 15 Get Set Check program preselection bit 6 UINT 0 1 16 Get Set Check program preselection bit 7 UIN...

Page 214: ...e system para meter Output module format The recognised parts type is binary coded bit 0 to bit 7 00000000 Parts type 1 00000001 Parts type 2 11111111 Parts type 256 10 Get Recognised parts type bit 1...

Page 215: ...nces 1 Attributes Attr no Access Description Type Permitted values Remarks 1 Get Rapid access to recognised parts type UINT Corresponds to flag word 24 to 31 2 Get Set Rapid access to check program pr...

Page 216: ...of the current warning UINT 0 1 3 Get Device type UINT 0 1 SBOI Q R1B 701 SBOC Q R1B 702 SBOI Q R1C 703 SBOC Q R1C 704 SBOC Q R2B 705 SBOC Q R2C 706 SBOI Q R3B WB 707 SBOC Q R3B WB 708 SBOI Q R3C WB 7...

Page 217: ...e is restarted 2 Get Set Date Month UINT 1 12 3 Get Set Date Day UINT 1 31 4 Get Set Time Hours UINT 0 23 5 Get Set Time Minutes UINT 0 59 6 Get Set Time Seconds UINT 0 59 Total tolerance of the type...

Page 218: ...type 5 UINT 0 20 7 Get Set Parts type 6 UINT 0 20 8 Get Set Parts type 7 UINT 0 20 9 Get Set Parts type 8 UINT 0 20 10 Get Set Parts type 9 UINT 0 20 11 Get Set Parts type 10 UINT 0 20 12 Get Set Par...

Page 219: ...ised orientation UINT 1 8 6 Get Auto mode Teach mode recognition quality C value UINT Auto mode Recognition quality 0 999 Good part 0 100 Bad part 100 Teach mode Scatter of features C value 0 100 7 Ge...

Page 220: ...e seconds of capture UINT 17 Get Processing time UINT Processing time of the part in ms from trigger signal max 32 000 s 18 Get Number of features actually used UINT 1 256 defined in check program 19...

Page 221: ...Instances 256 Addressing of the features values is summarised in blocks The blocks begin at instance no 1 and end at instance no 256 Thus the 1st block of feature values starts at instance no 1 the 2n...

Page 222: ...be obtained from your local Festo service Attributes Attr no Access Description Type Remarks 1 Get Feature value LREAL 2 Get Tolerance LREAL Tolerance applied for feature incl tolerance factor 3 Get...

Page 223: ...alid Flag alternative UINT 1 feature was successfully calculated 0 calculation failed e g after coordinate transformation 13 Get Feature description UINT ID of feature description 14 Get Feature descr...

Page 224: ...2 0 4294967295 32 bit bit sequence uint64 LWORD 2 64 0 264 1 64 bit bit sequence byte SINT 8 128 127 Signed 8 bit integer int16 INT 16 32768 32767 Signed 16 bit integer int32 DINT 32 2147483648 214748...

Page 225: ...riable of data type STRING can incorporate any string The memory space reservation figure in the declaration relates to characters and can be written in round or square brackets If no value is indicat...

Page 226: ...the Compact Vision System The basic configurations for the robot controller will not be covered here Configuration of the system parameters Telnet port 9999 Authentication required No Telnet server O...

Page 227: ...ar the display of the FlexPendant TPErase Connect to the cameras telnet server ConnectToCamera Get the version from the camera GetVersion Let the camera perform a complete evaluation This is only poss...

Page 228: ...eady signal of camera becomes logical high 24V The procedure will block infinitely unless the ready signal becomes logical high The answer can be written on the FlexPendant too uncomment the according...

Page 229: ...on Procedure sends an IMAGE command to the camera The command performs a complete evaluation The telnet server returns 1 OK operation successful if the requested command succeeded an appropriate error...

Page 230: ...gNum 0D 0A SocketReceive ComSocket Str changeProgReturn Important Any camera response is terminated by 0D 0A IF changeProgReturn 1 OK operation successful 0D 0A THEN TPWrite changeProgReturn stop ENDI...

Page 231: ...llection Description Procedure sends a RDO read data output command to the camera The first argument DataCollectionName is a user defined name of the data collection The data collection can be defined...

Page 232: ...35 float_y Float4 UnpackRawBytes dataCollectionRaw 39 float_angle Float4 TPWrite X coordinate Num float_x TPWrite Y coordinate Num float_y TPWrite Angle Num float_angle ENDPROC Procedure CheckConnect...

Page 233: ...d Check for Telnet negotiation Interpret As Command IAC 0xFF in the first byte of the first data received after a connection is made IF StrPart stReceived 1 1 ff THEN Send Telnet IAC WILL BINARY 0xFF...

Page 234: ...1 retry_no retry_no 1 RETRY ELSE Retry failed log and raise the error TPWrite Connection to camera failed after retry RAISE ENDIF ELSEIF ERRNO ERR_SOCK_CLOSED THEN If the socket has been closed by the...

Page 235: ...d section Structure specification when receiving data The corresponding structure file is saved as SBO_Sensor xml and then transmitted to the KUKA robot controller onfiguration of the system parameter...

Page 236: ...not needed on the robot controller Communication parameters IP address port channel name The file XmlApiConfig xml is for configuration of the para meters for communication with the Compact Vision Sys...

Page 237: ...the type or the model name of a sensor TCP_IP holds information about the type of connection TCP IP No other then TCP_IP is realized yet IP holds the IP of the sensor Port holds the sensor port numbe...

Page 238: ...t for data reception The structure file can be created in CheckOpti Click on the Create button in the Result register of the Data output register Use the channel or sensor name as the file name e g SB...

Page 239: ...ons Type STRUCTTAG Stacksize 5 Element Tag Camera DataResult_RDO Positions float32_1 Type REAL Stacksize 5 Element Tag Camera DataResult_RDO Positions float32_2 Type REAL Stacksize 5 Element Tag Camer...

Page 240: ...sProgNumber IN DECL CHAR sProgNumber General variable initialization m_bNew TRUE m_Result bValid FALSE m_Result nX 0 0 m_Result nY 0 0 m_Result nAngle 0 0 Camera control commands m_bOK StrClear m_send...

Page 241: ...si tions float32_1 m_rcvCmdResultPosY SBO_Sensor Camera DataResult_RDO Posi tions float32_2 m_rcvCmdResultAngle SBO_Sensor Camera DataResult_RDO Posi tions float32_3 Initially close XML telnet channel...

Page 242: ...e eioc_error THEN HALT wait for false ENDIF Wait for response switch check program m_bOk EKX_WaitForSensorData 0 m_rcvCmdResultCamera 10000 IF m_bOk FALSE THEN HALT wait for false ENDIF Check response...

Page 243: ...era 10000 IF m_bOk FALSE THEN HALT wait for false ENDIF Check response message trigger image acquisition m_bOk EKX_GetIntegerElement 0 m_rcvCmdResultCode m_nResultCode m_bNew IF m_bOk FALSE THEN HALT...

Page 244: ...m_bNew IF m_bOk FALSE THEN HALT wait for false ENDIF IF m_nResultCode 0 THEN HALT wait for false ENDIF Read coordinates of detected part m_bOk EKX_GetRealElement 0 m_rcvCmdResultPosX m_Result nX m_bN...

Page 245: ...t bValid FALSE ENDIF IF m_Result nX XCAM_MAX x THEN m_Result bValid FALSE ENDIF Is y coordinate within limits IF m_Result nY XCAM_MIN y THEN m_Result bValid FALSE ENDIF IF m_Result nY XCAM_MAX y THEN...

Page 246: ...nical appendix A 64 Festo P BE SBO Q EN en 1602e Close XML telnet channel m_bOk EKX_close m_sensorname IF m_bOk FALSE THEN HALT wait for false ENDIF Return results to calling function RETURN m_Result...

Page 247: ...Index B 1 Festo P BE SBO Q EN en 1602e Appendix B Index...

Page 248: ...B Index B 2 Festo P BE SBO Q EN en 1602e Table of contents B Index B 1...

Page 249: ...plification XIII Aperture XIII 4 17 Assign IP address automatically 4 13 Auto MDI X XIII B Back light 1 19 C C Mount 1 14 Cable 3 12 Calculation time 4 20 Camera image 4 19 CAN interface 3 15 CANopen...

Page 250: ...pbF XIII Commissioning 4 3 Condition controlled XIII Connection example 3 9 Contrast 4 18 CP cable XIII CP connection XIII CP master XIV CP modules XIV CP modules address assignment 4 60 CP node XIV...

Page 251: ...lay and connecting elements 1 9 1 10 Dome light 1 19 Dovetail guide 2 4 E EasyIP 4 65 Edge controlled XIV Electrical connections 3 6 EMERGENCY STOP concept 3 4 Error elimination 5 8 Ethernet XIV Ether...

Page 252: ...4 39 Flat angle light 1 19 Focal depth XV Focal length XV 1 15 Focus 4 17 Free run 4 21 4 28 G Gateway A 5 H Higher order controller PLC 4 44 I I module XV I O expansion 4 52 I O modules XV I Os XV I...

Page 253: ...Internal lighting 1 18 IP address A 4 L LEDs 5 3 Lens 1 14 2 7 Light source 1 18 Lighting 4 18 Lighting control 4 16 Live image 4 19 Logic 0 XV Logic 1 XV M MAC ID A 4 Main level 1 15 Modbus TCP XV M...

Page 254: ...supply 3 6 Operating voltage supply and digital I Os 3 8 Optics 4 17 Other inputs 4 46 Output duration 4 23 Output LED D 5 5 Output time 4 23 P Pictograms XI PLC IPC XV Port enable 4 9 Power supply un...

Page 255: ...he aperture 4 18 Shield tube 2 7 Siemens star A 7 Signal cables 3 4 Signal sequence 4 25 4 31 4 41 Size of field of view 1 15 Software packages 1 12 Specifying IP address 4 13 Status display 5 3 Strin...

Page 256: ...B Index B 10 Festo P BE SBO Q EN en 1602e U User instructions X V Variants of the Compact Vision System 1 6 1 7 Versions XII W Working distance 1 15 X XML XVI Z Zoom 1 15...

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