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Vision Sensor SBSI/SBSC-EN, 8062650 - 1607b - 13/09/2016

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Vision Sensor Manual

Example: "Score" Value (Binary protocol)

In Configuration Studio/Visualisation Studio"Score" = 35 is displayed.
Over Ethernet there will be received the following four bytes: 000,000,139,115
Formula for recalculating: (HiWordByte*256 + HiLowByte) *65536 + HiByte*256 + LoByte = Value

Because Big-endian (from Sensor) is sent calculation goes as following:
000 = HiWordByte, 000 = HiLowByte, 139 = HiByte, 115 = LoByte

(0*256 + 0) * 65536 + (139 * 256) + 115 = 35699 / 1000 = 35,699 (real score value)
Angles or other negative values are transferred in two's complement.

8.2 Further explanations to Edge detector (alignment)

Function of „Number search rays“

„Number search rays“ parameter which defines in how many parallel sub- search regions the search area
is divided. The edge detector searches in each sub region for the first edge separately.

Increasing the value of „Number search rays“, increases the chance to find the very first edge in the
search area..

By increasing “Number search rays” it may happen, that the threshold value fluctuates strongly, e.g. if just
the half of the search area is covered by the edge. The reason therefore is, that the first, not the
strongest, edge is detected, which is above the threshold limit in search direction.

Fig. 328: Edge detection with „Number search rays“ = 1. The dominating edge, perpendicular to the
search direction is found.

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Summary of Contents for SBSC-EN

Page 1: ......

Page 2: ...er whatsoever nor may illustrations drawings and the layout be copied without prior written permission from Festo Industriesensorik GmbH We accept no responsibility for printing errors and mistakes which occurred in drafting these document Subject to delivery and technical alterations First publication February 2011 Festo AG Co KG D 73726 Esslingen Internet http www festo com E Mail service_intern...

Page 3: ...GNU GPL version 2 or higher The SBS Vision Sensor firmware makes use of Busy Box Version 1 18 1 Website http www busybox net which is distributed under the GNU GPL version 2 or higher The SBS Vision Sensor firmware makes use of vsftpd Version 2 0 3 Website https security appspot com vsftpd html which is distributed under the GNU GPL version 2 or higher The SBS Vision Sensor firmware makes use of m...

Page 4: ...es 27 3 2 1 1 LED Display 27 3 2 1 2 Focussing screw 28 3 2 1 3 24 V DC Connection 28 3 2 1 4 LAN Connection 28 3 2 1 5 Data Connection 28 3 2 1 6 Plug connections 29 3 3 Network settings Short reference 32 3 3 1 Basic settings for PC and SBS Vision Sensor 32 3 3 2 Direct Connection Setting the IP Address of the PC 33 3 3 3 Network Connection Setting the IP address of the SBS Vision Sensor 34 4 SB...

Page 5: ...reprocessing Filter for image improvement 61 4 6 1 6 Calibration 62 4 6 1 7 Parameters Cycle time 79 4 6 2 Alignment 80 4 6 2 1 Selection and configuration of an alignment detector 81 4 6 2 2 Alignment Pattern matching 82 4 6 2 3 Alignment Edge detector 84 4 6 2 4 Alignment Contour detection 86 4 6 3 Detectors 90 4 6 3 1 Creating and adjusting detectors 90 4 6 3 2 Selecting a suitable detector 92 ...

Page 6: ...test results and images 213 4 7 5 Statistics 214 4 7 6 Result 215 4 7 7 Changing active job 216 4 7 8 Upload 217 5 Communication 219 5 1 Possibilities of image data transfer and archiving 219 5 1 1 Ethernet Port 2005 2006 219 5 1 1 1 Ethernet example 1 Pure data output from SBS to PC PLC 219 5 1 1 2 Ethernet example 2 commands requests from PC PLC to SBS 224 5 1 2 RS422 228 5 1 2 1 RS422 example 1...

Page 7: ...on of the telegram 264 5 6 2 6 Start sensor data output 265 5 6 3 Profinet configuration of PLC example Siemens S7 1200 TIA 265 5 6 3 1 Create a new project 265 5 6 3 2 Select GSD file 265 5 6 3 3 Adding SBS to Project 266 5 6 3 4 Connect SBS to PLC 267 5 6 3 5 Definition of I O data 268 5 6 3 6 Set IP address of SBS in the project Option 1 268 5 6 3 7 Set IP Address with Vision Sensor Device Mana...

Page 8: ...sor into RSLogix 291 5 7 5 1 Over Generic Profile 292 5 7 5 2 Over EDS File 293 5 7 6 Result data assembly response 294 5 7 7 EtherNet IP Appendix 296 5 7 7 1 Assembly Request 296 5 7 7 2 Assembly Response 299 5 8 Rescue 304 6 Image settings and accessories 307 6 1 Good images 307 6 2 Environmental light shrouding IR version 307 6 3 External illumination 308 6 4 The most important types of illumin...

Page 9: ... C Mount lens without illumination l CD ROM with Computer software and Operating instructions l Data sheet mounting clamp allen key screwdriver and protective cap for Ethernet plug 1 3 Requirements for use Configuration of the SBS Vision Sensor requires a standard PC Notebook at least Pentium 4 1GHz and 1 GB RAM with Microsoft Windows 7 or Windows 10 with network connection or a network with TCP I...

Page 10: ...ment and robot applications Code Reader Identification of products components or packaging from printed or directly marked punched or laser etched codes is common practice in many sectors of industry today The Vision Code Reader from Festo immediately detects which part is in front of it it can easily read numerous types of barcodes as well as printed and directly marked data matrix codes accordin...

Page 11: ...n world coordinates X Number of detectors 32 255 2 255 Pattern matching X Y translation X X X Contour matching X Y translation and rotation X X Grey level X X X Contrast X X X Brightness X X X Caliper X BLOB X Data code X X Barcode X X OCR 4 digital outputs 2 inputs PNP or NPN X X X X Free definable digital In Outputs PNP or NPN 2 4 2 4 Free shape of ROI contour only X X Timeout specified time res...

Page 12: ...viewer X X X X R3B integrated 6 12 X X X X X X X X R2B integrated 12 mm X X Version with C Mount X X 2 2 1 Functions overview Color sensor Universal Characteristics SBS Color Universal Function Color Standard Color Advanced Monochrome Universal Advanced Frames per second 40 40 40 Number of Jobs 8 255 255 Alignment Contour only X X Calibration in world coordinates X Number of detectors 32 255 255 P...

Page 13: ... digital In Outputs PNP or NPN 2 4 4 Free shape of ROI Contour only X X Timeout specified time response X X X Variable resolutions X X X Illumination quadrant controlled X X X Image recorder X X X Encoder input X X Ethernet interface X X X PROFINET X X X RS422 RS232 interface X X EtherNet IP interface X X X Sensor monitoring by Viewer Job Upload X X X Sensor monitoring by SBSxWebViewer Webviewer X...

Page 14: ... dependant lens dependant R3B Standard White 2942261 SBSI Q R3B F6 W 6 Normal White 6 5 x 4 2942262 SBSI Q R3B F12 W 12 Normal White 30 8 x 6 R3B Standard IR 2942265 SBSI Q R3B F6 NR 3 6 Normal InfraRed 6 5 x 4 2942266 SBSI Q R3B F12 NR 3 12 Normal InfraRed 30 8 x 6 R2B Advanced White 8058730 SBSI Q AF R2B F12 W 12 Normal White 30 16 x 13 R2B Advanced C Mount 8058729 SBSC Q AF R2B 2 3 C Mount Exte...

Page 15: ...d 30 8 x 6 R3B Advanced C Mount 8058721 SBSC B AF R3B 2 3 C Mount External lens dependant lens dependant R3B Standard White 2930232 SBSI B R3B F6 W 6 Normal White 6 5 x 4 2930233 SBSI B R3B F12 W 12 Normal White 30 8 x 6 2930242 SBSI B R3B F6 W D 25 Normal White 140 18 x 14 2930243 SBSI B R3B F12 W D 6 Enhanced White 6 5 x 4 R3B Standard Red 2930234 SBSI B R3B F6 R 6 Normal Red 6 5 x 4 2930235 SBS...

Page 16: ...r a C Mount protective case is required 3 External IR illumination is only possible with IR sensors or C Mount sensors 2 3 3 Color Sensor Part no Type Optics Depth of focus Internal illumination min operating distance mm 1 min Field of view mm x mm R3B Advanced White 8058733 SBSI F AF R3C F6 W 6 Normal White 6 5 x 4 8058734 SBSI F AF R3C F12 W 12 Normal White 30 8 x 6 R3B Advanced C Mount 8058735 ...

Page 17: ...unt External lens dependant lens dependant R3B Universal C Mount 8058737 SBSC U AF R3B 2 3 C Mount Extern objektiv abhängig objektiv abhängig 1 For longer operating distances from approx 200 mm external illumination may be necessary 2 When the C Mount version of SBS is in use a C Mount lens with a 5 mm intermediate ring delivered separately or a C Mount protective case is required 3 External IR il...

Page 18: ... 8062650 1607b 13 09 2016 Vision Sensor Manual 2 4 Field of view Depth of view Field of view R3B 6mm lens internal Fig 1 Field of view R3B 6mm lens internal Field of view R3B 12mm lens internal Fig 2 Field of view R3B 12mm lens internal ...

Page 19: ...Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Page 19 Vision Sensor Manual Field of view R2B 12mm lens internal Fig 3 Field of view R2B 12mm lens internal ...

Page 20: ...N 8062650 1607b 13 09 2016 Vision Sensor Manual Depth of view R3B 6mm lens internal normal Fig 4 Depth of view R3B 6mm lens internal normal Depth of view R3B 6mm lens internal enhanced Fig 5 Depth of view R3B 6mm lens internal enhanced ...

Page 21: ...1607b 13 09 2016 Page 21 Vision Sensor Manual Depth of view R3B 12mm lens internal normal Fig 6 Depth of view R3B 12mm lens internal normal Depth of view R3B 12mm lens internal enhanced Fig 7 Depth of view R3B 12mm lens internal enhanced ...

Page 22: ...Page 22 Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Vision Sensor Manual Depth of view R2B 12mm lens internal normal Fig 8 Depth of view R2B 12mm lens internal normal ...

Page 23: ... for the SBS Vision Sensor in which interfering factors such as slight differences in the position of the object or variations in illumination have little or no effect Screw the SBS Vision Sensor onto the mounting clamp supplied with the unit and then onto a suitable object Use only the mounting clamp MK 45 no 543 11000 or the mounting hinge MG2A no 543 11023 3 1 1 Arrangement for dark field illum...

Page 24: ...angement for bright field illumination Observe the object clearance given in the table Field of View Working Distance To avoid interfering reflection from the detection object align the SBS Vision Sensor at an angle of approx 10 15 with reference to the optical axis Fine adjustment Important Fine adjustment of the SBS Vision Sensor should not be carried out until after electrical connection and st...

Page 25: ... or a mirror on top of the object and start the SBS operating software For an image that is continually updated select trigger mode free run and image update continuous Then align the sensor to the reflective surface the mirror as vertical as possible until the integrated illumination LEDs are directly dazzling in the image of the user interface Arrangement for bright field illumination Page 24 Fi...

Page 26: ...nstallation The electrical installation of the SBS Vision Sensor must be carried out by a qualified person When installing the SBS Vision Sensor disconnect all electrical components from the power supply When the unit is being used in a network ensure that the network address IP address of the SBS Vision Sensor set by the manufacturer at 192 168 100 100 is free and is not in use for any other unit...

Page 27: ...lectrical installation connect wires as follows A LED display B Focussing screw C 24 VDC I O M12 connection socket D Data RS422 M12 socket E LAN M12 connection socket Fig 13 Connectors SBS Fig 14 Connection SBS 3 2 1 1 LED Display Name Colour Meaning Pwr green Operating voltage A yellow Result 1 B yellow Result 2 C yellow Result 3 All LED s are set without taking into account any timing function e...

Page 28: ...ee PIN assignment connection 24 V DC 3 2 1 4 LAN Connection M12 Connection socket for Ethernet connection For the exact plug connection see PIN assignment connection LAN Use only the correct network cables 3 2 1 4 1 Direct connection of the SBS Vision Sensor to a PC recommended Fig 15 Direct connection SBS PC 3 2 1 4 2 Connection of the SBS Vision Sensor to a PC via a network Fig 16 Connection via...

Page 29: ...der B 6 2 5 YE IN OUT 7 2 BK IN OUT LED B 4 8 2 GY IN OUT LED C 4 9 RD OUT external illumination 10 VT IN advanced encoder A 11 GYPK VALID 3 12 RDBU OUT ejector max 100mA LED A 4 1 Ready Ready for next ext trigger 2 Switchable input output 3 VALID shows available results 4 All LED s are set without taking into account any timing function e g Trigger delay 5 Not available with all Standard types Fo...

Page 30: ...1 brown RxD Rx 2 white RxD NC 3 blue TxD NC 4 black TxD Tx 5 grey GND GND A Not with Object Color Solar Standard version For shielded cables use shield 3 2 1 6 4 Exemplary connection plan and software settings for the following setup l Power supply l Trigger l 1x digital output l Encoder l Ethernet to PC or PLC Fig 17 Exemplary connection plan ...

Page 31: ...tion supply voltage 24VDC in cabinet with shield 3 2 1 6 6 Electrical connection PNP NPN Fig 19 Connection example SBS in PNP mode In outputs switch to 24V Fig 20 Connection example SBS in NPN mode As the inputs refer to ground an additional pull up resistor may be required in order to increase the input voltage to 24V when unswitched The outputs switch to ground ...

Page 32: ...ecessary settings on your PC contact the system administrator beforehand The illustrations dialogues and menus originate from the operating system Microsoft WindowsXPTM The illustrations are similar in other operating systems 3 3 1 Basic settings for PC and SBS Vision Sensor To configure the SBS Vision Sensor with a PC it is essential that a network board and the TCP IP LAN connection is installed...

Page 33: ...In the list This connection requires following elements select the option Internet Protocol TCP IP and then click the button Properties 3 In the following window see fig 7 set the desired IP address of the PC and the sub network data 4 Confirm entries with OK Example The SBS Vision Sensor is pre set to IP address 192 168 100 100 and subnet mask 255 255 255 0 In this case the IP address may be set ...

Page 34: ... match the PC according to the administrator s specifications as follows beginning with 2 Sensor IP already assigned 1 First connect sensor and PC directly and set an authorised IP address in the sensor 2 Connection via the network can then be carried out First ensure electrical connection and installation of PC software has been completed To set the IP address on the SBS Vision Sensor the followi...

Page 35: ...n obtain the IP address net mask and gateway from a DHCP server Activation of DHCP mode is carried out via the Set button by activating the checkbox DHCP As one and the same SBS can thus have different IP addresses at different times a sensor name must be attributed when activating the DHCP Should several SBS s be in one network different names must be used Fig 23 SBS IP Setup If a SBS with DHCP i...

Page 36: ...play monitoring with the Vision Sensor Visualisation Studio tool Also system settings such as IP addresses firmware updates can be modified with the Set tool l Vision Sensor Configuration Studio Complete set of functions to configure and test SBS vision sensor for one or several inspection tasks jobs in six simple logical operating steps l Vision Sensor Visualisation Studio For the display and mon...

Page 37: ... Vision Sensor Device Manager Open sensors or sensor simulation Passwords In this program you can select a sensor or a sensor simulation for configuration or display monitoring and carry out different basic settings Next topic Vision Sensor Configuration Studio Setting sensor Job Page 41 Configuring or displaying sensors In order to open a sensor for configuration or display select with a single l...

Page 38: ...r after clicking the Find button in Vision Sensor Device Manager can be add manually with eheir IP address if they are available in the network e g after a gateway and if the IP address is well known Via clicking the button Add such sensor con be found and are added to the list of active sensors in order to edit them D Functions l Find Activates another search procedure on the network to locate SB...

Page 39: ... the menu bar File User administration or via the button with the key symbol in the toolbar Fig 27 Password button 4 2 4 Password levels Fig 28 Password levels Password level Vision Sensor Device Manager Vision Sensor Configuration Studio Vision Sensor Visualisation Studio Administrator password all functions all functions all functions Worker password all functions except Config Settings Update n...

Page 40: ... button and then entering the assigned password Fig 29 Login button Fig 30 Password input Allocating an empty password means the password can be confirmed without any further entry Activation of the Deactivate password request checkbox permanently deactivates password request If passwords have been assigned and then forgotten it is possible to reset passwords to delivery status by reinstalling the...

Page 41: ...apter for description C Image Image output with graphically adjustable operating and search zones as well as zoom function also filmstrip navigation when in simulation mode D Context Context sensitive online help automatically updated for each action E Image acquisition mode Switch over between continuous free run and single image mode with trigger input either from sensor or via onscreen button F...

Page 42: ...ters necessary to perform a specific inspection task Jobs are created here and several jobs can be stored in the SBS All global settings valid for each individual job e g shutter gain illumination settings etc are also carried out here l The following basic image settings should first be made to ensure a high contrast and sharp image Image brightness Set shutter or amplification see Job General Im...

Page 43: ...detection and contour alignment is optional After selection of the alignment method set the working zones on the parameter to be used for alignment tracking by adjusting the graphic frame to the appropriate position and size on the image The associated parameters are displayed on the bottom right hand side and can also be adjusted there Alignment when used affects the positions of all the detector...

Page 44: ...is job are shown in the bottom left hand corner The parameters of the currently selected detector are shown in the bottom right hand corner and can be adjusted there If other parameters are to be checked on the same part many other detectors can be created as described above by clicking on New In the example two brightness detectors are defined to check the presence of metal contacts in a plastic ...

Page 45: ...e output module enables different settings of digital inputs outputs and data output Select and activate the interfaces in the different tabs Logically connect detector results and assign to the available I O s In order to enable the output of serial result data select the required interface and compose data string Next topic Result Page 47 ...

Page 46: ...gical connection can be assigned to each available digital output l Interfaces Selection setting and activation of the individual interfaces such as programmable input IN2 RS422 I O extension Ethernet Profinet SBSxWebViewer and Ethernet IP l Timing Setting of delay times Trigger delay result delay and duration of result l Telegram Setting and preview of data output string via RS422 or Ethernet Sel...

Page 47: ...ied out on the PC for control purposes using all the settings made All the results are produced and displayed just as on the sensor However e g execution times will not be updated as these values are only informative when implemented on the sensor itself See next step Start Sensor Next topic Start sensor Page 48 Fig 37 Result display ...

Page 48: ...or in triggered mode according to the settings made All information in the list of detectors result field or under Statistics is updated here If using triggered mode then a trigger will be required from the external control system alternatively a software trigger can be sent using the Trigger button the left hand side of the image area Next topic Vision Sensor Visualisation Studio display images a...

Page 49: ...e transmission active is activated in the configuration module under Job General The tab Result shows the individual detectors with their results and the overall result The tab Statistics shows further statistical results The Freeze image button enables result controlled images e g bad part to be kept on the display Zoom enlarges images With Archive images images and result data as previously set ...

Page 50: ...k settings Page 53 l Update Firmware update Page 54 Firmware update l User administration Passwords Page 54 Passwords button with Key symbol Fig 40 Vision Sensor Device Manager If the Configure function is not accessible button inactive login button with door arrow symbol with password entry is required If you do not know the password please contact the administrator 4 5 1 Active sensors All senso...

Page 51: ... Platform z B SBS Hardware version Hardware version RAM RAM size Flash Flash size If the Configure function is not accessible button inactive greyed out login with password entry is required If you do not know the password please contact your site system administrator Information l If no entries are shown in the list even though a sensor is connected you can refresh the list with the Find button o...

Page 52: ...rome or color version Version Firmware version Variant Sensor sub variant e g Advanced If the function Config is not accessible button inactive a Login button with door arrow symbol with password input is necessary If you do not know the password please contact your administrator 4 5 3 Find Add active sensor If no sensors are shown in the list Active sensors even though a sensor is connected pleas...

Page 53: ...click on the View button The Vision Sensor Visualisation Studio program is opened up and images and measurement results from the active jobs are displayed on screen Information Calling up Vision Sensor Visualisation Studio does not affect operation of the selected sensor s chap Vision Sensor Visualisation Studio SBS Operating and configuration software Vision Sensor Visualisation Studio all functi...

Page 54: ...File Update The appropriate firmware update file must first have been obtained via download from the Festo website or from Festo Support Select the appropriate firmware file in the file dialogue box that opens and follow the instructions Do not disconnect the power to the sensor during this process unless prompted by the onscreen instructions Fig 43 Vision Sensor Device Manager Firmware update 4 5...

Page 55: ...ut any password all functions except Config Settings Update none only display of images inspection results and statistics After software installation login is automatically carried out when the application is called up without password request No passwords are assigned Define passwords Select file user administration in the File menu or click on in the toolbar to assign passwords for the administr...

Page 56: ... Page 56 l Alignment Page 80 l Detectors Page 90 l Output of inspection results Page 172 l Result Page 196 l Start sensor Page 198 Other program functions l Trigger settings Page 200 l Switching between online and offline mode Page 200 l Simulation of jobs offline mode Page 201 using series of images l Creating filmstrips Page 201 Image recording for analysis or simulation purposes Use of Vision S...

Page 57: ...he list you must create a new job first Creating a new job 1 Click on the button New underneath the job selection list A new job entry appears in the list 2 Edit the entry with a double click on the respective line Name Description Author Further functions Function Description New Defines a new job Load Loads a job from the PC Save Saves the selected job on the PC Delete Deletes the selected job f...

Page 58: ...whole set of jobs in a job set If several jobs are stored on the sensor they form a job set which you can store as an XML file on your PC or on an external storage medium just like an individual job Next topic Parameters for image acquisition Page 59 Saving a job job set 1 Select Save job as from the File menu 2 Select Save job set as from the File menu Loading a job job set 1 Select Load job from...

Page 59: ...XGA 1280x1024 VGA 640x480 QVGA 320x240 R2BC XGA 1280x1024 VGA 640x480 When the resolution is altered all the detectors previously defined are deleted Zoom R2B only Via the Zoom function different fields of view image zones can be selected Dynamic Optimization of characteristics of image capturing Linear means linear response curve behaves like SBS products with no dynamic image capturing High mean...

Page 60: ...f Gain 1 Quadrants illumination By click on the LED single quadrants of illumination can be switched off This function may avoid reflections at low working distances Internal illumination Switch internal illumination on off External illumination Switch external illumination on off permanent External illumination is switched over Pin 09 RD To obtain a continuously updated live image even without tr...

Page 61: ...Effect Rotation 180 Rotation of image for 180 Mirror Vertical mirroring Flip Horizontal mirroring The following filters are available for image improvement Filter type Effect Gauss Image is smoothed using a gaussian filter mask This can be applied for reduction of disturbances suppression of disturbing details and artefacts and smoothing the image Erosion Extension of dark zones elimination of lig...

Page 62: ...cement of edges and the improvement of local image contrasts or the detection of surface defects Multiplication The grey value of each pixel is multiplied by the choosen multiplier 2x 4x 8x 16x Values are clipped to 255 Inversion Inversion of image The effect of an active filter is immediately visible in the image The larger the filter core is selected the stronger the effect of the filter The fil...

Page 63: ... right hand side of hte calibration tab 2 Execution of selected calibration method As soon as a calibration method is selected on the left side in tab Calibration the status LED is shown If calibration is active other functions like detectors can only be processed successfully if calibration is valid Color significance of graphical points in image and lines in Point pair list Color Significance Gr...

Page 64: ...rdinates are not absolute The coordinate values refer to the principal point in left upper corner or the field of view Example Determination of distances between two objects in mm Limited accuracy Point pair list Robotics Pick and Place Absolute calculation in world coordinates in a user defined reference system e g robot coordinate system The calibration method Point pair list serves absolute cal...

Page 65: ... the principal point in left upper corner or the field of view Beside coordinates distances are also calculated in world frame Example Determination of distances between two object in mm Unit Unit of world coordinates distances mm millimeter cm centimeter m meter in Inch Go to next previous step Calibration effects the following detectors alignment Detector Result value Contour Center coordinate x...

Page 66: ...aling Example Determination of distance between two objects in mm Parameter Scaling Parameter Function Distance image Distance in image in pixel px by graphical or numerical input Distance world Corresponding distance in world by numerical input in previously selected unit e g mm Scaling factor From above mentioned settings Distance image and Distance world resulting scaling factor e g x px mm or ...

Page 67: ...image Now type the known distance in world in field Distance world e g in mm The scaling factor is calculated and displayed From now on positions and distances are displayed and transferred in world coordinates World coordinates are not absolute The coordinate values refer to the principal point in left upper corner or the field of view Beside coordinates distances are also calculated in world fra...

Page 68: ...shutter of the sensor and the desired unit must be selected 1 Select calibration model with without correction of lens distortion and if necessary set z offset 2 Select line 1 in list box point pair list 3 Place calibration part preferably flat symmetric e g similar plain washer at exactly known world coordinate e g with robot 4 Place graphically the corresponding crosshair in the image no n corre...

Page 69: ...rdinate values in selected unit e g mm by direct numerical input of the values in the point pair list In case of e g Robotics Pick Place this values can be taken from the robot controller when placing the calibration part in the field of view Calibration parameter Calibration model With or without correction of lens distortion Z Offset if offset is given Offset between calibration plane and measur...

Page 70: ... a measure for the absolute value and orientation of the error in relation to the position accuracy of point input in world frame If there are big errors potentially x and y coordinate are interchanged with one or some points or some points are interchanged completely with others In the dialogCalibration Calibration parameter Page 70 the devaiton values errors Mean Min imum error and Max imum erro...

Page 71: ... with distortion Correction of Scaling x and y separately Tilt angle against perpendicular view to the measurement plane Lens distortion Input parameter Offset calibration measurement level in Z direction For Z 0 the calibration and the measurement plane are identical For Z 0 the calibration plane is shifted against the measurement plane The two planes are always parallel ...

Page 72: ...e from pixel to pixel on the sensor chip Reduction of resolution in tab Image acquisition effects this value Origin of coordinates pixel Point where the optical axis penetrates the measurement plane in the centre of the sensor chip compared with the ideal centre point This values refer to left upper corner in pixel Image size Image size in pixel Translation of calibration object All three calculat...

Page 73: ... Offset negative In case of Z to top and calibration plane lower than measurement plane Fig 58 Delta D Z Offset positive In case of Z to top and calibration plane higher than measurement plane Fig 59 Delta D Z Offset positive In case of Z to bottom and calibration plane lower than measurement plane ...

Page 74: ... detector determines the centre of gravity of the round calibration part PLEASE NOTE For the correct function of the commands on the sensor the interface to the robot controller e g Ethernet must be activated and the first two output values in the data string must be the x and y value Sequence for automated re calibration with interface commands via Point pair list Scenario 1 Separate Job to detec...

Page 75: ...Communication ASCII Page 316 Serial communication BINARY Page 338 Additionally to the used telegrams Trigger TRG Calibration Add Point CAP and Calibration Calibrate CCL the following telegrams are available for calibration Calibration Clear Data CCD Reset of all values of the Point pair list Calibration Validate CVL Validation of calibration Does not effect the current calibration ...

Page 76: ...Select calibration model with without correction of lens distortion and if necessary set z offset 2 Place the calibration plate that the field of view is completely covered see also Page 77 Page 77 and Page 78 3 Select the corresponding calibration plate size and type via the list box Calibration plate 4 With a click to the button Start Calibration all visible points of the calibration plate are d...

Page 77: ...eld of view Beside coordinates distances are also calculated in world frame This kind of calibration is suitable for standard lenses integrated or C mount It s not suitable for telecentric lenses Advices for the usage of calibration plates l The calibration plate must be clean and plain l The plate must be illuminated homogeneously over the entire field of view and must not be overexposed The brig...

Page 78: ...view minimum two of the blue regions must be visible Fig 64 Calibration plate detail with smaller black points in the center see above blue regions l The diameter of a white circle should be minimum 20 pixel Types sizes of calibration plates Sizes of calibration plates Number of points 50mm x 50mm 15 x 13 100mm x 100mm 15 x 13 ...

Page 79: ...cle should not be exceeded this function can be used The result of all detectors which are not processed finished after this processing time has elapsed are set to failed As the currently processed detector will still be finished please consider that the adjusted job time may not be met a 100 exactly and it may last a few milliseconds longer till the job is interrupted It s recommended to test the...

Page 80: ...nction of an alignment detector An alignment detector is a tracking coordinate system which is anchored to one selected characteristic All subsequently defined detectors are aligned in relation to this coordinate system Maximum one alignment detector can be defined for each job For information to the meaning and adjustment of the different frames see chap Search and parameter zones As alignment re...

Page 81: ...lection None Alignment deactivated Pattern matching Detection of any pattern Pattern matching can be used preferably if l There are only marginal edges parallel to axis or with strong contrast but zones with grey pattern in the image Pattern matching cannot be used if there is an angular deviation rotation of the part Edge detection Detection of horizontal and or vertical edges The detection of ed...

Page 82: ...uitable for the detection of any patterns even without clear edges and contours Color channel Page 133 Alignment detector Pattern matching Page 83 4 6 2 2 1 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on the image chip and the selected detector A image taken with a colour chip contains more information by the ...

Page 83: ...ection Higher value faster riskier overlook candidates Smaller value slower less risky all candidates Pattern Shows the taught sample red frame Edit pattern By edit ROI there can be masked out parts of the search area The parts which are not relevant for this examination can be painted out like using an eraser Masks can also be inverted means that parts which are interesting can be marked Lock Loc...

Page 84: ... the resulting point of intersection To detect edges at any angle it s recommended using the contour detector Color channel Page 133 Alignment detector Edge detector Page 85 4 6 2 3 1 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on the image chip and the selected detector A image taken with a colour chip contai...

Page 85: ... and vertical or just one i e only horizontal or only vertical i e the object is only sought in one direction Edge strengthX Y Edge strength contrast above which an edge should be detected as an edge X Y transition Selection between light dark or dark light transition Smoothing Filter for smoothing rough edges or suppressing fine lines such as e g scratches Blurred edges can be detected with a hig...

Page 86: ...e over the whole width The first edge which is detected of all search stripes is the overall result of all search stripes By increasing the number of search stripes it s assured that the first edge is found in the whole search area By increasing search stripes it may happen that the found edge strength fluctuates E g if only the half width of the search area is covered with an edge The cause is th...

Page 87: ...ameter Function Color model Color models RGB Color model RGB Page 207 HSV Color model HSV Page 208 LAB Color model LAB Page 209 Color channel Selection of a color filter Non selected colors will not be used in the resulting grey image which is processed by the detector 4 6 2 4 2 Alignment detector Contour detection Next Topic Detectors Page 90 Settings in parameter tab Parameters Functions and set...

Page 88: ...egion Unlock to modify taught pattern Fig 73 Alignment detector contour detector 4 6 2 4 3 Speed Via the here adjustable parameters the execution time can be influenced The search is processed either less detailed that means stopped earlier quicker or it s processed more detailed that means search lasts longer slower Settings in tab Speed Parameters Functions Accordance level Candidates with score...

Page 89: ...orking with robot coordinate systems and needing to define a pick point for example Settings in Result pose tab Parameters Functions None Automatically determined centre of Region Of Interest Offset Free selectable position graphically or by value input e g for robot gripper use l X Offset in X direction ref ROI centre l Y Offset in Y direction ref ROI centre l Angle angle offset ref ROI orientati...

Page 90: ...etector only all drawings on the screen can be deactivated with the exception of the detector currently being processed Next topic Creating and adjusting detectors Page 90 For information to the meaning and adjustment of the different frames see chap Search and parameter zones Fig 76 Detector list for selection here Object sensor 4 6 3 1 Creating and adjusting detectors Types of detector l Detecto...

Page 91: ...s The parameter zones are not copied All detectors must be from the same type Copy process Create all desired destination detectors they must be of the same type as the source detector Mark source detector in the list Click to button copy A list occurs mark all desired destination detectors To select several press Ctrl key Click Copy to confirm Reset Resets parameters and search and parameter zone...

Page 92: ...of brightness in selected search zone Grey level Evaluation of grey values in selected search zone BLOB Count and evaluate objects Caliper Distance between edges Barcode Barcode reading 1D Codes Code reader 2D Code Data code reading 2D Codes Code reader Optical Character Reader OCR Optical character reading Code reader Color Area Color verification inside area Color List Color verification inside ...

Page 93: ... overlook candidates Smaller value slower less risky all candidates Position check Checks whether the pattern found is in the right position If position check is activated the position frame is shown in blue either rectangular or elliptic Pattern Shows the taught pattern contents of the red frame Edit pattern By the mask there can be masked out regions of the search area The regions which are not ...

Page 94: ...e distinct sample re teach if necessary If directly after teach the found position green frame is not identical with teach area red frame the slider Accurate fast should be set to Accurate 4 6 3 3 2 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on the image chip and the selected detector A image taken with a col...

Page 95: ...s can be useful when working with robot coordinate systems and needing to define a pick point for example Settings in Result pose tab Parameters Functions None Automatically determined centre of Region Of Interest Offset Free selectable position graphically or by value input e g for robot gripper use l X Offset in X direction ref ROI centre l Y Offset in Y direction ref ROI centre l Angle angle of...

Page 96: ...he same pattern matching is performed at a position where the metal contact searched for is not mounted the score value does not reach the threshold and the result gets negative With the function pattern matching the detection is made by the grey values of the pixels at the corresponding position in the image As here the inner shiny and therefore bright region does not exist and instead of this th...

Page 97: ...rotated images it s tolerance is limited to an angle of approx 5 Patterns with higher angular deviation are not detected This behaviour can be used to detect if a part is in correct orientation in feeding application Example The following pattern was taught Fig 82 Pattern reference With the following three examples the object is detected with 100 concordance as the taught pattern is exactly the sa...

Page 98: ...ll as holes shall not be considered but all defects in the surface of the object are relevant In this example only the not marked regions inside the ROI of the detector are relevant The yellow masked regions are no longer relevant for the evaluation Fig 86 Mask Parameter Function Cursor shape Changing shape square circle or line of the cursor Cursor size Changing size of the cursor Add pixels Remo...

Page 99: ...e with Edit pattern Contrast Brightness Grey BLOB Color value Color area Color list Search region Free shape Function Mask of search regions examples For the above mentioned detectors three different shapes of search regions Circle Rectangle and Free shape are available If with shape Circle or Rectangle which can be rotated also by picking and moving the tip of the arrow the shape of the search ar...

Page 100: ...attern 3 Created be one adding and one removing circle in front of the before reset mask Example 2 Only surface defects are relevant object contour lines have to be masked Fig 89 BLOB without function Mask with a BLOB detector the surface defects and the outer and inner contour lines are detected ...

Page 101: ...t be considered Fig 91 BLOB with function Mask only surface defects are detected all contour lines are not relevant as they are masked now 4 6 3 4 Detector Contour This detector is suitable for detection of samples from edges at any angle Next Topic Contrast detector Page 109 Settings in Scaling tab Page 106 Settings in Angle tab Page 105 ...

Page 102: ...r settings must be set accordingly Fig 92 Detector contour tab contour The in the below right corner in pale blue shown edges high contrast changes in the image have been identified and drawn because of the before made parameter settings The found edges contour can be influenced by changing these parameters or by the function Edit contour The SBS now searches this contour in the search area yellow...

Page 103: ...set as standard values suitable for many applications Optimisation Execution speed l Search zone for position yellow frame only as large as necessary Please note The contour is found as long as the centre point of the pattern is inside the search area l Search zone for angle only as large as necessary l Search zone for scale only as large as necessary l Reduce resolution to CGA instead of VGA Atte...

Page 104: ...ges taught edges because of shadows or fragments of contours which are not desired in the contour model This can be achieved by increasing Min contrast pattern or by eliminating those false edges by function Edit contour 4 6 3 4 2 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on the image chip and the selected d...

Page 105: ...tor Pattern matching Function Mask 4 6 3 4 4 Settings in Angle tab Detector Contour Page 101 Settings in Scaling tab Page 106 Speed Page 107 Result offset Page 107 Contour application Page 108 Function Mask Page 98 Parameters Functions Angle range Angle range in which search is carried out Angle step Step width sensitivity of search throughout the selected angle rangein Fig 94 Detector contour tab...

Page 106: ...tector Contour Page 101 Settings in Angle tab Page 105 Speed Page 107 Result offset Page 107 Contour application Page 108 Function Mask Page 98 Parameters Functions Scale min max Detection also of enlarged or reduced objects in a given scale range Increment scale Sensitivity of search throughout the selected scale range Fig 96 Detector contour Scaling tab ...

Page 107: ...te rejection slower less risky In case of false results this value can be decreased Search levels Number of search levels Coarsening levels l Higher value faster riskier overlook candidates l Smaller value slower less risky all candidates l Auto automatic selection Fig 97 Speed 4 6 3 4 7 Result offset With the Result offset the final position of a found object can be modified This can be useful wh...

Page 108: ...ose 4 6 3 4 8 Contour application The visible edges contour of metal contact mounted in a black plastic housing are taught as the reference contour In this way the presence and the correct mounting of the contact is checked Fig 99 Contour application example positive result The found contour lines are displayed in the corner below right in pale blue The contact is found reliably ...

Page 109: ... Page 113 Contrast application Page 111 This detector determines the contrast in the selected search area Therefore all pixels inside the search area are evaluated with its grey value and the contrast value is calculated If the contrast value is inside the limits set in parameter threshold the result is positive The position of the single bright or dark pixels here is not relevant The contrast is ...

Page 110: ...s which are interesting can be marked S also chap Function Mask Overlay search region On Off of display of edited search region For newly generated detectors all parameters are preset as standard values suitable for many applications 4 6 3 5 1 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on the image chip and t...

Page 111: ...el and color channel Fig 102 Color channel Parameter Function Color model Color models RGB Color model RGB Page 207 HSV Color model HSV Page 208 LAB Color model LAB Page 209 Color channel Selection of a color filter Non selected colors will not be used in the resulting grey image which is processed by the detector 4 6 3 5 2 Contrast application Contrast detector Page 109 In the example the presenc...

Page 112: ... The presence of a shiny metal contact in the middle of a surrounding black plastic housing is checked with a contrast detector As in this configuration contrast is pretty high the contrast detector delivers a high score and in combination with alignment the whole job works reliably Fig 104 Contrast application example negative result ...

Page 113: ...rst step the range of accepted grey values is defined by setting the two limit sliders of parameter Grey level In the second step the share of the search area in which must be covered by pixels with the grey value inside the definition made in step 1 is defined with the parameter Threshold to achieve a positive result By the respective invert function all possible combinations can be defined also ...

Page 114: ...ed means that parts which are interesting can be marked S also chap Function Mask Overlay search region On Off of display of edited search region For newly generated detectors all parameters are preset as standard values suitable for many applications 4 6 3 6 2 Color channel Selection of color model and color components for the grey image used by the detector The display of the image depends on th...

Page 115: ...AB Page 209 Color channel Selection of a color filter Non selected colors will not be used in the resulting grey image which is processed by the detector 4 6 3 6 3 Grey level application Grey detector Page 113 Fig 108 Grey level application example positive result The contact is present in search area Shiny metal contact shows grey values 192 that means inside the limits of threshold result positi...

Page 116: ...he right Function detector Grey level The authorised grey value range is defined by the two limits on the grey level slider All pixels within this grey value range and within the defined working zone yellow frame are added together The proportion of the number of all the pixels in the working zone yellow frame and of the number of pixels in the authorised grey value range represents the result of ...

Page 117: ...ion can be set as Rectangle Circle or Free shape In mode Free shape Edit search region is active Edit search region With Edit search region there can be masked out parts of the search area The parts which are not relevant for this examination can be painted out like using an eraser Masks can also be inverted means that parts which are interesting can be marked S also chap Function Mask Overlay sea...

Page 118: ...Fig 112 Color channel Parameter Function Color model Color models RGB Color model RGB Page 207 HSV Color model HSV Page 208 LAB Color model LAB Page 209 Color channel Selection of a color filter Non selected colors will not be used in the resulting grey image which is processed by the detector 4 6 3 7 2 Brightness application The detector Brightness calculates the average value of the grey values ...

Page 119: ...value is within the requested threshold limits and the result is positive contact present Fig 114 Brightness application example negative result The contact is not present within the position searched for therefore the average value of the grey values in the search area delivers a low score near 0 That means the current value is not within the requested threshold limits and the result is negative ...

Page 120: ... threshold Page 124 Detector BLOB tab Features Page 127 Detector BLOB tab Sorting Page 132 BLOB Introduction BLOB abbreviation for Binary Large OBject or Binary Labeled OBject Basic function of machine vision for evaluation of connected areas objects in an image The single objects are distinguished by simple features like area width height Fig 116 Screws 1 Binarization 2 detected as BLOB object Ty...

Page 121: ...relevant objects and background Detector BLOB tab Binarization Absolute threshold Page 122 Detector BLOB tab Binarization Dynamic threshold Page 124 2 Filtering of detected BLOBs Filtering by different features like area circumference orientation position Detector BLOB tab Features Page 127 3 Data output Definition of data output telegram and sorting of results Detector BLOB tab Sorting Page 132 T...

Page 122: ...p Color detector Display always colored Color chip Object detector Monochrome image display depending on selected color model and color channel Fig 118 Color channel Parameter Function Color model Color models RGB Color model RGB Page 207 HSV Color model HSV Page 208 LAB Color model LAB Page 209 Color channel Selection of a color filter Non selected colors will not be used in the resulting grey im...

Page 123: ...Gray value range Adjusting the upper and lower limit of grey values for binarization valid for the BLOB Invert button With the Invert button default red green red the logic of detection can be inverted This way the relevant range can be included or excluded Pipette button With a click to the Pipette button the cursor changes into a pipette symbol By moving the cursor and clicking to any position p...

Page 124: ...tector BLOB tab Binarization Histogram Page 127 4 6 3 8 3 Detector BLOB tab Binarization Dynamic threshold In this tab all parameters for binarization with dynamic threshold can be set The dynamic threshold can be used if BLOBs objects and background do have clearly different grey value ranges and illumination conditions are changing uniformly over the whole image If the brightness of the image ch...

Page 125: ...6 3 8 3 1 Detector BLOB Boundary BLOBs If the checkbox Boundary BLOBs is active the selected BLOBs objects are considered even if they are not completely positioned within the yellow search region Of course they have to fulfill the BLOB filter criteria anyway Please note BLOBs are also considered as Boundary BLOBs if they are touching a zone masked with the Edit search region Function Mask even if...

Page 126: ... touching outer yellow search region but it is considered as valid BLOB yet as setting Boundary BLOBs is ACTIVE now Example 2 Boundary BLOBs touching inner Mask region Fig 123 Boundary BLOB example 2 1 BLOBs are touching inner yellow Mask regions they are not considered as valid BLOBs as setting Boundary BLOBs is NOT active ...

Page 127: ...holds are shown In the here shown example there are clear maxima for fore and background The binarization threshold is adjusted to approx the center in between Fig 125 Detector BLOB tab Binarization Histogram 4 6 3 8 4 Detector BLOB tab Features In this tab the features filter criteria to distinguish between valid and invalid BLOBs objects can be defined Processing sequence 1 Step Binarization Lis...

Page 128: ... be checked Result positive if number of valid filtered BLOBs is inside the range of Number Result negative if number of valid filtered BLOBs is outside the range of Number If the detector counts more than 10 000 BLOBs maximum the detector result is negative and no further calculations are performed Feature Function Number Lower and upper limit of number of BLOBs accepted max 10 000 If the number ...

Page 129: ...output Area Area of the BLOB without holes in pixels Area incl holes Area of the BLOB including holes in pixels Contour length Number of pixels of outer contour of the BLOB Compactness Compactness of BLOB Circle 1 all other 1 The stronger the shape of the BLOB deviates from an ideal circle the larger the value of compactness will be Range of slider 1 100 clipped at 100 BLOBs with higher values are...

Page 130: ...lel to X axis Height R1 R2 E1 Height of geometric element Height 0 height width The orientation is choosen in a way that width is always bigger than hight Exception R1 Rectangle paraxial Height always in vertical orientation parallel to Y axis Angle 180 R2 E1 Orientation of width long axis of object in degree range 90 90 0 east counterclockwise see below 1 Angle 360 R2 E1 Orientation of width of o...

Page 131: ... the result value will be 0 otherwise it will deviate from 0 The sign of the value indicates whether the side to the left or right is stronger Face up down area and Face up down contour can be used e g for discrimination of object pose as necessary in pick and place applications or with vibratory feeders Fig 129 Face up Face down area or contour The left image displays the demonstration object on ...

Page 132: ...h this method For objects where the smallest enclosing rectangle rectangle2 returns an unambiguous orientation angle e g L shaped geometries or right angled triangles the ellipse model might return better results 4 6 3 8 5 Detector BLOB tab Sorting The features that have been defined in the tab features Detector BLOB tab Features Page 127 are calculated for each individual BLOB For each BLOB the r...

Page 133: ... and the selected detector A image taken with a colour chip contains more information by the colour component than a monochrome image This feature can be used with the colour channel selection with monochrome detectors also By selection of the colour channels the composition of the grey image can be manipulated and so specific zones can be intensified or weakend Monochrome chip Display always grey...

Page 134: ...e should be detected as an edge Smoothing Edges are smoothed in search direction With higher values blurred or not to the search direction perpendicular edges are detected more reliably Also tightly located bright dark bright or dark bright dark transitions can be eliminated This way you can fade out scratches or other disturbing edges Via the Result button the effects for smoothing can be monitor...

Page 135: ...touching point is calculated If the number of search stripes 1 there a different possibilities how the final result is calculated Maximum The touching point which represents the longest distance is selected Minimum The touching point which represents the smallest distance is selected Mean Average All touching points are arithmetically averaged If there are outliers these are also used for the calc...

Page 136: ... strength Histogram with Blue line contrast gradient in image depending on Selected search ray Red line required contrast for edge detection Threshold Light blue line detected edge transition depending on Selected search ray Fit Fit or zoom of edge strength histogram Selected search stripe Selection of search stripe to be displayed in Probe x image Winner winner search stripe depending on settings...

Page 137: ...s with check characters are e g Code 39 Codabar 25 Industrial or 25 Interleaved If this setting is not activated the check character will be given out with the normal result string Min number of codes Minimum number of codes to be read inside the search area Max number of codes Maximum number of codes to be read inside the search area If this value is set higher than necessary the reading time may...

Page 138: ...tector tab Quality Page 139 Fig 136 Detector Barcode tab Reference string Settings in tab Reference String Parameters Functions Compare string Activates verification of contents of the result information The verification is done by using of regular expressions Ref string This text or regular expression is taken for verification Here can be entered characters or regular expressions Add expression O...

Page 139: ... of string or ZMatches end of string a trailing newline is allowed Matches any character except newline Matches any character listed in the brackets If the first character is a this matches any character except those in the list You can use the character as in A Z0 9 to select character ranges Other characters lose their special meaning in brackets except Allows 0 or more repetitions of preceding ...

Page 140: ... was not read Symbol contrast is the difference between minimum and maximum reflexion value of greyscale better contrast gives better grading Minimal reflectance is set to 4 if the lowest reflectance value in the scan reflectance profile is lower or equal to 0 5 of the maximal reflectance value Otherwise a value of 0 is assigned Edge contrast is the contrast between any two adjacent elements eithe...

Page 141: ...information for possible causes for poor quality of the symbol The grades in the LINEAR group correspond to those for the simple 1D bar code case described above The grades in the COMPOSITE group correspond to the grades for a PDF 417 data code symbol where rap overall is called after the specific so called RAP start stop pattern of Composite symbols Additionally the sub group COMPOSITE RAP expand...

Page 142: ...lead to a speed up of the subsequent finding and reading operation Orientation Expected bar code orientation If the bar codes are expected to appear only in certain orientations in the processed images one can reduce the orientation range adequately This enables an early identification of false candidates and hence shorter execution times This adjustment can be used for images with a lot of textur...

Page 143: ...de are found by setting of a threshold Parameter Edge contrast relative defines how this threshold in respect to the dynamic range of the scan line pixels is calculated In the case of disturbances in the bar code region or a high noise level the value of Edge contrast relative should be increased Typical values 0 05 0 2 Default 0 05 Edge contrast absolute Edge contrast absolute prevents misdetecti...

Page 144: ...en all lines of the barcode are parallel in image If slanted Auto the sensor tries first On and then Auto this setting can increase reading time List of values Off Auto On Default Off Quiet zone Enforces the detection of the quiet zones of a bar code With Quiet zone on the Quiet zones must be at least as wide as specified by the corresponding bar code standard With Quiet zone set to an integer val...

Page 145: ...parameters back to the default state before teaching There can be selected standard enhanced and maximum Standard is setting the default parameters in a way that most of the codes can be read If your code can not be read please use setting Enhanced If the code still cannot be read use setting Maximum Settings Enhanced and Maximum may increase the reading time This reset function is only for resett...

Page 146: ...ions Optimisation Execution speed l Search zone for position yellow frame only as large as necessary Robust detection l Search zone for position yellow frame sufficiently large l Contrasts for model and image suitably set for model visible in sample l Are thresholds set correctly 4 6 3 11 2 2D Code detector tab Ref String 2D Code detector Page 144 Barcode detector Page 136 Barcode detector tab Qua...

Page 147: ...ning sequence of the characters of length 2 23 12 34 String containing a character of one of both groups 4 Most important elements of regular expressions or AMatches start of string or ZMatches end of string a trailing newline is allowed Matches any character except newline Matches any character listed in the brackets If the first character is a this matches any character except those in the list ...

Page 148: ...tes how strong the amplitudes of the data code modules are Big amplitudes make the assignment of the modules to black or white more certain resulting in a high modulation grade The fixed pattern of both ECC200 and QR Code is of high importance for detecting and decoding the codes Degradation or damage of the fixed pattern or the respective quiet zones is assessed with the fixed pattern damage qual...

Page 149: ...on to ISO IEC 15415 Standard which define the requirements of the grey value conditions oft he image oft he data code and so improves the reproducibility of the quality evaluation of different manufacturers Quality parameters according to AIM consist of one value more than quality parameters according to ISO IEC 15415 This value is called Mean Light Mean light is not a quality value of the code it...

Page 150: ...ether the symbol is or may be mirrored which is equivalent to swapping the rows and columns of the symbol The function helps if codes should be read through transparent parts like glass 4 6 3 11 5 2D Code detector tab Symbols 2D Code detector tab Advanced Page 149 2D Code detector tab Modules Page 150 Fig 144 Detector 2D Code tab Symbols Settings in tab Symbols Parameters Function Symbol size Only...

Page 151: ...e in pixels Module aspect Only PDF 417 minimum aspect of modules rows compared to columns Module row gap Only ECC200 and QR Code allowed gap between rows i e at dot peened codes which have no full size modules Module column gap Only ECC200 and QR Code allowed gap between columns 4 6 3 11 7 2D Code detector tab Miscellaneous 2D Code detector tab Modules Page 150 Detector OCR Page 152 Fig 146 Detect...

Page 152: ...aches are tested one after the other Please note that the value of module_grid is ignored if finder_pattern_tolerance is set to high In this case an equidistant grid is assumed Strict model Specifies if the code parameters have to be meet completely or not If this parameter is set to Yes all codes outside the parameter range will be ignored Position pattern Only QR Code Number of position detectio...

Page 153: ...on l Optimizing of segmentation by use of the tabs Characters and Segmentation Goal is to get a stable segmentation for all single characters The result of classification reading result is not important in this step this will be optimized later l Segmentation can be improved by use of image pre processing in tab Job Pre Processing e g by use of Gauss Mean or Dilatation Erosion or a combination of ...

Page 154: ...Segmentation with value 3 3 for parameter Groups of characters Only the both groups of 3 characters are found Fig 150 Figure 118 Segmentation without preset for parameter Groups of characters The segmentation for the first character 1 failed as it s contrast to background is much lower than all others Fig 151 Figure 119 Segmentation with value 3 3 2 1 for parameter Groups of characters Also the lo...

Page 155: ...with parameter Text orientation Font horizontal in image No characters are segmented as there are no characters with horizontal orientation in the image Fig 153 Figure 121 Segmentation with parameter Text orientation Font horizontal in ROI Segmentation works as characters are horizontal relative to ROI search area ...

Page 156: ...nipulation of classification of the recognized characters For each segmented character a rating value confidence in relation to each in the whole set of characters font available character is calculated If reference string is not used the character with the highest rating value confidence is the winner By use of reference string the N best alternatives will be considered No of alternatives Maximum...

Page 157: ...of ROI a rotation angle for reading of rotated text can be specified Max number of lines Max number of lines to read Upper case only Limitation to capital letters only Connect dots to characters Connects single dots e g of a dotted font or of a bad printed font for complete characters Overlay character size Switch on and off overlay rectangle for size of letters Overlay segmentation Switch on and ...

Page 158: ... or comma Return separators Activates output of special characters like dash Groups of characters Enables possibility to specify the spacing of characters to read E G if characters are always printed in two groups of four characters this can be specified by input of 4 4 This function should be used if in several reading attempts in one and the same image a different string length is read Max devia...

Page 159: ...a regular expression then the expression will try to use known characters to best fit the expression ie Day 3 letter MON TUE WED etc is the segmentation and decode gives M0N rather than MON then the camera software will automatically correct the number 0 to become a letter O Add expression Opens a list with regular expressions Teach ref string Reads the code below the Code Reader and copies the co...

Page 160: ...ring a trailing newline is allowed Matches any character except newline Matches any character listed in the brackets If the first character is a this matches any character except those in the list You can use the character as in A Z0 9 to select character ranges Other characters lose their special meaning in brackets except Allows 0 or more repetitions of preceding literal or group Allows 1 or mor...

Page 161: ...Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Page 161 Vision Sensor Manual Dot print Handwritten Industrial MICR ...

Page 162: ...Page 162 Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Vision Sensor Manual OCRA OCRB Pharma ...

Page 163: ... be not read and will be replaced by the replacement character Replacement character Output character for the case that minimum confidence was not reached 4 6 3 12 6 Result OCR This function executes the job defined on the PC and the Result statistics window is displayed with Detector list and Evaluation results Execution times are not updated in this mode as they are not available from the sensor...

Page 164: ...was reached Truncated Indicates if a part of the string was truncated 4 6 3 13 Detector Color value Output of average color values RGB HSV LAB over one of the interfaces Color channel Page 169 Tab Color value Page 165 4 6 3 13 1 Color channel Selection of Color models Page 207 or color channel on which the detector should work The display of the image depends on the image chip and the selected det...

Page 165: ...age 98 Fig 162 Color value Parameter Color channel dependent from setting of color model detector Function Red Hue Lightness 1 Threshold for selected channel min max Green Saturation A Threshold for selected channel min max Blue Value B Threshold for selected channel min max Search region Sets search region as rectangle as circle or as free shape If free shape was selected Edit search region gets ...

Page 166: ...olor channel Page 169 Detector Color area Color select Page 167 Detector Color area Thresholds Page 168 4 6 3 14 1 Color channel Selection of Color models Page 207 or color channel on which the detector should work The display of the image depends on the image chip and the selected detector A image taken with a colour chip contains more information by the colour component than a monochrome image T...

Page 167: ...aturation A Threshold for selected channel min max Blue Value B Threshold for selected channel min max Search region Sets search region as rectangle as circle or as free shape If free shape was selected Edit search region gets active Edit search region By edit ROI there can be masked out parts of the search area The parts which are not relevant for this examination can be painted out like using an...

Page 168: ... Limits for color detection can by set by moving small markings below the histogram The selected range of colors is shown by colored areas Crossing the limits results in invertion of the selection If a color can be detected reliable by using only one channel the other channels have to be set to max min limits to avoid disturbing influence to detection Fig 165 Color histogram 4 6 3 14 3 Detector Co...

Page 169: ...he image chip and the selected detector A image taken with a colour chip contains more information by the colour component than a monochrome image This feature can be used with the colour channel selection By selection of single colour channels specific zones can be intensified or weakend Monochrome chip Display always black white Color chip Color detector Display always colored Color chip Object ...

Page 170: ... Namen geändert werden z B Rot Gelb Blau Sample color Ouput of taught color as colored area and in numbers RGB HSV LAB Teach Teach color in active line if more than one color has to be taught in one and the same image a small ROI has to be moved to every color Add new line at end of list Delete active line Delete all Delete complete list Up Move marked line one line up Down Move marked line one li...

Page 171: ...n of a different color in this color model Predestinated applicaitons Sorting of colored object via the list index Simple control of homogenious colored areas average of color value over ROI teach adjust small color distance tolerance band that s it For newly generated detectors all parameters are preset as standard values suitable for many applications 4 6 3 15 2 1 Color histogram Depending from ...

Page 172: ...uts In the list box there can be seen and selected all available functions for this input or output Some functions can be assigned only to one special input or output e g HW Trigger Fig 170 Output I O Mapping 4 6 4 1 1 Functions of inputs Function Description H W Trigger Hardware Trigger only on pin 03 WH available Encoder A Input for encoder Track A only on pin 10 VT available Encoder B Input for...

Page 173: ...ed if active If Repeat mode enable is used this implicitly causes function Trigger enable at the same time That means only if a high signal is at this input triggers are accepted and executed see below Input Repeat Mode Enable with Trigger Page 177 Multishot trigger only if Mutishot active Default setting if Mutishot is active instead of above mentioned H W Trigger No function undefined no functio...

Page 174: ...n Acknowledge job change Can be used to get a confirmation after successful job change via digital I O Job 1 n or Job Pin X binary coded Rising edge indicates successful job change high level is reset after 20ms If job switch was not successful signals remain low External illumination If this setting is selected via pin 09 RD available only a external illumination can be connected triggered No fun...

Page 175: ...e Ready is set to low Ready remains low until switch over to the new job is done If the option Job change confirm is used this signal occurs after the job change and hereafter Ready is set high again During Job Change via binary inputs there must not be sent any trigger signal The change of the logic levels of the according inputs must happen at the same time during maximum 10ms all inputs must ha...

Page 176: ...n For switching between jobs via impulses Only possible when Ready high With the first impulse Ready is set to low Impulses are counted until the first delay of 50ms and then switches to the appropriate job Ready remains low until switch over to the new job occurs If the option Job change confirm is used this signal occurs after the job change and hereafter Ready is set high again During Job Chang...

Page 177: ...has been completed Storage is either temporary only in RAM or permanent in flash according to the setting Fig 177 Input timing Teach Attention The functions Job 1 or 2 Job 1 n or teach temp perm can only be used in trigger mode 4 6 4 2 5 Input Repeat Mode Enable with Trigger Images are captured and evaluated as long as this input is on high level and none of the following stop criteria is fulfilll...

Page 178: ...settings in tab IO mapping Additionally an IO extension can be connected over the serial interface Fig 180 Output tab digital output Description of different cases with a signal diagram For each pin output there are the following possibilities Parameter Function Overall job result No physical output effects recorder statistics and archiving functions Invert Invert total result for this pin output ...

Page 179: ... the checkboxes in the detector selection list The result is displayed in the logical formulas window cannot be edited Connecting results 1 Select the logical operator to be used for connecting the detectors in the selection list from the operator window 2 Activate the detector in the selection list which is to contribute to the result tick in the Active column By activation the Inverted column yo...

Page 180: ...munication They are installed together with this software in utilities directory Ethernet IP Field bus Ethernet IP for data output Vision Sensor EtherNet IP Introduction Page 283 Profinet Field bus Profinet for data output PLC communication The Vision sensor starts the Profinet Stack as soon as a job with Profinet is selected Due to this the cycle time is slightly extended Switching into a job wit...

Page 181: ...so SBS SBSxWebViewer Page 181 For further informations see User manual chapter Communication Information The outputs and interfaces can be separately activated or deactivated in the Active column Logical outputs By using the RS422 Ethernet and EtherNet IP interface additional pure logic outputs can be defined which just exist logically and can be communicated via one of these interfaces only Logic...

Page 182: ...he Browser Results Functions Switch off help window Zoom of image A click into the images brings back the original smaller view On off of result bargraph On off of overlays Store current image as a file Switches between languages Switches between Result Statistics and the list of Jobs available on the sensor ...

Page 183: ...ctivate SBSxWebViewer at Output Interfaces SBSxWebViewer Start sensor press button in Vision Sensor Configuration Studio Open Browser Type the IP address of the sensor see Vision Sensor Device Manager into the address field of the browser Format http Your Sensor IP e g http 192 168 100 100 default Note The following web browsers are supported Microsoft Internet Explorer from IE10 Google Chrome and...

Page 184: ...ctive Trigger via Ethernet Profinet this delay is not effective image is captured on trigger directly Digital outputs All outputs can be delayed or only the ejector output Ejector result delay Time between trigger and appearance of result level at the signal outputs in ms or encoder pulses Between trigger and ejector maximum 20 parts are allowed buffer size Max time no of steps is 3000 ms encoder ...

Page 185: ...to inactive after the Valid duration time setting here in ms typical use with e g pneumatic ejectors S Vision Sensor Configuration Studio Output Timing Signalling READY AND VALID l If Ready high Ready for next image evaluation l If Valid high Results are valid at the outputs PNP or NPN operating mode All the described examples are in the operation mode PNP If the setting NPN is used the examples a...

Page 186: ...valuation is taken the adjusted Trigger delay time elapses l Now the evaluation starts As soon as the results are valid the outputs change to the according logical levels Ready and Valid are set to high again ready for next task outputs valid Fig 187 Output timing and Trigger delay 4 6 4 5 1 3 Trigger delay Result delay here Ejector only Trigger delay concerns hardware trigger only The result dela...

Page 187: ...evaluation time of the job can have slight variations Sequence Image is taken after the trigger delay time is elapsed Furthermore the Result delay is active in this example to ALL outputs For all defined outputs the cycle time is Result delay only Counted from trigger only make sense if longer than summation of Trigger delay Evaluation time s Vision Sensor Configuration Studio Output Timing Output...

Page 188: ...ached If during the Min Cycle time a further trigger is coming in it is ignored Maximum job time interrupts a job after a defined time Job result after a timeout is not o k Maximum job time should be selected higher than the time demand for one execution The Cycle time measures the time from Trigger till the setting of the outputs If the cycle time should be limited e g because of a machine cycle ...

Page 189: ...for part A and it s ejection is so much time distance that the SBS already has to check n up to 20 parts possible further parts which also has to be ejected later Only available in mode Vision Sensor Configuration Studio Output Timing Delay Ejector only Ejector result delay Here Signalling Result duration alternatively also Change on result This function is limited on 20 parts between trigger and ...

Page 190: ...ntents of protocol Often required standard contents can be added to the output string by simply filling them in or activation via the checkbox Start Characters which are inserted at the beginning of the payload data sting Binary or ASCII Trailer Characters which are inserted at the end of the payload data sting Binary or ASCII Separator Characters which are inserted behind each payload value ASCII...

Page 191: ...with spaces ASCII or zeros binary No of results BLOB only Number of results of a BLOB detector which found several objects Example feature area was selected and 10 BLOBs have been found here up to 10 of these area values can be transmitted All available output data see Serial Communication ASCII Page 316 Serial communication BINARY Page 338 chapter Data Output in ASCII Binary 4 6 4 6 1 Possibiliti...

Page 192: ... this folder 4 6 4 6 1 4 Ram disk in the sensor In the sensor the last image as well as the numeric data of the last evaluation which has been configured under Output Telegram are stored in a csv file in a Ram disc folder under tmp results This function is activated under Job Image transmission To access this data an ftp connection must be established actively to the sensor Therefore an ftp client...

Page 193: ...e symbol exclamation mark inside life picture means that image display transfer on PC is slower than image processing on SBS Not all images are transferred and displayed on the PC This may cause lost images during archiving If this symbol occurs often PC programs running in background should be closed in order to improve PC performance Parameters Functions and setting possibilities Vision Sensor V...

Page 194: ...ving images Access Description Max number of images Image filter Drawings Image recorder in SBS Ram Images stored in run mode on SBS can be transferred by Vision Sensor Configuration Studio or Vision Sensor Visualisation Studio to a PC 10 like predefined in settings Filter no Vision Sensor Visualisation Studio archiving Vision Sensor Configuration Studio save image Images transferred to Vision Sen...

Page 195: ...ith Vision Sensor Device Manager IP Address IP Address of target server Sharing name Sharing name specified in dialog Advanced Sharing in PC Workgroup Domainname Option Workgoup Domainname of server client User name User name for FTP SMB connection Password Password for FTP SMB connection Directory name pass Directory for archiving of data of good parts pass for C TESTPASS just enter TESTPASS Dire...

Page 196: ...ced by the newer ones Max number of files Maximum number of file sets image protocol which are allowed to be stored in the target directory Fig 196 Tab Output Archiving 4 6 5 Result With this function the defined job is processed in the PC and the Results statistics window with the detector list and the evaluation results is displayed The cycle times are not displayed in this mode as they are not ...

Page 197: ...our Deviation of coordinates found in contrast to taught position through alignment Position check Pattern match Contour Position found within the defined position frame Angle Pattern match Contour Orientation absolute angle of parameter found Delta angle Pattern match Contour Angle deviation between parameter taught and parameter found Scale Contour Scale of contour found in contrast to taught co...

Page 198: ...odule Vision Sensor Visualisation Studio numeric results statistics and images with or without the selected frames can be archived 4 6 5 1 1 Score value with result of caliper detector in case of Caliper detector the result value Score Score 1 and Score 2 have the following meaning Score 1 Score 2 value of Edge strength in grey values normalised to 100 hight of maximum in histogram Score smaller v...

Page 199: ...ion list are shown in the configuration window along with statistical parameters Changing detector display To display the inspection results for another detector mark it in the selection list or click on its graphic representation in the display window Quitting job execution Click on the Stop Sensor button You are now back in configuration mode and can edit your job Fig 199 Start sensor 4 6 7 Furt...

Page 200: ...ace 2 Trigger mode free run First click on the Single image button Continuous Continuous supply of images image recording occurs continuously when 1 Trigger mode triggered Each external trigger or with each click on the trigger button on the interface 2 Trigger mode free run Continuously through internal self triggering with maximum frequency When exposure time amplification illumination or resolu...

Page 201: ... 4 Creating filmstrips In configuration mode images from the sensor are continuously loaded into the PC s RAM After switching from online to offline mode max 30 images are available and can be stored as a series of images in a filmstrip file Alternatively or in addition to the images stored on the sensor you can load series of archived images or individual images on your PC or an external storage ...

Page 202: ...y location of the file is shown in the column source filmstrips stored on the PC Film individual image stored on the PC File image in sensor memory Sensor After switching from online to offline mode all entries are Sensor 4 6 7 4 3 Editing filmstrips You can create new films from the individual images in the selection list regardless of their source The following functions are available for this p...

Page 203: ...ed selection of these functions 4 6 7 5 Image recorder An image recorder is available in the Vision Sensor Configuration Studio and Vision Sensor Visualisation Studio programmes When the recorder is activated either all images or just error images are continuously loaded into the internal memory This covers 10 images the oldest images are in turn replaced FIFO buffer The recorded images can then b...

Page 204: ... The inspection results associated with the images OK or error and the date are stored in the file name format YYMMDD_running no _Pass Fail bmp e g 090225_123456_Pass bmp l If you want to record detailed inspection results with the images use the function Archive in Vision Sensor Visualisation Studio l If you only want to record a single image with or without overlay you can use the function save ...

Page 205: ...tectors l Focussing aid Displays image sharpness see also Job settings l Enlarged display Insertion of a separate enlarged display window which can be adapted to the required scale using the adjustment handles at the corners of the frame The module Vision Sensor Visualisation Studio offers a limited selection of these functions 4 6 7 7 Search and parameter zones You can define search and parameter...

Page 206: ...shown 4 6 7 7 2 Adapting search and parameter zones The zones initially displayed in standard size and position can be selected marked in the image or in the detector list and altered in size and position Eight adjustment handles on the frame enable you to adapt the shape and size of the frame Its position can be displaced by clicking anywhere inside the frame The arrow at the side of the frame po...

Page 207: ...lue of minimum concordance has been achieved l Red bar The object could not be found with the required degree of concordance The graphics displayed can be selected in the View menu 4 6 7 8 Color models For description of colors there are available color models SBS Color is able to work on different color models The following color models can be selected Color model RGB Page 207 Color model HSV Pag...

Page 208: ...ans RGB is never the same as RGB Linear RGB RGB values are calculated as linear RGB values as the sensor chip delivers linear RGB values Advantage of the linear RGB value is the linear relation between physical impact and RGB value Example Doubling the shutter time leads to doubling of RGB values if all other illumination conditions remain stable 4 6 7 8 2 Color model HSV HSV color model is the mo...

Page 209: ...s stand for red Range of values from 150 to 100 b axis describes the blue and yellow components of a color negative values stand for blue positive values stand for yellow Range of values from 100 to 150 L axis describes the lightness of the color with values from 0 to 100 One of the most important properties of the L a b color model is the independency from the technology used for capturing and di...

Page 210: ...ge transmission active The current image along with the frames for the defined search parameter and position zones and parameters found are displayed l Image transmission inactive Only the frames for the defined search parameter and position zones and parameters found are displayed current image is not displayed The degree of concordance between the parameter searched for and the parameter found a...

Page 211: ...e 4 7 2 1 Zoom With the button Zoom the image is opened in a new window with enlarged display 4 7 3 Image recorder An image recorder is available in the Vision Sensor Configuration Studio and Vision Sensor Visualisation Studio programmes When the recorder is activated either all images or just error images are continuously loaded into the internal memory This covers 10 images the oldest images are...

Page 212: ...n Vision Sensor Visualisation Studio A display window appears in which you can load images stored in the sensor s RAM on to the PC and then examine and save them Fig 212 Image recorder Parameter Function Back Displays the previous image Next Displays the next image Save Saves the image displayed on the PC or an external storage medium Save all Saves all images Information l The running number of t...

Page 213: ...ecorder l Images will get a time stamp when loading them from Vision Sensor l Loading images from the sensor on to the PC deletes data on the sensor If the recorder window is closed without images having been saved they will also be deleted from the PC l Images are lost from the buffer in the event of a loss of power 4 7 4 Archiving test results and images You can archive images with and without g...

Page 214: ...etc are archived in an additional csv file Setting Legacy Configured determines the format of storage csv With Legacy 1 the content is predefined with Configured the content can be defined in Output Telegram 1 The storage mode Legacy is obsolete and only provided for reasons of backward compatibility It will be omitted with one of the next versions 2 Select the required options and confirm your ch...

Page 215: ...lection list are displayed in run mode The image search and parameter zones and result graphs appear when set in the display window The parameters displayed vary according to the type of detector selected Fig 214 Vision Sensor Visualisation Studio Result Param results displayed Detector type Function Result all Part parameter detected detected green not detected red Score 1 n all Degree of concord...

Page 216: ...or model HSV Color list Color value Saturation of color Brightness Color model HSV Color list Color value Brightness of color Lightness Color model LAB Color list Color value Lightness of color A Color model LAB Color list Color value A value of color B Color model LAB Color list Color value B value of color To show inspection results for another detector mark it in the selection list You can arch...

Page 217: ...llowing states l Buffer of delayed outputs will be deleted l Digital outputs will be reset to default at change from Run to Config Defaults are set by flag Invert in output tab Invert inverts the default setting and also the result l Ready and Valid Ready and Valid show at Job change and at change of operation mode from Run to Config that the SBS is not ready and that results are not valid Low lev...

Page 218: ...nsor Visualisation Studio Job set upload Information l A job set consists of one or several jobs which are simultaneously stored in the sensor or on the hard disk l Use of functions which can stop the active sensor may require password entry User user group see user administration l Select a job or job set from the list and load it on to the sensor with the Upload button l This action deletes all ...

Page 219: ... use the different possibilities to communicate with a SBS is illustrated in a few examples The following examples show how to work on the PC end with a Serial and Ethernet software tool Here the tool Hercules is used This tool and the settings made here are examples for your PC or PLC application and all settings necessary you can see in these examples If you also like to use the tool Hercules SE...

Page 220: ... here any other settings can be chosen to do a setup which fit to your network environment If necessary please contact your network administrator Step 2 In tab Telegram the payload which should be transferred via Ethernet port 2005 are set up In this example it is l Start 010 l Overall result of detector 1 l Trailer xxx l As format ASCII is defined that makes traceability easier The function with ...

Page 221: ...erver SBS Fig 220 Data output Ethernet tool 1 Here the IP address of the des SBS and the correct port number must be set up to receive data The IP address of the SBS you find in Vision Sensor Device Manager Please look at the first line in the window Active Sensors 192 168 60 199 Fig 221 Vision Sensor Device Manager IP address The port number for the output port was taken over from Step 1 with por...

Page 222: ...he SBS is established and shown in the main window in green letters Fig 222 Figure 168 Data output Ethernet Tool 2 Step 5 The SBSnow needs to be started form the PC application with Start sensor Later in autonomous operation the SBS directly starts after power on and sends data if configured this way In the example Trigger mode is Continuous that means evaluation is done continuously and data is s...

Page 223: ...223 Vision Sensor Manual Fig 223 Data output Ethernet Start sensor Fig 224 Data output Ethernet Tool 3 Then here visible data are displayed as set up in Output l Start 010 l Overall result of detector 1 P for positive as result of detector Brightness is Pass ...

Page 224: ... mode is used That can be done as follows Adjust Job Image acquisition Trigger mode Trigger All other settings remain the same like in example 1 Fig 225 Data output Ethernet Trigger Step 2 To send commands requests to the SBS a second instance of Hercules is started This time with Port 2006 as input port of the SBS where it can receive commands All telegrams commands and response strings to and fr...

Page 225: ...output Ethernet Tool 5 In the example the command GIM0 GetIMage0 was sent to the SBS It responds with the binary image data which are shown in the right window That means the data output of the manually under Output defined payload data happened via port 2005 But the response to the request GIM0 was transferred via port 2006 This rule is valid for all payload or response data Attention to use the ...

Page 226: ...62650 1607b 13 09 2016 Vision Sensor Manual Fig 228 Data output Ethernet Job switch Job 1 Job2 was set up with detector 1 and data output l Start 020 l Overall result of detector 1 l Trailer yyy Fig 229 Data output Ethernet Job switch Job 2 ...

Page 227: ...Trigger s below first line Send was sent This is displayed in the main window in red letters TRG The SBS responds with the acknowledge TRGP repetition of the command TRG and P for positive In the window to the left port 2005 the SBS where currently Job2is active sends the according result string which was defined under Output in Job 2 with 020Pyyy Fig 231 Data output Ethernet Job switch tool 2 Now...

Page 228: ...Port 2005 only one direction Sensor PC all payload data defined in Output B Port 2006 both directions Sensor PC commands requests to the SBS with acknowledge all response data to the request no payload data Fig 233 Ethernet ports 5 1 2 RS422 Numerical data that has been defined under Output Telegram now can be transferred in ASCII or Binary format Ethernet The sensor here is the socket server and ...

Page 229: ...king the checkbox The default settings for Baud rate 19200 and Logical outputs 0 remain as they are Here of course any other settings can be done which must have its corresponding setting at the other side at the PC or PLC whatever used Step 2 In tab Output the payload data which shall be transferred via RS422 are defined In this example this is l Start 010 l Overall result of detector 1 l Trailer...

Page 230: ...er in autonomous operation the SBS directly starts after power on and sends data if configured this way In the example Trigger mode is continuous that means evaluation is done continuously and data is sent continuously too All this data is visible in the main window of Hercules Fig 236 Start sensor Step 4 After start of Serial tool Hercules tab Serial must be selected to communicate via RS422 with...

Page 231: ...rate you see in tab Output Interfaces The number of the serial COM port COM x of the PC you find out in Windows at Start Control Panel Performance and Maintenance System Hardware Device Manager at Universal Serial Bus Controllers Here COM5 The rest of the settings at the right are the default values of Hercules DTR and RTS must be activated With a click to the button Connect the connection to the ...

Page 232: ... 13 09 2016 Vision Sensor Manual Fig 238 Data output RS422 COMx Step 5 With a click to button Send the command TRG is sent to the SBS It responds with TRG followed by P for positive and the payload data 010Pxxx Fig 239 Data output RS422 tool 2 Step 6 ...

Page 233: ...ay Fig 240 Data output RS422 tool 3 5 1 2 1 1 RS422 example 1 1 command Job switch from PC PLC to SBS With response data outputs from SBS Step 1 Here the same setting for Job and Output are used as in Ethernet Example 2 1 For better traceability in this example the triggered mode and ASCII format is used That can be done as follows Adjust Job Image acquisition Trigger mode Trigger All other settin...

Page 234: ... 8062650 1607b 13 09 2016 Vision Sensor Manual Fig 241 Data output RS422 Job switch Job 1 Job2 was set up with detector 1 and data output l Start 020 l Overall result of detector 1 l Trailer yyy Fig 242 Data output RS422 Job switch Job 2 ...

Page 235: ... and Maintenance System Hardware Device Manager at Universal Serial Bus Controllers Here COM5 The rest of the settings at the right are the default values of Hercules DTR and RTS must be activated With a click to the button Connect the connection to the SBS is established and shown in the main window in green letters Step 3 With the command TRG Trigger s below line 1 Send an image acquisition and ...

Page 236: ...r switched to is sent and displayed in main window Fig 244 Data output RS422 Job switch tool 2 Step 5 After the next Trigger command TRG s below line 1 Send the command TRG the next evaluation is performed and the response TRGP repetition of command TRG and P for positive is sent Also as now Job 2 is active the result string 020Pyyy like in Job 2 defined is transmitted ...

Page 237: ...tput RS422 Job switch tool 3 5 1 2 2 Settings to connect the I O Box for I O extension or ejector control to the SBS To operate the I O Box with the SBS the following settings in Output Interfaces External I O extension must be done Setting 1 8Inputs_32Outputs Enable Mark checkbox in column Enable ...

Page 238: ...ia Vision Sensor Visualisation Studio images and numerical data in csv format can be stored into a folder on the PC The setup folder is done via Vision Sensor Visualisation Studio in menu File Archiving This function is available on PC only Step 1 Start Vision Sensor Visualisation Studio from Vision Sensor Device Manager Click to button View Fig 247 Vision Sensor Device Manager ...

Page 239: ...48 Vision Sensor Visualisation Studio Archiving Now the following dialog box occurs to set up parameter for archiving Parameter Function Path for archiving Directory in which archived file s are stored Settings Automatic Start Starts archiving automatically after start of Vision Sensor Visualisation Studio Settings Archive image circularly Activates cyclic overwriting of oldest images if limitatio...

Page 240: ... required options and confirm your choice with OK 5 1 3 1 Start end archiving Click on the button Archive images in the Commands filed to start or end the archiving function with the above mentioned settings The name of the image file currently to be stored appears in the status bar Archiving is carried out for as long as the button Archive images is pressed Fig 249 Vision Sensor Visualisation Stu...

Page 241: ...Easy FTP Server a ftp communication was established and image and result data are stored on the hard disc of the PC In the ftp server with the account wizard a user account with the name SBS_FTP was created A password and a path for data storage have been specified and upload and download are activated Fig 250 FTP Server In Vision Sensor Configuration Studio now at Job Archiving the according sett...

Page 242: ...der on the PC without any of the applications Vision Sensor Device Manager Vision Sensor Configuration Studio or Vision Sensor Visualisation Studio active Fig 252 Transferring files with FTP The function via smb works analogue via a smb server which must be set up in the according kind 5 1 4 2 Example Archiving via smb To archive data and or images via SMB Server message block at the end of the PC...

Page 243: ...nsor Manual 5 1 4 2 1 Settings for SMB on PC Create folder and share it Fig 253 Create folder to write data and or images Via right click to the folder here Test_SMB select properties In the following dialog Test_SMB Properties select tab Sharing and open Advnaced Sharing ...

Page 244: ...g In the dialog Advanced Sharing activate Share this folder As Share name the name of the folder Test_SMB is suggested Here any other name can be set In this example the suggested folder name is used Important This Share name must be set later in the SBS SMB Interface With a click to Permissions the following dialog appears ...

Page 245: ...With this choice everybody in the network has free access to the folder without any further login and in the SBS SMB interface the fields User name and Password remain empty or select a user here fsc for which user name and password is known User name and password are necessary later to be set in the SBS SMB Interface Activate Full control and close the dialog with Apply and OK ...

Page 246: ...56 Set permissions Now close the dialog Advanced Sharing and Test_SMB Properties with Apply and OK also The access for the here selected user to the selected folder on the PC now is set and now the corresponding settings in the SBS Interface Vision Sensor Configuration Studio can be made ...

Page 247: ... SMB Interface After starting Vision Sensor Configuration Studio select select Job Archiving Archive type SMB Do the follwing settings IP addresse IP addresse of PC this can be found with command ipconfig via Start run cmd s following screenshot In this example 192 168 60 14 Fig 258 IP Adresse des PC via Start Ausführen cmd ipconfig ...

Page 248: ... will be generated automatically a csv file for each inspection trigger Contents of the file is like specified in Output Telegram Filename with incremented counter Image contents Possibility to select whether images should be stored including the selected software filter or raw as taken from the camera Storage mode Limit after reaching maximum number of files transmission is stopped Unlimited file...

Page 249: ...ctivated in Job Image transmission To access these data an ftp client connection must be established to the sensor If l Vision Sensor Configuration Studio Job Image transmission Ram Disk is activated in the SBS always the last image any pass failed parts are stored File image bmp in folder tmp results l Vision Sensor Configuration Studio Output Telegram data has been specified this are also stored...

Page 250: ...rd in factory setting is user l First change to the folder on the PC where the data should be stored l With ftp IP_Adr_SBS a connection to SBS is established l User name user l Password user l Go to folder tmp results on the SBS l There are the both files image bmp and results csv if in Output Telegram a data string was defined as image and result data of the latest evaluation l With command get i...

Page 251: ...ese settings with the command Save job as or Save job set in Vision Sensor Configuration Studio File With the commands Load job or Load job set these settings can be restored to the sensor later 5 2 2 Exchange SBS Before exchanging a sensor store all necessarily settings as described in chap Backup creation By exchanging one SBS Sensor against another please consider that the sensors are not calib...

Page 252: ...72 Function of inputs ff 5 3 1 2 Job 1 31 via binary bit pattern To switch between up to 31 jobs by binary input pattern via the up to 5 digital inputs all needed inputs in Vision Sensor Configuration Studio Output I O mapping are set to the according function Job switch Bitx The in the following graphics shown binary input pattern then switch directly to the according job number S also chap I O m...

Page 253: ... occurs after the job change and hereafter Ready is set high again During Job Change over binary inputs there must not be sent any trigger signal Pulse length for job change should be 5 ms pulse and 5 ms delay S also chap I O mapping Page 172 Function of inputs ff If possible job change should be made by binary coded signals like in chap Job 1 31 via binary bit pattern this is the faster way 5 3 2...

Page 254: ...ensor Visualisation Studio Job upload all on PC available job set are displayed This can be marked in the job list and uploaded to the sensor via the button Upload Attention By uploading a new job set all jobs in the sensor memory are deleted Fig 265 Vision Sensor Visualisation Studio Job upload 5 4 Operation with PLC 5 4 1 Profibus plug adapter RS422 Via the Profibus plug adapter the communicatio...

Page 255: ...ools SPS PLC 5 5 Network connection 5 5 1 Installation of SBS into a network gateway In Vision Sensor Device Manager Active sensors all SBS sensors which are installed in the same network segment as the PC which runs Vision Sensor Device Manager are displayed as list To update this list press the button Find to see sensors which e g have been powered after Vision Sensor Device Manager was started ...

Page 256: ...oubleshooting Direct Connection Creating a functioning Ethernet connection between SBS Vision Sensor and PC Fig 266 Direct connection sensor PC proceeding troubleshooting 5 5 3 Proceeding Troubleshooting Network Connection Establishing an operational Ethernet connection between SBS Vision Sensor and PC ...

Page 257: ...ed into a network the following ports must be enabled if so by the network administrator This is necessary only in case that this specific ports have been locked e g in a company network by a firewall installed on a PC To communicate between a PC fur configuration and the SBS the following ports are used Port 2000 TCP Port 2001 UDP Broadcast to find sensors via Vision Sensor Device Manager Port 20...

Page 258: ...so must be enabled in the firewall by the administrator If the interface EtherNet IP is used the following two ports must be enabled too Port 2222 UDP EtherNet IP Port 44818 TCP EtherNet IP 5 5 5 Access to SBS via network Exemplary values for IP etc Access to SBS 1 from PC 1 if in same subnet l Via Vision Sensor Device Manager find Access to SBS 2 from PC1 if in different subnet Only if l Gateway ...

Page 259: ...eb Exemplary values for IP etc Access from PC 1 company network 1 via Word Wide Web into company network 2 to SBS 1 l Add the IP WAN of router 2 company network 2 in PC1 company network 1 in Vision Sensor Device Manager under Add active sensor here in example 62 75 148 101 In router 2 the ports which should be used by the sensor must be defined s also chap Used Ethernet Ports Page 257 ...

Page 260: ...n This chapter explains the use of Festo Vision sensor with Profinet The Profinet interface is implemented starting with version 1 12 x x For data communication between Vision sensor and PLC via Profinet the following topics are explained electrical connection settings in Vision sensor and PLC as example for Siemens S7 available telegrams formats and the telegram timing ...

Page 261: ...the network and so to the Profinet environment Fig 270 Connection of SBS via Profinet switch 5 6 2 Configuration of SBS via Festo Vision Sensor Configuration Studio for the use with PROFINET In this example the configuration of SBS R2B CR Advanced is described For all other types the configuration works analogue 5 6 2 1 Settings in Vision Sensor Device Manager Fig 271 SBS is displayed and selected...

Page 262: ... settings are active not before a reboot of the sensor Close this dialog with Set Important conditions Independent from which possibility is used to do the settings for a properly working Profinet communication it s neccessary l The SBS name must be identical in PLC and sensor l The IP address of SBS and PLC must correspond same address range IP address and name of the SBS can be set in different ...

Page 263: ...e the names are converted automatically S chap Set the name with TIA interface Page 270 Fig 273 IP and name has been updated 5 6 2 3 Open Vision Sensor Configuration Studio With click to Config in Vision Sensor Device Manager and to OK in the following dialog Vision Sensor Configuration Studio starts Fig 274 Open Vision Sensor Configuration Studio 5 6 2 4 Select Interface Profinet In Output Interf...

Page 264: ...fined completely free For the use with Profinet this must be done with format Binary 5 6 2 5 1 Definition of the output data The output data itself are configured identically as the data output via Ethernet TCP IP or RS422 in Vision Sensor Configuration Studio Output Telegram The description you find in the SBS User manual in chapter Telegram Data output Page 189 under Vision Sensor Configuration ...

Page 265: ...re transferred to the SBS The sensor get s started and now the output data are transferred as defined Fig 277 Start sensor 5 6 3 Profinet configuration of PLC example Siemens S7 1200 TIA 5 6 3 1 Create a new project New project with Project Create new project Fig 9 Create new project 5 6 3 2 Select GSD file First a Profinet PLC must be added to the project ...

Page 266: ...rsion This is done at Options Install general station description file The GSD file is available in the installation path of SBS Festo SBS Vision Sensor Tools Profinet and as download at www Festo com Fig 278 Select and install GSD file 5 6 3 3 Adding SBS to Project The SBS modules are added in the hardware catalog Other field devices ProfiNet IO Sensors Festo Industriesensorik GmbH ...

Page 267: ...50 1607b 13 09 2016 Page 267 Vision Sensor Manual Fig 279 Add SBS to the project 5 6 3 4 Connect SBS to PLC With drag and drop a SBS module can be put into the Network view Now connect the SBS via Profinet to the PLC Tab Network view ...

Page 268: ...Data From SBS to PLC Page 276 16 Byte payload data If the data is longer than the defined range the payload is truncated in this case Result data overrun 1 if it s shorter the rest of the 16 byte are filled with 00h Fig 281 Define I O data 5 6 3 6 Set IP address of SBS in the project Option 1 The IP address of the SBS can be set via the project Select option Set IP address in the project and set I...

Page 269: ...is overwritten with 0 0 0 0 That means that the IP address is set correctly but the IP configuration is deleted this is important for a restart without a connected PLC 5 6 3 7 Set IP Address with Vision Sensor Device Manager Option 2 The IP address of the SBS can be set also via Vision Sensor Device Manager Select option Set IP Address using a different method in the PLC TIA Interface and set IP a...

Page 270: ...erted name a different name may be shown than the one edited as with Profinet not all characters can be used a conversion may be necessary and is done automatically names must be DNS compatible s also chap 3 2 If a name for the SBS is setz via this option in each case it must be written tot he sensor with the Assign PROFINET device name Tool as described in chap 4 9 The Profinet name in the projec...

Page 271: ...trol From PLC to SBS Name in PLC CTRL 3 bytes Byte Position in Module Size in Bytes Member name Data Type Bit number Meaning 0 3 Reset error 1 Bit 0 Reset Error clears 4bit Errorcode in Module Status Rising edge low high clears error code HW Trigger Disable 1 Bit 1 This bit is set to disable triggering via the hardware trigger Valid for triggered and free run mode Low 0 Hardware trigger or free ru...

Page 272: ...ming diagram chap Case Jobchange not possible e g wrong job number Page 280 Switch to run 1 Bit 4 Rising edge low high Switch to Run is executed Success or failure of Switch to Run request is signalized with bitfield Error error code 3 Failure Switch to run request and Bit Operation Mode S also Timing diagram chap Case Switch to run not possible Page 280 Reserve 1 Bit 5 Reserve 1 Bit 6 Reserve 1 B...

Page 273: ... follows this as fast as possible but due to the cycle nature of the Profinet protocol this is not possible hundred per cent Reserve 1 Bit 1 Trigger acknowledge 1 Bit 2 Acknowledge for successful trigger request via Trigger Bit in Control Module Acknowledge is cleared as a response of clearing the Trigger bit If trigger was not executed Trigger Ack Bit stays low Change job acknowledge 1 Bit 3 Ackn...

Page 274: ...n Value of digital output bit is defined in Output tab Digital output column Logical Expression in Vision Sensor Configuration Studio If not selected as result output pin or not having a valid logical expression value of output bit is 0 Reserve 1 Bit 6 Reserve 1 Bit 7 3 Job number U8 Number of current job Jobnumber 1 255 4 Image ID U8 Image ID 0 255 is incremented with each job execution independe...

Page 275: ...mode etc 3 7 3 6 3 5 3 4 3 3 3 2 3 1 3 0 4 7 4 6 4 5 4 4 4 3 4 2 4 1 4 0 5 7 5 6 5 5 5 4 5 3 5 2 5 1 5 0 x x x x x x x x x x x x x x x x x x x x x x x x Example 2 2 Module 2 Status Change job acknowledge is set l Change job ack is set to 1 Change job received l Ready is set to 0 Busy Byte 0 Byte 1 Byte 2 Bit 0 Ready 0 Bit 2 Trigger ack 1 Reserve Digital results 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 0 1 7 ...

Page 276: ...on Sensor Configuration Studio in Output Telegram Payload In case of Profinet in tab Telegram Binary must be selected Example 3 1 Module 3 Data l E g No overrun l Data Byte 2 n as defined in Vision Sensor Configuration Studio Output Telegram Payload Byte 0 Byte 1 Byte 2 n Image ID Result data overrun Reserve Result data as defined in Vision Sensor Configuration Studio Output Telegram Payload in bi...

Page 277: ...ember name Data Type Bit number Meaning 0 1 Key U8 Response key which is mirrored from request 1 1 Result data overrun 1 Bit 0 Response data has been truncated Reserve 7 Bit 1 7 Reserve 2 1 Reserve 1 Byte Reserve 3 1 Reserve 1 Byte Reserve 4 One block of 8 16 32 64 128 or 256 Bytes Result data Byte array Same data as for TCP responses s addendum Serial communication BINARY Page 338 5 6 4 6 Start E...

Page 278: ...hange Ack High Job Nr changed Switch to run Operation Mode Low Switch to run Ack High Operation Mode High 5 6 5 Timing diagrams to the SBS Profinet communication with a PLC 5 6 5 1 Case Trigger ok Fig 287 Timing Trigger ok 5 6 5 2 Case Trigger not possible not ready Fig 288 Timing Trigger not ready ...

Page 279: ...Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Page 279 Vision Sensor Manual 5 6 5 3 Case Jobchange ok Fig 289 Timing Jobchange ok 5 6 5 4 Case Jobchange delayed Fig 290 Timing Jobchange delayed ...

Page 280: ...62650 1607b 13 09 2016 Vision Sensor Manual 5 6 5 5 Case Jobchange not possible e g wrong job number Fig 291 Timing Jobchange not possible 5 6 5 6 Case Switch to run ok Fig 292 Timing Switch to run ok 5 6 5 7 Case Switch to run not possible ...

Page 281: ...est is discarded with error bit 3 Request is discarded without error and Ack if sensor is processing previous request and has not given Ack to that request Not obeying recommended Handshake 5 6 5 9 2 TRIGGER Request Sequence 1 Check Ready Bit high in Status module 2 Set Trigger Request Bit high in Control Module 3 Check Trigger Ack Bit high and Error Bitfield in status Module a if Trigger Ack Bit ...

Page 282: ...r Bit low Check the correct jobnumber and repeat the request with Step 3 Ready bit stays low 5 6 5 9 4 Switch To Run Request Sequence 1 Check Ready Bit high and Operation Mode Bit low Config mode in Status module 2 Set Switch to Run Request Bit high in Control Module 3 Wait and Check Switch to Run Ack Bit high 4 Check Error Bitfield in Status Module a if Error Bitfield has not Errorcode 3 Failure ...

Page 283: ...Vision Sensor with EtherNet IP For data communication between Vision Sensor and PLC via EtherNet IP the following topics are explained electrical connection settings in Vision Sensor and PLC as example for Rockwell RSLogix available telegrams formats and the telegram timing 5 7 1 Electrical connection of the Vision Sensor in the EtherNet IP network The Vision Sensor is connected via an Ethernet TC...

Page 284: ... change the IP address subnet mask and other parameters on the Vision sensor by clicking the Set button This displays the following dialog box 5 7 2 2 Setting of IP and name Fig 296 Setting of IP and name 5 7 2 3 Open Vision Sensor Configuration Studio With click to Config in Vision Sensor Device Manager and to OK in the following dialog Vision Sensor Configuration Studio starts With the desired V...

Page 285: ... 7 2 5 Definition of the telegram In the tab Telegram the data which should be transferred can be defined completely free For the use with EtherNet IP this must be done with format Binary 5 7 2 5 1 Definition of the output data The output data itself are configured identically as the data output via Ethernet TCP IP or RS422 in Vision Sensor Configuration Studio Output Telegram The description you ...

Page 286: ...art sensor the configuration data are transferred to the Vision Sensor The sensor get s started and now the output data are transferred as defined Fig 300 Start sensor 5 7 3 EtherNet IP protocol EtherNet IP has a predefined protocol consisting oft two assemblies Assembly request PLC to Sensor 344 bytes long and Assembly response Sensor to PLC 444 bytes long ...

Page 287: ...ike change job need to get the arguments on the correct byte positions the job number is an integer value to be placed on pnValueInt byte 264 the length of this information is 1 byte long following Parameter unNumint byte 6 has to be set to 1 Examples Trigger Request structure Key ID Storage unKey unId Byte position 0 2 Request pattern Count 0x01 Change Job Request structure Key ID NumInt Job numb...

Page 288: ...Example for detector 1 Command set ref string Example param type string 5 7 3 1 1 Sensor Ready information signaling and handshake Over hardware IO the Vision Sensor offers a Ready signal Sending a Trigger is allowed only if Ready signal is high When hardware ready signal is not connected to the PLC it is very easy to find out the ready status just over EtherNet IP After first connection of PLC to...

Page 289: ...t to be configured in the result telegram specification Fig 302 User defined data output Depending from kind of output data they can be found in the assembly response at Boolean byte 92 pucBool String byte 116 pcString Integer byte 244 pnInt Example Trigger Handshake Fig 303 EtherNet IP Trigger handshake Response and request bytes ...

Page 290: ...ation of the assemblies can be found in the end of this chapter 5 7 4 EDS file Festo provides an EDS file for easy implementation into controllers which support EDS files Concerning installation and use of EDS files please use the documentation of the controller Example Installation of EDS file in RSLogix 1 Use dialog for installation of EDS files ...

Page 291: ...sor by adding a Generic Ethernet Module in the Ethernet I O network for each sensor Fig 307 EtherNet IP Ethernet Module You will also need to set up the suitable network adapter which is mounted in side the PLC The Ethernet Card will need to setup as a module on the Ethernet I O network within the same subnet as the camera s you will be communicating with In this example the IP adress of RSLogix i...

Page 292: ...P New EtherNet IP Module Fig 309 5 7 5 1 Over Generic Profile Each sensor is added as a Generic Ethernet Module as shown in the following two screenshots enter IP adress of sensor as set before with Vision Sensor Device Manager software and the number of input and output bytes like shown in screenshot ...

Page 293: ...et IP number of input and output byte Duplicate this step with different name and IP address for each sensor rest of settings the same 5 7 5 2 Over EDS File If an EDS file has been installed before Festo SBS can be selected directly inside the list of available modules Assembly size and Assembly instance is set automatically in this case Only IP address of SBS has to be entered ...

Page 294: ...650 1607b 13 09 2016 Vision Sensor Manual Fig 312 EtherNet IP select Generic Module Fig 313 EtherNet IP set IP address EDS file 5 7 6 Result data assembly response User defined data output to be configured in the result telegram specification ...

Page 295: ... Sensor Manual Fig 314 EtherNet IP Result data specification Depending on the kind of output data they can be found in the assembly response at Boolean byte 92 pucBool Fig 315 EtherNet IP Output data Bool String byte 116 pcString Fig 316 EtherNet IP Output data String ...

Page 296: ... Eth2 I Data 60 03 5 7 7 EtherNet IP Appendix 5 7 7 1 Assembly Request Communication settings Description Request posted from PLC to Vision Sensor Class Class 1 nAssemblyInstance 100 nType AssemblyConsuming nLength bytes 344 szAssemblyName AssemblyRequest Assembly request Vision Sensor receives a data frame of 344 bytes To release commands to the sensor proceed as follow Each byte corresponds to v...

Page 297: ...ommand Example I want to make a trigger on the Vision Sensor The default code of the request key is 0x0 0x0 After Trigger configuration description follows I increment the request key to engage the trigger The request key code is now 0x0 0x2 Position 0 Byte 1 Byte 0 Always 0 0000 0010 Command configuration The request key has a size of 2 bytes at position 0 and 1 the command configuration will sta...

Page 298: ...a new reference pattern contour etc with same tools and same settings These teach is permanent it means the new reference pattern contour etc is stored permanentely in the sensor memory even if the sensor is reset The code is 0x0 0x8 on position 2 To activate this command you have to launch a new trigger to catch a new picture and you have to increment the request key Position 2 Byte 3 Byte 2 Alwa...

Page 299: ...dify the request key on position 0 0x0 0x2 0x0 0x4 The Vision Sensor take a new picture Attention Don t forget to increment the request key to valid the commands 5 7 7 2 Assembly Response Communication settings Description Response returned from Vision Sensor to PLC Class Class 1 nAssemblyInstance 101 nType AssemblyProducing nLength bytes 444 szAssemblyName AssemblyResponse Assembly response Assem...

Page 300: ... Byte 10 Trigger Always 0 Always 0 Always 0 0000 0001 Change job Always 0 Always 0 Always 0 0000 0010 Permanent teach Always 0 Always 0 Always 0 0000 1000 14 2 RESERVED 16 16 pcValueChar RPNS_NUM_ CHAR 18 char parameters for response member may only hold one string 32 16 pnValueInt RPNS_ NUM_INT U32 int parameters for response 48 4 unImageCount U32 Number of images taken by the Vision Sensor senso...

Page 301: ...Run The job is downloaded in the Vision Sensor memory The sensor works stand alone Byte 57 bit 0 shows the sensor ready status Byte 59 Byte 58 Byte 57 Byte 56 Sensor ready Always 0 Always 0 0000 0001 0000 0XXX Sensor not ready Always 0 Always 0 0000 0000 0000 0XXX 60 2 unActiveJob U16 Active job Value of job number 62 2 RESERVED 64 2 unNumDigital U16 Number of active digital outputs assigned to on...

Page 302: ... to the order of the outputs LSB first output MSB Last output Example 4 active outputs 12 09 05 06 Status of outputs 12 OK 09 NOK 05 OK 06 OK The code will be Byte 79 Byte 78 Byte 77 Byte 76 Result 0000 0000 0000 0000 0000 0000 0000 1101 To active this data select in Vision SensorConfig Digital outputs According to Byte 3 n of Digitaloutputs in Serial communication Data output Binary 80 8 pucLogic...

Page 303: ...bal result on tool1 OK the bit2 will be on 0 According to Byte 1 of Detector result in Serial communication Data output Binary Byte 88 Result 0000 0011 Other bits always on 0 To active this data select in Vision SensorConfig Detector results 89 3 pucDetector RPNS_IMPL_ NUM_BYTE_ DETECTOR U8 Detector result Each bit corresponds to a tool Only on 1Byte Bit1 tool1 bit2 tool2 bit3 tool3 until 8 bits O...

Page 304: ...cribe as follow 5 8 Rescue The utility Rescue is used to reset SBS sensors which no longer can be found by Vision Sensor Device Manager to a default status to be able to be accessed via Vision Sensor Device Manager and Vision Sensor Configuration Studio again l Start Rescue leave empty field Mac address of Sensor l Reset SBS Power off on or Vision Sensor Device Manager File Sensor soft reset SBS m...

Page 305: ...can be entered into the field Mac address of Sensor l Into the lines below all the network settings like IP address Subnet Mask etc which the SBS should have after the next Restart Power off on can be entered l Restart SBS Attention The after the next restart displayed data are the old ones as they are not refreshed by sensor restart ...

Page 306: ...Page 306 Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Vision Sensor Manual Fig 319 Rescue 2 ...

Page 307: ... version Mechanical shrouding In most cases it s much simpler and highly cost effective to protect the scene against disturbing light or sun beams which e g shine temporary at a certain time of day or season from windows or roof lights by mechanical shrouding like metal plates than to create illumination conditions e g by additional illumination which is strong enough not to be disturbed in any si...

Page 308: ... big range of external illuminations which can be used additionally or instead of the internal illumination Further information on vision accessory http www Festo com de download The both types LF45 xxx and LFR115 xxx can be connected directly to the sensor Fig 320 Connection of external illumination LF45 xxx and LFR45 xxxAll other listed types are connected to the SBS as follows ...

Page 309: ...Vision Sensor SBSI SBSC EN 8062650 1607b 13 09 2016 Page 309 Vision Sensor Manual Fig 321 Connection of external illumination all types except LF45 xxx and LFR115 xxx ...

Page 310: ...each indentation bump or defect such as e g scratches are a dark edge Attention With bright field lighting the angle of alignment between the lighting object and sensor and the object s surface is critical as direct reflection by the object s surface only works when the angle and surface characteristics shiny mat oily are constant With Bright field With Dark field Fig 323 Example Bright field illu...

Page 311: ...nd object are arranged so that the smooth surface of the object does not reflect the light directly into the sensor Object edges indentations and bumps appear as bright areas smooth object surfaces however are dark This type of illumination functions with wide angle ranges and depends little on the object s surface With Bright field With Dark field Fig 325 Example Dark field Edges are clearly acce...

Page 312: ... known as cloudy day illumination i e uniform light from behind the cover of clouds rather than from direct sunlight Spot illumination Diffuse illumination Fig 327 Figure 218 Diffuse illumination That means clear homogeneous image with diffuse illumination With any spot illumination the reflections of the aluminium foil from one part to another are always different 6 5 IO Box as IO Extension RS422...

Page 313: ...rotection against inverse polarity yes Interfaces SBS XX Standard Interfaces SBS XX Advanced Ethernet LAN Ethernet LAN RS422 RS232 Readiness delay Typ 13 s after power on Optical data Number of pixels chip size pixel size SBS R3B 736 H x 480 V 1 3 6 0 um square SBS R2B 1280 H x 1024 V 1 1 8 5 5 um square Technology CMOS mono color Integrated scan illumination 8 LEDs except C Mount Integrated lens ...

Page 314: ...distances between edges BLOB object evaluation and counting Typical cycle time typ 20 ms pattern matching typ 30 ms contour typ 2 ms area test Code Reader Number of jobs detectors SBS XX Standard 8 2 SBS XX Advanced Professional max 255 max 255 Evaluation modes DataMatrix Code acc ECC200 in any rotational position square and Rectangular QR Code Model 1 and Model 2 Version 1 40 Barcode Interleaved ...

Page 315: ...or coordinates for position detection color value color area color list Typical cycle time typ 30 ms pattern match typ 60 ms contour typ 2 ms brightness typ 2 ms contrast typ 2 ms grey threshold typ 2 ms colour value typ 30 ms colour area typ 2 ms colour list Universal Number of jobs detectors SBS R2B ALL max 255 max 255 Evaluation modes Typical cycle time All function as l Object l Code Reader l ...

Page 316: ...or ASCII From Sensor Data output Selectable in Tab Protocol Binary or ASCII Commands to sensor in ASCII Trigger ASCII Request string to Sensor Byte no ASCII contents Significance 1 T Trigger simple trigger without index via port 2006 2 R 3 G Trigger ASCII Response string from sensor Byte no Contents Significance 1 T Trigger response to trigger without index via port 2006 If defined result date wit...

Page 317: ...owing data n 5 x 6 n x Data Extended Trigger ASCII Response string from sensor Byte no ASCII contents Significance 1 T Extended Trigger reponse to trigger with index and result data via port 2006 for correlation of trigger to the corresponding result Result data without index via port 2005 also 2 R 3 X 4 P F Pass Fail 5 x Length of following data n 6 x 7 n x Data of request command n 1 x C Config ...

Page 318: ...Accepted when Ready Low No Status of Ready signal during processing Low End of telegram max 4 byte option Job change over ASCII Request String to Sensor Byte no ASCII contents Significance 1 C Change Job 2 J 3 B 4 x Job number 5 x 6 x Job change over ASCII Response String from Sensor Byte no Contents Significance 1 C Change Job 2 J 3 B 4 P F Pass Fail 5 T F Triggered Free run 6 x Job number 7 x 8 ...

Page 319: ...tion Set parameter ASCII Byte No Contents Significance 1 S Set parameter 2 P 3 P T P Permanent T Temporary 4 X Detector No 5 X 6 X 7 X Command Set reference string value 1 see below 8 X 9 X 10 X Length of reference string value in Bytes n 11 X 12 X 13 X 14 X 15 n X Reference string value Set parameter ASCII Response string from Sensor Byte No Contents ASCII Significance 1 S Set parameter 2 P 3 P T...

Page 320: ...unction Command Alignment Pattern matching Threshold Min Threshold Max 001 002 Alignment Contour Threshold Min Threshold Max 001 002 Alignment Edge Threshold Min Threshold Max Transition_Horizontal Transition_Vertical 001 002 101 102 Pattern matching Threshold Min Threshold Max 001 002 Contour Threshold Min Threshold Max 001 002 Grey Level Threshold Min Threshold Max GreyMin GreyMax 001 002 101 10...

Page 321: ...rMaxChannel2 ColorInvertChannel2 ColorMinChannel3 ColorMaxChannel3 ColorInvertChannel3 101 102 103 104 105 106 107 108 109 BLOB GreyAbsoluteMin GreyAbsoluteMax GreyAbsoluteInvert 101 102 103 Get parameter ASCII Byte No Contents Significance 1 G Get parameter 2 P 3 A 4 X Detector No e g 001 5 X 6 X 7 X Command Set reference string value 1 see below 8 X 9 X Get parameter ASCII Response String from S...

Page 322: ...no change End of telegram max 4 byte option 1 Byte No 7 Command Get reference string value Detector Function Command Alignment Pattern matching Threshold Min Threshold Max 001 002 Alignment Contour Threshold Min Threshold Max 001 002 Alignment Edge Threshold Min Threshold Max Transition_Horizontal Transition_Vertical 001 002 101 102 Pattern matching Threshold Min Threshold Max 001 002 Contour Thre...

Page 323: ...7 108 109 ColorArea ColorMinChannel1 ColorMaxChannel1 ColorInvertChannel1 ColorMinChannel2 ColorMaxChannel2 ColorInvertChannel2 ColorMinChannel3 ColorMaxChannel3 ColorInvertChannel3 101 102 103 104 105 106 107 108 109 BLOB GreyAbsoluteMin GreyAbsoluteMax GreyAbsoluteInvert 101 102 103 Get image ASCII not available for RS232 422 Byte No Contents Significance 1 G Get image 2 I 3 M 4 X 0 Last Image 1...

Page 324: ...iate image type must be considered 7 X Image result 1 good image 0 failed image 8 X No of rows e g 0480 0200 9 X 10 X 11 X 12 X No of columns e g 0640 0320 13 X 14 X 15 X 16 n X Binary image data rows columns Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing pulled low End of telegram max 4 byte op...

Page 325: ...1 S Set Shutter 2 S 3 P T Permanent Temporary 4 P F P Pass F Fail Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing pulled low End of telegram max 4 byte option Get Shutter ASCII since version 1 6 5 3 Byte No Contents Significance 1 G Get shutter from active job 2 S 3 H Get Shutter ASCII Response S...

Page 326: ...0000180000 Length55 Detector 1 yellow ROI rectangle centre X 160 centre Y 120 half width 80 half height 40 2 R 3 P T Permanent Temporary 4 11 X ROI Info length in bytes from Byte 4 to end e g 00000055 12 X Detector No e g 001 13 X 14 X 15 X ROI Index 00 for yellow ROI 01 for red ROI 16 X 17 X ROI shape 01 circle 02 rectangle 03 ellipse e g 02 for rectangle 18 X 19 26 X centre X in pixels 1000 e g ...

Page 327: ...run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing pulled low End of telegram max 4 byte option Get ROI ASCII not available for RS232 422 Byte No Contents Significance 1 G Get ROI e g GRI00100 2 R 3 I 4 X Detector No e g 001 5 X 6 X 7 X ROI Index 00 for yellow ROI 01 for red ROI 8 X Get ROI ASCII Response String from Sensor Byte No C...

Page 328: ... 28 35 X centre Y in pixels 1000 36 43 X X radius in pixels 1000 44 51 X Y radius in pixels 1000 52 59 X Angle not at circle ellipse in 1000 Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing pulled low End of telegram max 4 byte option Teach detector ASCII Byte No Content Significance 1 T Teach det...

Page 329: ...s Status of Ready signal during processing pulled low End of telegram max 4 byte option Calibration Add Point ASCII request string from PLC Byte No Content Significance 1 C Calibration Add Point 2 A 3 P 4 8 X List index of calibration point pair 0 attach new point at end of list 0 overwrite point at existing index position 1 first point in list 9 16 X World X 17 24 X World Y Example CAP12345123456...

Page 330: ...am max 4 byte option Necessary settings in requesting job In Output Telegram Payload as first and second value the X and Y value of the finding position must be set Calibration Calibrate ASCII request string from PLC Byte No Content Significance 1 C Calibration Calibrate 2 C 3 L 4 X Permanency 0 Temporary 1 Permanent Example CCL1 Calibration Calibrate ASCII response String from sensor Byte No Cont...

Page 331: ...faces UserApp End of telegram max 4 byte option Calibration Clear ASCII request string from PLC Byte No Content Significance 1 C Calibration Clear 2 C 3 D Example CCD Calibration Clear ASCII response String from sensor Byte No Content Significance 1 C Calibration Clear 2 C 3 D 4 P F P Pass F Fail Example CCDP Additional information Accepted in Run mode Yes Accepted in Config mode No Accepted when ...

Page 332: ... L 4 P F P Pass F Fail 5 9 X Currrent highest point pair index 10 17 X RMSE Root Mean Square Error 18 25 X Mean 26 33 X Max 34 41 X Min Example CVLP0001012345678123456781234567812345678 Additional information Accepted in Run mode Yes Accepted in Config mode No Accepted when Ready is Low Yes Status of Ready signal during processing Not altered Supported Interfaces UserApp End of telegram max 4 byte...

Page 333: ...se String from Sensor Byte No Contents Significance 1 S Set Shutter 2 S 3 P T Permanent Temporary 4 P F P Pass F Fail Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing pulled low End of telegram max 4 byte option Set Gain ASCII request string from PLC Byte No Content Significance 1 S Set Gain 2 G 3...

Page 334: ...composed from user settings in the software For detailed informations to the file format see also Telegram Data output Page 189 START OPTIONAL FIELDS SEPARATOR PAYLOAD CHKSUM TRAILER Output data ASCII dynamically composed from user settings in the software Name Number of bytes ASCII contents example Significance Comments Header 1 max 8 User defined max 8 characters Start string Header Separator 1 ...

Page 335: ...esult n Byte 1 AND conjunction of all detectors Byte 2 Boolean result of alignment Byte 3 global result of the active job Following Bytes number of detectors Following Bytes Detector results P Pass F Fail last byte is first detector Length 4 Byte 1 Byte per each used detector Digital outputs n First Bytes number of active outputs Following Bytes digital outputs P logical output set F logical outpu...

Page 336: ...tion X 1 n n e g X 180 pix in ASCII 180000 6 Byte Position found X x coordinate 1 1000 1 Position Y 1 n n Position found Y y coordinate 1 1000 1 DeltaPos X n Delta position X between object taught and object found 1 1000 1 DeltaPos Y n Delta position X between object taught and object found 1 1000 1 Angle n Orientation of object found 0 360 1 1000 1 Delta Angle n Angle between object taught and ob...

Page 337: ...pactness will be Center of gravity X n X coordinate of center of gravity of BLOB Center of gravity Y n Y coordinate of center of gravity of BLOB Center X n X coordinate of fitted geometric element rectangle ellipse Center Y n Y coordinate of fitted geometric element rectangle ellipse Width n Width of geometric element Width 0 width height negative value indicates failure Height n Height of geometr...

Page 338: ...mmunication Ethernet RS422 To Sensor Command Selectable in Tab Protocol Binary or ASCII From Sensor Data output Selectable in Tab Protocol Binary or ASCII Commands to sensor in BINARY Trigger Binary Request string to sensor Byte no Data type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x05 5 Unsigned Char 0x01 Trigger command simple trigger without index via port 2...

Page 339: ...Char 0x013 Extended Trigger command trigger with index for correlation of trigger to the correponding result data via port 2006 6 Unsigned Char 0xXX Length of following data n 7 n Unsigned Char 0xXX Data Extended Trigger Binary Answer string from sensor Byte no Data type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x07 5 Unsigned Char 0x013 Extended Trigger command...

Page 340: ...sult data n 7 0xXX n 8 0xXX n 9 m 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode Yes Accepted when Ready Low No Status of Ready signal during processing Low Job change over Binary Request string to sensor Byte no Data type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x06 5 Unsigned Char 0x02 Job change over command 6 Unsigned Ch...

Page 341: ... Status of Ready signal during processing Low Set parameter Binary Request string to Sensor Byte no Data type Contents Significance 1 Unsigned Int 0x00 Length of telegram 9 Bytes length of string n 2 0x00 3 0x00 4 0xn 5 Unsigned Char 0x05 0x06 Command set parameter permanent Command set parameter temporary 6 Unsigned Char 0xXX Detector no XX 1 n 7 Unsigned Char 0x65 Command Set reference string 7 ...

Page 342: ...epted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Low 1 Byte No 7 Command set reference string value Detector Function Command Length of following data Alignment Pattern matching Threshold Min Threshold Max 1 2 4 4 Alignment Contour Threshold Min Threshold Max 1 2 4 4 Alignment Edge Threshold Min Threshold Max Transition_Ho...

Page 343: ...axChannel1 ColorInvertChannel1 ColorMinChannel2 ColorMaxChannel2 ColorInvertChannel2 ColorMinChannel3 ColorMaxChannel3 ColorInvertChannel3 101 102 103 104 105 106 107 108 109 4 4 4 4 4 4 4 4 4 BLOB GreyAbsoluteMin GreyAbsoluteMax GreyAbsoluteInvert 101 102 103 4 4 1 Get parameter Binary Request string to Sensor Byte no Data type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3...

Page 344: ...nal information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing No change 1 Byte No 7 Command Get reference string value Detector Function Command Length of following data Alignment Pattern matching Threshold Min Threshold Max 1 2 4 4 Alignment Contour Threshold Min Threshold Max 1 2 4 4 Alignment Edge Threshold Min Th...

Page 345: ...ColorArea ColorMinChannel1 ColorMaxChannel1 ColorInvertChannel1 ColorMinChannel2 ColorMaxChannel2 ColorInvertChannel2 ColorMinChannel3 ColorMaxChannel3 ColorInvertChannel3 101 102 103 104 105 106 107 108 109 4 4 4 4 4 4 4 4 4 BLOB GreyAbsoluteMin GreyAbsoluteMax GreyAbsoluteInvert 101 102 103 4 4 1 Get image Binary Request string to Sensor not available with RS232 RS422 Byte No Data type Contents ...

Page 346: ...nversion of the image from Bayer into RGB the appropriate image type must be considered Pre processing filters of category Arrangement do influence the Bayer type 9 Unsigned Char 0xXX Image result 01 good image 00 failed image 10 Unsigned short 0xXX No of rows e g 01 E0 11 0xXX 12 Unsigned short 0xXX No of columns e g 02 80 13 0xXX 14 n Unsigned Char 0xXX Binary image data rows columns Additional ...

Page 347: ...nce 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x07 5 Unsigned Char 0x0E 0x0F ID set shutter temporary ID set shutter permanent 6 Unsigned Short 0x00 Error Code 00 00 Pass Error Code 00 01 Fail 7 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Pulled Low Get Shutter Binary Reques...

Page 348: ...ned int 0xXX Shutter value 9 0xXX 10 0xXX 11 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Not altered Set ROI Binary Request string to Sensor not available with RS232 RS422 Byte No Data Type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x20 5 Unsigned Char ...

Page 349: ...OI Parameter width radius X in Pixels 1000 22 0xXX 23 0xXX 24 0xXX 25 Unsigned Int 0xXX Only ellipse rectangle ROI Parameter width radius Y in Pixels 1000 26 0xXX 27 0xXX 28 0xXX 29 Unsigned Int 0xXX Only ellipse rectangle ROI Parameter Angle in in 1000 30 0xXX 31 0xXX 32 0xXX Set ROI Binary Response String from Sensor Byte No Data Type Contents Significance 1 Unsigned Int 0x00 Length of telegram ...

Page 350: ... Unsigned Char 0x12 Command get ROI 6 Unsigned Char 0xXX Detector No 7 Unsigned Char 0xXX ROI Index 00 yellow ROI Get ROI Binary Response String from Sensor Byte No Data Type Contents Significance 1 Unsigned Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x34 5 Unsigned Char 0x12 ID get ROI 6 Unsigned Short 0x00 Error Code 00 00 Pass Error Code 00 01 Fail 7 0xXX 8 Unsigned Int 0xXX ROI Info Length in...

Page 351: ...X in Pixels 1000 24 0xXX 25 0xXX 26 0xXX 27 Unsigned Int 0xXX Only ellipse rectangle ROI Parameter width radius Y in Pixels 1000 28 0xXX 29 0xXX 30 0xXX 31 Unsigned Int 0xXX Only ellipse rectangle ROI Parameter Angle in in 1000 32 0xXX 33 0xXX 34 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processi...

Page 352: ...ry Response String from sensor Byte No DataType Content Significance 1 Unsined Int 0x00 Length of telegram 2 0x00 3 0x00 4 0x07 5 Unsigned Char 0x18 Command Teach Detector 6 Unsigned Short 0xXX Error Code 0 Pass 1 Fail 2 Unused 3 Insufficient parameter data 4 Command rejected simultaneous module requests received 7 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode...

Page 353: ...2 0x00 3 0x00 4 0x0F 5 Unsigned Char 0x1D Command Calibration Add Point 6 Unsigned Short 0xXX Error Code 0 Pass 1 Fail 2 Unused 3 Unsufficient parameter data 4 Command rejected simultaneous module request received 7 0xXX 8 11 Unsigned Int 0xXX Image X 12 15 Unsigned Int 0xXX Image Y Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status...

Page 354: ...signed Short 0xXX Error Code 0 Pass 1 Fail 2 Unused 3 Unsufficient parameter data 4 Command rejected simultaneous module request received 7 8 9 Unsigned Short 0xXX Current highest point pair index 10 13 Unsigned Int 0xXX RMSE Root Mean Square Error 14 17 Unsigned Int 0xXX Mean 18 21 Unsigned Int 0xXX Max 22 25 Unsigned Int 0xXX Min Additional information Accepted in run mode Yes Accepted in config...

Page 355: ...Code 0 Pass 1 Fail 2 Unused 3 Unsufficient parameter data 4 Command rejected simultaneous module request received 7 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Not altered Supported interfaces UserApp Profinet Calibration Validate Binary Request string to Sensor Byte No DataType Content ...

Page 356: ...ighest point pair index 10 13 Unsigned Int 0xXX RMSE Root Mean Square Error 14 17 Unsigned Int 0xXX Mean 18 21 Unsigned Int 0xXX Max 22 25 Unsigned Int 0xXX Min Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Not altered Supported interfaces UserApp Profinet Set Gain Binary Request string to Sens...

Page 357: ... Unsigned Int 0xXX Current Gain value 9 0xXX 10 0xXX 11 0xXX Additional information Accepted in run mode Yes Accepted in configuration mode No Accepted when Ready Low Yes Status of Ready signal during processing Not altered Data output from sensor in BINARY dynamically composed from user settings in the software For detailed informations to the file format see also Telegram Data output Page 189 Ma...

Page 358: ... 0x05 Bit1 3 5 0x00 two bytes number of detectors 0x01 0x01 Detector result D1 Byte 1 Bit1 LSB global job result 1 Pass 0 Fail Bit2 Boolean result alignment only alignment inactive true Bit3 AND conjunction of all detectors of the active job Byte 2 and 3 two byes for the number of detectors inside job without alignment Byte 4 n 1 Byte per each block of 8 used detectors e g Bit1 LSB Detector 1 Bit2...

Page 359: ...etween object taught and object found 1 1000 1 Angle 4 Orientation of object found 0 360 1 1000 1 Delta Angle 4 Angle between object taught and object found 0 360 1 1000 1 Scaling 4 Only with contour 0 5 2 1 1000 1 Result horizontal 1 0x01 True 0x00 fail Boolean result of horizontal edge detection of alignment Result vertical 1 0x01 True 0x00 fail Boolean result of horizontal edge detection of ali...

Page 360: ...ndicates failure Height 4 Height of geometric element Heigth 0 height width negative value indicates failure Angle 360 4 Orientation of width of object in degree range 180 180 0 east counterclockwise Eccentricity 4 Eccentricity numerical range 0 0 1 0 Face up down area 4 Face up down discrimination based on area indicated by sign String 1 n Maximum length 127 Contents of Code depending from code s...

Page 361: ...plement 8 2 Further explanations to Edge detector alignment Function of Number search rays Number search rays parameter which defines in how many parallel sub search regions the search area is divided The edge detector searches in each sub region for the first edge separately Increasing the value of Number search rays increases the chance to find the very first edge in the search area By increasin...

Page 362: ...smoothing to sharp or blurred edges The edge strength represents the assumption of edge steps over a certain area in search direction which is quantified in Sigma smoothing With sharp edges the edge strength is not increased with increasing sigma But with blurred edges the edge strength is increased by increasing sigma value Fig 330 Edge detection of sharp edge High edge strength with low sigma va...

Page 363: ...Low edge strength with low sigma value Fig 332 Edge detection of blurred edge High edge strength with high sigma value Function of Sigma Smoothing to residual edges Like mentioned above the edge strength represents the assumption of edge steps over a certain area in search direction which is quantified in Sigma smoothing ...

Page 364: ... dark bright positive polarity bright dark negative polarity it s edges steps can neutralize each other This can be used to eliminate residual edges by choosing a sigma value which is high enough Fig 333 Edge detection with sigma value 1 Residual edge is not eliminated Fig 334 Edge detection with sigma value 1 Residual edge is eliminated ...

Page 365: ...art file the module to autostart and save it After selecting the module to start and the user level with Save store the Autostart file in folder Windows Start Menu Programs exact path depends on Windows installation 8 4 Care and maintainance 8 4 1 Cleaning The SBS Vision Sensor is to be cleaned with a clean dry cloth Dirt on the front panel is to be cleaned with a soft cloth and a small amount of ...

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