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Baumer VeriSens CS Series Скачать руководство пользователя страница 381

Technical Documentation

VeriSens

®

v2.11.0-B4

381/429

Baumer Optronic GmbH

Radeberg, Germany

16 Use with UR (Universal Robots)

Vision sensors with Universal Robot support are designed and certified to retrofit UR3e, UR5e and UR10e
Universal Robots (UR) with image processing.

ATTENTION!

Please observe the instructions and notes in the Universal Robots technical
documentation!

Image processing supports the following use cases:



The image-based feature check of objects supported by the UR



The image-based finding of objects and transmission of the coordinates to the UR

The image processing task is configured via the

Application Suite of

the vision sensor.

The configuration software of the UR is functionally extended by the installation of the URCaps for the vision
sensor. There are also some additional commands in the UR control available to select the inspection task or
to use special waypoints whose coordinates are determined with the image processing.

Important UR robot control terms

Term

Meaning

PolyScope

Software for robot control and creation of UR programs.

Node

Step in the UR program, contains processing step or subroutine.

URCap

Additional software (plug-in) that allows UR to communicate with external
accessories such as the vision sensor. URCap is installed on the UR via a USB
stick.

Reference level

In relation to the Z axis, there are different heights, e.g. contact surface in the
machine, top of the examination object, bottom

SmartGrid

, top

SmartGrid

. It may

be easier to relate all heights to one level, e.g. the contact surface in the machine.
This is the reference level.

Depth of field

Depending on the lens and design, the vision sensor captures a sharp image at a
defined distance with a tolerance field up and down. This focus area is the depth
of field. When arranging the

SmartGrid

, care should be taken to ensure that it is

still in the depth of field even when

tilted,

in order to be detected, even if the

SmartGrid

is able to deal with certain blurs.

Distortion correction

Due to the physical lens distortion and oblique installation, the captured image
differs from the original state, it is "distorted". The vision sensor is able to
electronically equalise the image to match the undistorted ideal state.

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Содержание VeriSens CS Series

Страница 1: ...Technical Documentation VeriSens ID CS XF XC Series ...

Страница 2: ...33 7 Overview of the Application Suite 34 7 1 Operating modes of the device 35 7 2 Help Info Support and Notifications 36 8 Image display options 39 8 1 Images from PC 40 8 2 Defect images 41 8 3 Loading saving and recording images 42 8 4 Job features 44 9 Creating a job 45 9 1 Adjusting the image image focus 45 9 1 1 Adjusting the image additional parameters 46 9 1 2 Coordinates device dependant ...

Страница 3: ...orrection device dependend 124 10 2 15 Illumination controller device dependant 126 10 2 16 Firmware update 129 10 3 Backup 131 10 3 1 Backup using the PC 132 10 3 2 Backup using the FTP server 133 10 3 3 Backup restoring from the PC 134 10 3 4 Backup restoring from the FTP server 136 10 4 Digital I O Assistant 137 10 5 Process interface assistant device dependent 139 10 6 Operating mode display 1...

Страница 4: ...atrix code colour 246 12 4 5 Text 250 12 4 6 Text colour 255 12 4 7 Appendix Quality characteristics for barcodes and matrix codes 260 13 Digital interfaces 263 13 1 Explanation of terms from the timing diagram 263 13 2 Timing when an external trigger is used 264 13 3 Timing for continuous image acquisition 265 13 4 External Teach 266 13 5 Job switching 267 13 6 Job selection via digital inputs 26...

Страница 5: ...1 CS command reset statistics 306 15 4 2 Command DJ delete job 307 15 4 3 Command GA temperature alarm queries 308 15 4 4 Command GB access device backup 309 15 4 5 GD command retrieve last result 310 15 4 6 Command GF retrieve individual files from the device 313 15 4 7 GI command access an image only via Ethernet 314 15 4 8 GM command access information about the device 315 15 4 9 GP command acc...

Страница 6: ...rNet IPTM 367 15 5 5 1 LEDs on the Vision Sensor 367 15 5 5 2 Cabling 367 15 5 5 3 Ethernet IP object classes and instances 368 15 5 5 4 Connection to the PLC 369 15 5 5 4 1 Determining a permanent IP address and name for the Vision Sensor 369 15 5 5 4 2 Installation with EDS file 371 15 5 5 4 3 Integration of the Vision Sensor into the PLC project 374 15 5 5 4 4 Configuring the Application Suite ...

Страница 7: ... 1 Overview of feature checks 416 19 2 Overview Features 417 19 3 Technical drawing except XC series 418 19 4 Technical drawing XC series only 419 19 5 Technical drawing only devices with protection class IP 69K 420 19 6 Fastening bracket 90 degree VS mounting adapter 421 19 7 Fastening bracket 90 degree 422 19 8 Fastening bracket straight 423 19 9 Technical data 424 19 10 Electrical Connection Vi...

Страница 8: ...mbH Radeberg Germany 1 Welcome Welcome to this Help Guide Please read these operating instructions carefully and observe the safety instructions Target group These operating instructions are intended for users that want to perform feature checks with the Vision Sensor ...

Страница 9: ... FEXLoc and Color FEX are registered trademarks of Baumer Optronic GmbH All other product and company names mentioned are trademarks or registered trademarks of their respective owners All rights reserved Reproduction of this document in whole or in part is only permitted with previous written consent from Baumer Optronic GmbH Revisions in the course of technical progress and possible errors reser...

Страница 10: ... avoided death or serious injury may occur General notes Safety instructions for the Vision Sensor NOTE There is a scratch resistant foil on the glass cover of the tube for devices with interchangeable lenses Remove the foil before carrying out inspection tasks NOTE For UL compliant installations the cables used must meet the following requirements Shielding for optimum interference immunity IP67 ...

Страница 11: ...ÊËÌÍÎÏ àáâãäåèéêëìíîï ÐÑÒÓÔÕÖÙÚÛÜÝß ðñòóôõöùúûüýÿÇ _ ATTENTION Connection installation and initial set up may only be carried out by specialized personnel Protect optical areas from moisture and dirt ATTENTION The IP protection class is only valid if all connectors are connected as described in the technical documentation and for devices with protection class IP 69K if the sealing screw on the len...

Страница 12: ...otection There may be a warning message or emergency shutdown if the device is operated outside its specified range ATTENTION Incorrect supply voltage will destroy the device Pin 1 Power 24 V 25 Pin 2 Ground ATTENTION The device can become damaged by strong radiation or electrical fields For this reason never place the device near strong radiation sources or strong electrical fields These can occu...

Страница 13: ...tion of the risk group RG 0 exempt group no risk as per IEC EN 62471 The radiation of the LEDs does not pose a hazard to the human eye if the devices are used for their intended purpose Even so do not look directly into the light source there is a danger of dazzle and irritation Mount the devices so that it is not possible to look directly into the light source ...

Страница 14: ...ou can find an overview as to which Vision Sensors check which features under Technical Data Overview of feature checks NOTE The colour devices are suitable for tasks such as sorting objects by colour They are not suitable for measuring colours or determining colour deviations ΔE NOTE These devices are not suitable for use in the food sector as per EN 1672 2 ATTENTION Only use the devices for its ...

Страница 15: ...erful tools to check their presence position completeness or colour The high quality of the method ensures that a reliable result is always achieved even with a rapid sequence of objects The diagram shows the schematic mode of operation with the corresponding parts of the sensor Here each inspection task job is divided into several feature checks Each feature check executes one task and returns an...

Страница 16: ...rns a pass or fail result In activated mode you can also use the Application Suite to monitor your inspection tasks In the Configuration mode you can configure and set the parameters for the jobs and features to be checked This is conducted using the Application Suite Because a high quality digital image provides many means of visual inspection the parameters of the jobs have to be set according t...

Страница 17: ...spected The device should be installed so that it vibrates as little as possible during operation to avoid negative influences on the image quality blurred images Install the device so that there are no obstacles between the sensor and the object that could block the view or cause reflections Ensure that the device is protected as well as possible against dust Devices and its built in lens can ins...

Страница 18: ...Baumer Optronic GmbH Radeberg Germany Obtain the depth of field and the area in focus from the following diagrams Devices without Industrial Ethernet focal distance 10 mm aperture 5 6 Devices without Industrial Ethernet focal distance 16 mm aperture 5 6 ...

Страница 19: ... 19 429 Baumer Optronic GmbH Radeberg Germany Devices with Industrial Ethernet focal distance 8 mm aperture 1 8 Devices with Industrial Ethernet focal distance 12 mm aperture 1 8 Devices with Industrial Ethernet focal distance 16 mm aperture 1 8 ...

Страница 20: ...also across the full surface onto heat conductive material on the system aluminium profile 60 mm x 60 mm In the case of devices with integrated Industrial Ethernet the offered mounting bracket should consist of 12 mm thick aluminium or a rear bracket at least comparable in rear attachment and heat dissipation capacity should be used Avoid mounting onto stainless steel Stainless steel has a roughly...

Страница 21: ...nly valid if all connectors are connected as described in the technical documentation and for devices with protection class IP 69K if the sealing screw on the lens setting opening is correctly screwed in A protective cap must be installed on unused electrical screw connections The use of the following protective caps is recommended Connector M8 Cover IP67 Phoenix Contact PROT M8 order no 1682540 E...

Страница 22: ...ION The IP protection class is only valid if all connectors are connected as described in the technical documentation and for devices with protection class IP 69K if the sealing screw on the lens setting opening is correctly screwed in ATTENTION When connecting the power ensure that all cables are connected correctly according to their colour codes You will find the voltages necessary the pin assi...

Страница 23: ...Technical Documentation VeriSens v2 11 0 B4 23 429 Baumer Optronic GmbH Radeberg Germany 6 5 Wiring Input Encoder Output ...

Страница 24: ...be defined in the software using Device Device settings Digital I Os Inputs tab 1 channel operation CH A In this mode every rising edge of the signal corresponds to one pulse for the timing control of the device It is not possible to detect the travel direction of the belt The maximum frequency of 500 kHz should not be exceeded for reliable operation Pin assignment of the power cable Connect the e...

Страница 25: ...onds to one pulse for the timing control of the device The signals must alternate for the CH A and CH B channels It is possible to detect the travel direction of the belt The maximum frequency of 500 kHz channel should not be exceeded for reliable operation Pin assignment of the power cable Connect the encoder CH A to pin 11 IN 5 grey pink Connect the encoder CH B to pin 10 IN 4 violet ...

Страница 26: ...cessor min 500 MHz 2 GHz recommended Memory min 512 MB RAM 1 GB recommended Hard disk min 150 MB of free disk space including examples about 400 MB Display Resolution min 1024 x 768 pixel true colour recommended Network Network connection for 10 Base T 100 Base TX or faster NOTE Please note that you will require administrator rights to install the Application Suite and device drivers alternatively...

Страница 27: ...umer com vs docs When the device has been correctly connected and the software is successfully installed the Vision Sensor can be commissioned using the software NOTE You can launch the Application Suite using a command line parameter and automatically connect to the device via an IP address Example appsuite2 exe ip 192 168 0 250 default IP adresse There is also the option to launch the Applicatio...

Страница 28: ...ess is unique within your network and has not already been assigned Now link your PC into the same network as the device Under certain circumstances you may need to configure the IP address of your PC for this purpose With Microsoft Windows 7 proceed as follows 1 Open Start menu System controller Network and Internet display network status and tasks Amend adapter settings 2 Select your network e g...

Страница 29: ...rogrammable Web interface 80 HTTP Process interface 23 default setting programmable Cockpit 8080 FTP 21 default setting programmable SFTP 22 default setting programmable These ports must not be occupied by other programs or used for communication by the process interface Check that these ports are enabled in your firewall You can find details on this topic in the firewall manufacturer s documentat...

Страница 30: ...ork adapter Device The gateway of the device s local network Gateway 2 must be set in the network configuration The following items must be kept in mind when an address conversion using NAT Network Address Translation is being used for at least one of the gateways To connect the device using the Application Suite you must specify the public address and port number of the gateway to which the devic...

Страница 31: ...ming language for websites allowing among other features dynamic actions within websites MAC address Media Access Control 6 byte address hardware identification number for network devices unique throughout the world Ping Program for determining whether a computer is available in a network Port Additional address of data packets in a network Describes the Internet services used e g 21 FTP 25 e mail...

Страница 32: ...angeable lenses the image focus is set on the installed lens LED Meaning POWER Indicates that the Vision Sensor is being supplied with electricity LINK Indicates that the Vision Sensor is connected to a network DATA Indicates that data is being transferred FAIL Lights up when a feature check has been failed PASS Lights up when a feature check has been passed NOTE Pass Fail flash quickly and altern...

Страница 33: ...ACT Indicates that the Vision Sensor is connected to a network On Network connection established Blinking Data traffic active NET RUN Indicates that data is being transferred via Industrial Ethernet Off Industrial Ethernet will not be used Long blinking Waiting for the first cyclical connection On Cyclical connection active Short blinking Cyclical connection ended waiting for next connection 3 sec...

Страница 34: ... is used for the initial set up job creation configuration service and maintenance of the device You can monitor the progress of the job in the Activated mode 1 Image display options 2 Display screen 3 Help info and support window 4 Job bar 5 Device menu Operating mode display 6 Job menu Result and user display 7 Parametrization area 8 Status bar ...

Страница 35: ...ce The device has two operating modes which differ mainly in the allocation of the priorities Mode Priority Job processing I Os 1 Activated Trigger Image transfer only when permitted by the processing time on the Vision Sensor active 2 Configuration Image transfer trigger is ignored if necessary to the computer inactive ...

Страница 36: ...H Radeberg Germany 7 2 Help Info Support and Notifications On the Help tab there is a corresponding online help page for each dialogue The Info tab displays information about the system The image is an example and does not correspond to the current version of the software ...

Страница 37: ...there is a form for online support You can attach images jobs or log files to your support request The Notifications tab notifies you for example when more up to date firmware is available than is installed on the device when additional language packs can be installed or when the daylight saving time changes ...

Страница 38: ...9 Baumer Optronic GmbH Radeberg Germany With this button you have the option to hide the help With this button you can show the hidden Help again NOTE To improve clarity the Help window is shown lightly greyed out when the mouse pointer is not over it ...

Страница 39: ...as been enlarged and can no longer be seen as a whole you can select another clip by moving the area marked in red The overview is only displayed if the entire image is not visible These buttons can be used to switch on and off the clockwise rotation of the image by 90 angle of rotation is displayed in the status bar the contour points display the field of view display the model display and the cr...

Страница 40: ...oad images for evaluation that you have saved previously from your computer Click on Images from PC Click on the green tick to hide the selection Click on Browse to select the directory that contains the images Choose the directory where the images are located and click OK You can view the images that you have loaded here ...

Страница 41: ...o 32 defect images in Activated mode depending on the device model The last defect images to occur are stored Click on defect images to load the fault images You can see the last fault images to occur Use this button to save the single exposure currently being displayed to your PC Use this button to save all defect images to your PC ...

Страница 42: ...mage currently being displayed to your PC Use this button to record live images The Record images dialogue box opens after clicking Make the settings required for the image series in this dialogue box Use the Single image button to save just one image in the selected directory Use the Acquisition button to keep acquiring images until you click on Stop or have limited image acquisition You can conf...

Страница 43: ...u the option to freely arrange up to seven entries You can also define separation markers The entry options for the device are The chosen name of the image series Sequential numbers generated by the system 00000001 99999999 The result of the analysis The job name The job number a time stamp time is taken from the connected PC ...

Страница 44: ...umination settings and lens adjustments Here you can set all parameters concerned with the primary image acquisition and its control 2 Checking features Checking the features is the actual evaluation Each feature check operates in a field of view determines one or more values and compares the result with preset switching points In a second step you can link the results of the sensor tasks to produ...

Страница 45: ...e image focus directly on the Vision Sensor installed at the check location using an Allen key ATTENTION On devices with protection class IP 69K the setting screw is protected from moisture by a sealing screw Do not remove the sealing screw in damp rooms and only remove it for a short amount of time as there are drying capsules on the inside that absorb moisture and may become saturated Reseal the...

Страница 46: ... the exposure time until the object appears sharp and increase the value for the amplification device dependant NOTE For technical reasons if the exposure time is the same the Reduced Resolution Binning setting will detect higher grey values than at full resolution The image can also be brightened using the control gain Amplification NOTE Higher amplification values result in increased image grain...

Страница 47: ...ure This is not an issue in Run mode Continuous since images are taken continuously In Trigger mode External trigger however the device only records an image after a trigger event Longer breaks between triggers should be avoided to prevent brightness deviations Continuous A new image acquisition is made as soon as an image analysis is complete You can also limit the number of images depending on t...

Страница 48: ...ired with the same length of exposure This is particularly useful with fast moving objects Choose the mode in which the feature to be checked appears most clearly Due to the smaller image size image processing will generally be faster in both cases With the illumination settings you can switch off the internal illumination and possibly activate external illumination with the Flash sync output If y...

Страница 49: ...s sharply focused and no over biases occur For critical objects it may be appropriate to adjust the sensitivity of edge detection manually Set the Edge detection sensitivity to a value where the feature to be inspected is clearly recognizable Make sure that the contours of the test object are consistently obtained and that not too many pseudo contours are created You can make the contours visible ...

Страница 50: ...wish to emphasize contours in dark areas of the image This option may also be appropriate to reduce the effects of reflections when the image is acquired This makes the sensitivity of the acquisition non linear brightening darker areas of the image and diminishing the contrast of brighter areas of the image NOTE When using gamma correction the Reference surface function can only be used to a limit...

Страница 51: ...r unit If you want to convert the coordinates activate this option Following configuration the unit you have defined can be selected as the Units option for the corresponding feature checks Process 1 Place a defined test image of your choice e g graph paper into the field of view of the sensor 2 Activate Convert image coordinates to world coordinates 3 Mark at least four coordinates on the image w...

Страница 52: ...ss of position and of the coordinates If necessary shift the points or adjust the entered coordinates A small line indicates the direction in which the point should be shifted If you now allow the results of the corresponding feature checks to be given in Units the value produced conforms with your defined coordinates in millimetres There is an option to define more than four coordinates Having mo...

Страница 53: ...dinate system This requires the real coordinates in the image to be calibrated to a world coordinate system with a calibration template or manually NOTE A calibration template is required for calibration using the Point Target grid and SmartGrid methods After successful installation the calibration templates can be found in the directory installation path AppSuite calibration on your PC NOTE The I...

Страница 54: ...on into the Vision Sensor s field of view If a SmartGrid is used for this purpose only the chessboard pattern is used other information reference point orientation units is ignored 2 Press the Edit button 3 Select the Point and target grid method 4 Press the Teach button The grid points will be programmed and marked with a small orange cross A reference point will also be inserted NOTE Should this...

Страница 55: ...oordinate system only specifies the orientations X Y and does not necessarily show the zero point 8 Determine a main orientation for the coordinate system These orientations will be aligned to the target grid Rotation is thus only possible in steps of 90 9 Press the Transfer to device button The programmed coordinates will be transferred to the Vision Sensor NOTE A reference point cannot be moved ...

Страница 56: ...rence point orientation units is ignored 2 Press the Edit button 3 Select the Point and point method 4 Now move both reference points to a mark of your choice 5 Assign coordinates to each of the reference points 6 Determine the orientation for the coordinate system left handed right handed NOTE The overlaid coordinate system only specifies the orientations X Y and does not necessarily show the zer...

Страница 57: ...ding to SmartGrid The reference point can optionally be moved by mouse the corresponding coordinates are displayed in the greyed out Reference Point field NOTE Should this teaching fail a user defined coordinate system could be programmed Causes could be The SmartGrid squares are too small minimum size 20 x 20 pixels There are too few squares in the field of view at least 6 x 8 related squares are...

Страница 58: ...sary if the distance set during the distortion correction SmartGrid surface to the reference plane deviates from the current height NOTE A distortion correction and Z calibration must be performed before the Z correction can be performed 1 Set the checkmark for Convert image coordinates to world coordinates 2 Set the checkmark for Apply Z Correction 3 Enter the desired distance for Distance object...

Страница 59: ... view as required 2 Now adjust the focus on the Vision Sensor To do this use the focus setting screw and the installed lens You will see how the focus changes The best value may also increase 3 Adjust the focus until you have achieved the optimum result highest focus value Reset best value Use this to reset the best value to the current focus value Limit field of view Use this function to limit th...

Страница 60: ...o a white area in the image 2 Now click on the Image acquisition tab and change the exposure time to create an image that is as homogeneous as possible and slightly grey 3 Click on the White balance tab again and then on the Run button The three RGB values should now be similar to one another see the status bar below Once the white balance has been run you can reconfigure the exposure time on the ...

Страница 61: ...ction task has tolerances with regard to the position of the test object most jobs begin with part location The part location feature searches for the reference edges of the test object and aligns all subsequent feature checks according to these reference edges Add opens the New feature check dialogue In this a list of all available feature checks is presented When a feature to be checked has been...

Страница 62: ...how older versions This function shows you versions of feature checks from earlier releases labelled accordingly along with the current ones e g to use in already successfully implemented applications We recommend that you use the current feature checks It is not possible to convert from an older to a newer version NOTE The results of the feature checks can be connected at a later stage device dep...

Страница 63: ...n object is determined using contours Choose the shape of the area from which the contours are adopted Adopt the contours by pressing Teach A search is then made for the object in the entire image The match of the contours with the found object in the image is displayed here Using the appropriate switching points set how good the match must be so that the object is found The button on the extreme ...

Страница 64: ... here If you do not wish to search for the object in the entire image set the tick and then limit the detection area Model editor tab With the displayed model you can now use the mouse to delete contour points which clearly do not belong to the reference object Use this button to restore the model to its original state You can use these two buttons to enlarge or reduce the model Confirm your setti...

Страница 65: ... left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre with your mouse The current result for brightness is shown as a mean grey scale value The switching points designated Min and Max are adjusted on the right hand side A graphic display is located in the middle in which the positions of the switching points are displayed and where they can b...

Страница 66: ...a This function is only available in connection with part location A field of view is still used as the reference area However this is carried with the position correction The brightness correction is now guided by the brightness of this carried area The mean brightness in the field of view of the reference area should exceed a grey scale value of 128 to ensure reliable operation NOTE If Use carry...

Страница 67: ...ctive state is displayed again by this signal If the switch could not be performed for example because the job number was invalid an alarm signal is also output until the next trigger Output 1 5 Enter how the outputs are to be activated here You can choose between these three options Total result Partial result Alarm For the results output you may also choose whether you want a signal to switch fo...

Страница 68: ...ons for configuration AND The results of all feature checks are OK OR The result of at least one feature check is OK You can also invert and ignore the result of a link by selecting the entry NOK or Ignore in column Nominal result It is possible to nest the links to any desired depth to achieve even more complex expressions You can insert new levels by selecting the Insert expression value in the ...

Страница 69: ... GmbH Radeberg Germany Example Brightness 1 OR Contrast 1 AND Brightness 2 OR Contrast 2 Part location on edges 1 AND Contour comparison 1 OR Count contour points OR Brightness 1 NOT Brightness 1 AND Contrast 1 OR Brightness 1 AND Area size 1 AND Contour comparison 1 ...

Страница 70: ...hey can be nested just like the other feature checks The states of the digital inputs are captured at the trigger point or at the start of image acquisition The states of the digital inputs alone cannot be linked there must be at least one feature check NOTE To use the digital inputs in the result conjunction you must select the relevant External Sensor input in the device settings Device Device S...

Страница 71: ...arious positions to bring up further details Following image acquisition the Image trigger permitted signal is deactivated The Image trigger permitted signal is activated again at the end of image acquisition and another image acquisition operation is possible immediately The Pass Fail signal then switches at the set output time even if additional analyses have already been performed The Result va...

Страница 72: ...er you may set output time and duration as a distance In addition you can specify an output run up in milliseconds to activate the Pass Fail signal before reaching a specific position This option is available if an exact output time has been specified identical earliest and latest output times and this is specified as a distance Keep in mind that in this case the conveyor speed must be constant Th...

Страница 73: ...Technical Documentation VeriSens v2 11 0 B4 73 429 Baumer Optronic GmbH Radeberg Germany The different settings can be viewed in the timing diagram once you have left the menu ...

Страница 74: ...the robot The first robot compatible feature check that has been configured is entered automatically If no robot compatible feature check is selected then no waypoint coordinates determined by the image processing can be used NOTE To be able to select a feature check on Feature by Waypoint the distortion correction and Z calibration must be configured Furthermore Convert image coordinates to world...

Страница 75: ... the device was switched on A 32 bit wide counter 0 4294967295 is used which starts again at 0 after reaching the maximum Result Result Total result Partial result If this selection is activated the total result or the partial result of the job is transferred Result 2 characters 1 Characters P or F for a Pass or Fail result 2 Characters A or space for Alarm triggered or No alarm triggered Partial ...

Страница 76: ...ck Find object positions to the robot controller 1 Configure the Find object positions feature check 2 With Feature for Waypoint the configured feature check is now automatically selected The preview window Data view shows you how the data is output to the robot controller via the process interface NOTE The further configuration then takes place on the robot controller ...

Страница 77: ...elected line respectively Each line contains one feature to be transferred Using the arrow keys the currently selected line can be moved upward or downward thereby changing the data sequence in the data packet General settings Parameters Meaning Start Character string as a start sequence preceding the data block This character string is freely selectable e g Start Separator Character string includ...

Страница 78: ... to interpret or make the data packet readable for human users NOTE Amendment option device dependant Format The format used to represent the data to be transferred is set here The options provided depend in principal on the values available Customarily the following possible options are offered ASCII 2 decimal places ASCII Exponent Decimal Binary Little Endian Binary Big Endian NOTE This means th...

Страница 79: ...ial result 1 character P or F for a Pass or Fail result I if the partial result was not output during the job Statistics Statistics Total result Partial result If this option is activated the statistics for the result are included The total number of images the number of OK images and the number of images for the total result that triggered an alarm are all transferred with the individual values s...

Страница 80: ...Configure all of the settings in the overview for the data output see Data table settings 1 Select the feature check setting to be output 2 Select the value to be output 3 Set the start character separator and end character for the datagram 4 Now the preview window on the right will show how the data will be output via the process interface The RD Response Data and the number of characters 4 byte ...

Страница 81: ... line contains one feature to be transferred Using the arrow keys the currently selected line can be moved upward or downward thereby changing the data sequence in the data packet General settings Parameters Meaning Start Character string as a start sequence preceding the data block This character string is freely selectable e g Start Separator Character string included as a delimiter between each...

Страница 82: ...t readable for human users Format The format used to represent the data to be transferred is set here The options provided depend in principal on the values available Customarily the following possible options are offered ASCII 2 decimal places ASCII Exponent Decimal Binary Little Endian Binary Big Endian NOTE This means that the data packet can contain characters that are normally used as control...

Страница 83: ...e data input see Data table settings 1 Select the feature check setting to be set 2 Select the value to be output 3 Set the start character separator and end character for the datagram 4 You will now see the current set value in the preview window on the right The SP Set Parameter and the number of characters 4 byte ASCII Hex will also be prefixed see SP command Start 17 03 2014 End NOTE If no val...

Страница 84: ...for image acquisition button to the 9 buttons Once a button has been assigned a function you can set which parameters for these functions can be configured in the web interface by which user profiles If no user profile is used only the Expert column will be used and the Operator column will be greyed out If you assign this function to a button you can set parameters for image acquisition exposure ...

Страница 85: ...cessing the job you may continue to retrieve defect images and to save images There is also the option to save the current job and all jobs to the PC via the Job menu Click on Switch job to change to a different job stored in the Vision Sensor Click on Configure Device to return to Configuration mode and to make new settings Click on Delete defect images to delete stored defect images button only ...

Страница 86: ...otal job evaluation time can be reduced by restricting feature tests e g restricting the angular range for part location to contours A tool tip with more information will be displayed if you hold the mouse pointer over the bar NOTE The throughput denotes how many items the device is processing per second Throughput is higher than the response time suggests This is because the device is already loa...

Страница 87: ...ailed parts NOK number percent Number of alarms number percent Alarms The Alarms window displays the following values Invalid trigger Alarms due to mistimed triggering number percent Analysis aborted Aborted operations due to processing timeout number percent Error in job selection Alarm during job selection number percent Errors at process interface Errors at process interface number percent FTP ...

Страница 88: ...bH Radeberg Germany 10 Device menu In the device menu the basic parameters are set which apply equally to all jobs You can find the device menu when you click on Device NOTE Please observe that it may be necessary to configure the stored jobs if you change these settings ...

Страница 89: ...the Devices tab If a device s device settings contain the location the corresponding devices will be displayed as a topology device tree This makes it easier to manage even larger installation bases The operating mode and connection status to an Application Suite are displayed with a pictogram If you move your cursor over the respective device you will see a tool tip with further information ...

Страница 90: ...f this list on a regular basis Process 1 Save a file ending in txt e g knownDevices txt on a drive to which all required users have access 2 Place a check against Options User defined list of known devices 3 Use Search to select the txt file saved as per 1 above 4 Confirm the entries made with OK All bookmarked devices will now be listed by name and serial number in the saved file and be displayed...

Страница 91: ... operating mode The Vision Sensor is in Restore mode The Vision Sensor is not connected to an Application Suite The Vision Sensor is connected to an Application Suite Mark the Vision Sensor as a favourite Now it will remain in the list even if it is temporarily unavailable Here you have the option to hide devices You can reveal hidden devices with the Display hidden devices function ...

Страница 92: ...r Optronic GmbH Radeberg Germany On the Simulators tab you can connect with one of the simulators to simulate a device and modify job settings and device settings without having to connect to an actual device Select the desired simulator and click on Connect ...

Страница 93: ...h l fr French l es Spanish l zh Chinese l ja Japanese l ko Korean l it Italian l th Thai Example appsuite2 exe ip 192 168 0 250 l en Start the Application Suite in English with the default IP address NOTE Should the device no longer be reachable due to adverse factors e g corrupt job data and cannot be rebooted into Recovery mode independently it can normally be forced to start in Recovery mode by...

Страница 94: ...Technical Documentation VeriSens v2 11 0 B4 94 429 Baumer Optronic GmbH Radeberg Germany 10 2 Device settings The following generally applicable settings are made under the menu option Device settings ...

Страница 95: ...ssign a name to the device This is then shown in the device status User defined topology Device location You can enter the device location here The preview changes as you enter the details Domain name Activate this function if you wish to enter a device domain name for your Vision Sensor This means that you will not only be able to enter the device s IP address to access it via the browser but als...

Страница 96: ...vels are available for you to avoid unauthorized changes on the device The individual privileges for these levels are set as follows Function Operator Expert Administrator Activate deactivate device Change the active job Store and transfer the job to the device Process interface assistant Change device settings Firmware update Backup restore device Password management encryption if activated Activ...

Страница 97: ...dently and differently to the Application Suite user levels All functions of the web interface are therefore deactivated under factory settings Activate the option Restrict access rights for certain user profiles for using user profiles NOTE The rights to change individual functions relating to a job can be set during job creation as part of the Configure interface Web interface step Rights for de...

Страница 98: ...ption to assign device specific functions to the three lower buttons in the web interface view Icon Description Button has not been assigned a function Device info and status Statistics Processing time Change job Defect images Job management Backup Language Device specific functions provides access to all device specific functions via an additional menu level ...

Страница 99: ...ent user groups for selected device specific functions under Device specific function configuration Language Select the language for the web interface here Save the selection via the web interface Activate this function if you wish to save the changes you have made to the language via the web interface It will then be active immediately when you next start the web interface You can only save this ...

Страница 100: ...ffects this may have on later processes No live image will be available in the web interface when reconfiguring feature checks in the web interface for trigger controlled image acquisition and stationary analysis Here you can set the user level that has the access rights to temporarily set image acquisition to continuous rather than trigger controlled using the Live image button Using this button ...

Страница 101: ...logo max 184 x 23 pixels into the interface Click on the design element you wish to adjust and use the controls to adjust the colour In Expert mode you have the option to enter colour values using hex format RGB Button labels Activate this function if you do not wish the second row of the buttons to be displayed in the web interface This is particularly useful for smaller monitors Using this butto...

Страница 102: ...on to transmit the data in unencrypted form HTTPS activation Enable this function to encrypt the data Installation of the respective SSL root certificate is required for activation device dependend NOTE The web interface on the Vision Sensor will be disabled if neither of these two options is enabled Automatic switching from HTTP to HTTPS The address in the browser can start as usual with http if ...

Страница 103: ... 2 Confirm that you want to install a certificate 3 Confirm the opening of certificate RootCA cer 4 Click Certificate installation and the Certificate import wizard will be launched 5 Click Continue 6 Select Save all certificates in the following memory 7 Click Search 8 Select Trusted root certification location Confirm with OK 9 Click Continue 10 Click Finish 11 Confirm the Security warning with ...

Страница 104: ...e processing Image processing supports the following use cases the robot based image based feature check of objects the image based finding of objects and transmission of the coordinates to the robot through the feature checks Part location on contours Point position and Find object positions NOTE An active Robotic mode changes the settings of the process interface This is now used exclusively for...

Страница 105: ...t 1 is reserved for the trigger For other inputs you can specify how you want to switch the active job It is also possible to connect an incremental encoder to the Inputs 5 CH A and 4 CH B Outputs NOTE The number of configurable outputs is device dependant Enter how the outputs are to be activated here Hardware signals image trigger permitted result valid result alarm flash sync device activated h...

Страница 106: ...ctor as follows Select the known quantity and set the corresponding value Activate pulse measurement by pressing the Start button Move the conveyor belt by the set value Terminate the measurement using the Stop button Press the Test configuration button to check the current setting NOTE All specifications during configuration refer to the forward motion of the conveyor belt If necessary reverse th...

Страница 107: ...via the process interface SP Datagram Evaluation cancelled prematurely The result of computing was not present at the latest output time Error in job selection Invalid job number or job could not be loaded e g because it is not correctly configured Error at process interface An error occurred during data transfer to the process interface e g an invalid command is received FTP client could not send...

Страница 108: ...ver in your network the IP address is obtained there If this does not happen within a specific time and a timeout occurs you can choose whether o the last IP address obtained via DHCP is used o another fixed IP address is set If the port 51 972 standard is already being used in your network you may specify a different port for communication between the connection of the device and the Application ...

Страница 109: ... Port Set the port for the device s Ethernet interface here End identifier Shows which control character is expected or sent at the end of each datagram Receipt timeout Here you can set the time after which receipt is stopped Connection timeout The connection is closed if no contact is received within a given time NOTE A TCP IP connection can be monitored for example for when the PLC cyclically se...

Страница 110: ...Protocol PROFINET integrated device dependant Here you will find all parameters which can be used to configure data exchange directly over the embedded PROFINET interface As a rule this generally only relates to changing the IP address to 0 0 0 0 There is also the option of editing the device s PROFINET name Although this should be assigned using the PROFINET tool and not edited on the device NOTE...

Страница 111: ... RD and length the device also sends the RD command designator and the length of the result data prefixed as a header Send result data only the device only sends the result with no additional information One suitable use for this would be if the application only requires the result data from the device without header information ...

Страница 112: ...n encrypted form SFTP depending on your device and your server It is also possible to save backups of the device to FTP servers and to access them up from there FTP server Protocol SFTP device dependent encrypted data transmission FTP unencrypted data transmission IP address IP address of the FTP servers User name Enter the user name for FTP access Port Port number of the FTP servers Password Ente...

Страница 113: ... on the FTP server This can lead to long load times Saving images to the FTP server Saving images Select the images to be stored on the FTP server NOK only all images with the total result of Fail OK only all images with the total result of Pass Number limit Use this function to limit the number of images stored If the limit is reached the older images will be overwritten Image directory on the se...

Страница 114: ... command The job name The job number A time stamp local FTP server time similar to Time stamp UTC although here a local offset can additionally be configured under Time zone local This value consists of the chosen time zone and if selected the consideration of summer time Switching between summer time and winter time then occurs automatically within the device and matches the chosen time zone A ti...

Страница 115: ...off The jobs available in this folder are then displayed on the left hand side On the right hand side you will see the jobs on the device and their job numbers as well as remaining storage space available for jobs on the device NOTE Even if no job is available part of the storage space is occupied by internal files Observe that the job number directly corresponds to the binary code with which the ...

Страница 116: ...ive when the device is switched on In this case the desired job is selected using the levels present at the inputs Save after job selection Activate this function if you would like the most recently active job to be activated the next time the device is started Transfer the jobs using the horizontal arrows and move jobs to the corresponding storage locations in the device with the vertical arrows ...

Страница 117: ...on Suite or via the web interface Digital inputs Jobs are selected via the digital inputs Command SJ via process interface Jobs are selected via the process interface Parameters following external teach SP command If the save to device option is activated changes resulting from external teach or process interface commands in the job are saved to the device If this option is not activated changes a...

Страница 118: ...termine the degree to which the image can be compensated for such inclined positioning of the Vision Sensor A value of around 30 to the ideal location Vision Sensor is parallel to the object surface can be assumed as a rule of thumb whereby both non achievement and exceedance of this value is possible NOTE A SmartGrid or target is required for calibration of this function After successful installa...

Страница 119: ... are also displayed NOTE A constant red light means that distortion correction could not be successfully performed Causes could be The SmartGrid squares are too small minimum size 20 x 20 pixels There are too few squares in the field of view at least 6 x 8 squares are required preferably more the SmartGrid is partially covered 4 The preview images will now display the used image area left pane and...

Страница 120: ...e by pressing Delete if this function is not required Disabling the function within image settings is not sufficient for this Import export of the customisation These functions allow you to export visible image settings and transfer them to another device by importing This makes it easy to change devices After import the visible image shows the same image detail as before during export ...

Страница 121: ...e SmartGrid and the reference level contact surface during calibration of the distortion correction The setting is required if Z calibration is to be used with coordinates at different heights or planes Z in the depth of field A reference plane may be for example the machine table and facilitates the handling of the various Z levels If the SmartGrid is on the machine table then the value correspon...

Страница 122: ...he vision sensor to be adjusted to a height Z and further processed by a robot This function performs the spatial calibration of the captured image NOTE A SmartGrid is required for calibration of this function After successful installation the SmartGrids can be found in the directory installation path AppSuite calibration on your PC You can also open the folder directly from the dialogue NOTE To d...

Страница 123: ...y more 2 For View select the angle at which you see the vision sensor This is for better orientation with permanently installed vision sensors 3 Press Start calibration 4 It is helpful but not necessary to place a thin object such as a nut in the centre of the vision sensor s field of view making it easier to tilt the SmartGrid in all directions Use the Live View for placement 5 Place the SmartGri...

Страница 124: ...figure the lighting situation as it will be for the planned feature checks Activate the internal lighting for example 2 Place an homogeneous white or grey template in the Vision Sensor s field of view Any image display options such as a preset rotation will be ignored 3 Press the Teach button Shading correction will be performed The teaching of shading correction is performed on the original senso...

Страница 125: ... of the image Please check the lighting situation and the homogeneity of the template and perform shading correction again 5 Press OK The programmed shading correction is saved on the Vision Sensor NOTE This function can increase the Vision Sensor s start up time You can reduce the start up time by pressing Delete if this function is not required Disabling the function within image settings is not...

Страница 126: ...illumination if you are unsure about admissible parameters Using the illumination controller you can make the settings at the outputs of the illumination port You can also use a direct flash flash controller function alongside directly controlling external illumination Alternatively an unamplified signal can be output to an external flash controller To use the illumination controller the device mu...

Страница 127: ...possible limit operating voltage current Flash illumination All settings possible Control the external flash controller No settings possible flash sync active Control the external flash controller max 1 ms No settings possible flash sync active max 1 ms Control the external flash controller without limit No settings possible flash sync synchronous to exposure active Here you can define settings in...

Страница 128: ...v2 11 0 B4 128 429 Baumer Optronic GmbH Radeberg Germany This view shows how the signals at the 4 outputs of the illumination port are connected for the current settings This diagram shows the current waveform at output 1 and output 2 ...

Страница 129: ...upt these during the restoration process Do not undertake any other actions during the restoration process This dialogue provides support in the installation of new firmware ATTENTION Only use the most recently released version of the firmware for updating You may wish to ask the Support before updating firmware Create a device backup of your Vision Sensors before updating firmware Click on the bu...

Страница 130: ...rrent firmware will be retained NOTE Restoring the factory settings deletes all of your previous settings and jobs Confirm the request with Yes to restore the sensor to the factory settings Use the Restart device button to restart the device The functionality is equivalent to switching the power supply off and back on Confirm the request with Yes to restart the sensor ...

Страница 131: ...n and restoration of a backup or firmware the operation of the device by uninvolved programme components web interface Application Suite or process interface is not blocked This means it is possible to interrupt these during the restoration process Do not undertake any other actions during the creation and restoration process ...

Страница 132: ...are saved in a file Activate the option Encrypt backup file with a password if the backup file is to be stored in protected mode NOTE The device backup cannot be reloaded without knowing the password Specify a storage path and a file name for the backup file or click on Search The file extension must be vsb Click on OK The required file is created During this process all device settings and jobs a...

Страница 133: ... jobs and firmware are saved in a file The backup file cannot be protected with a password and a file name for it cannot be assigned manually NOTE Do not save the images and backup file to the same folder on the FTP server This can lead to long load times FTP settings Device Device settings FTP Click on OK The required file is created During this process all device settings and jobs are transferre...

Страница 134: ... Germany 10 3 3 Backup restoring from the PC Use this dialogue to transfer a device backup file from the PC to the device Specify the storage path of the backup file or click on Browse The file extension must be vsb If this is a protected backup file you must then enter the password ...

Страница 135: ...factory settings of the Vision Sensor all unsaved files will be lost Now transfer the selected settings and jobs to the device with OK This process may take a few minutes device dependant NOTE If the device backup contains a calibrated lens distortion or shading correction then the backup will only be completed when the device has been switched to set up mode after recovery Device configuration ...

Страница 136: ...firmware are all restored Specify the storage path of the backup file or click on Browse The file extension must be vsb NOTE If you restore the factory settings of the Vision Sensor all unsaved files will be lost Now transfer the selected settings and jobs to the device with OK This process may take a few minutes device dependant NOTE If the device backup contains a calibrated lens distortion or s...

Страница 137: ...on mode If the menu option is still greyed your device may have the wrong firmware version ATTENTION If your Vision Sensor has already been permanently integrated into your system it is advisable during initial testing to check the outputs with a meter Keep in mind that switching of the outputs will be transmitted to any connected controllers NOTE If encoders are defined for the inputs 4 and 5 you...

Страница 138: ...ermany Example using outputs Set the appropriate output on or off using the Low High button In the example Output 1 and Output 3 are set This means that power is now applied to Output 1 and Output 3 Example using inputs In the example applied power is registered on Input 1 and Input 4 ...

Страница 139: ...o check what data is being sent and received via the device process interface It appears in chronological order in the Device communication field This window is updated immediately when a datagram is transferred through the process interface regardless of whether it was sent from your PLC or PC You can use the corresponding buttons to pause the window resume a paused image and delete ...

Страница 140: ...ee buttons to select common commands a field to amend the commands or enter your own and a protocol field showing the data transfer for the simulation You can use the Command button to select your chosen command from a list and then add arguments before using the Send button to transfer it to the connected device You can also access data images jobs backups and select where they should be stored T...

Страница 141: ...H Radeberg Germany 10 6 Operating mode display The current operating data of your Vision Sensor are displayed here Device name Operating mode Configuration Activated NOTE Clicking on the relevant displays allows you to change operating modes in the same way as the buttons ...

Страница 142: ...Job menu Actions are performed in this menu that affect jobs Here you can create new jobs and load and save jobs from different sources You can also test jobs NOTE Use job management to copy jobs between your computer and the device This is found under Device menu Device settings Job management ...

Страница 143: ...143 429 Baumer Optronic GmbH Radeberg Germany 11 1 Create new job This menu option is used for creating a new job Decide whether you want to save the current job Select a new name of the job and save it Click on Save You can now configure the job ...

Страница 144: ...rg Germany 11 2 Load job from PC This menu option is used for loading jobs that have already been saved from the PC for processing Select the saved file and click on Open NOTE Password protected files cannot be loaded if the password is not known You can now process the loaded job ...

Страница 145: ...ad job from device This menu option is used to load a job that has already been saved on the device for processing in the Application Suite This pin shows that the job is active at power on Select the job and click on Load NOTE Password protected files cannot be loaded if the password is not known ...

Страница 146: ...ication Suite to the PC NOTE The job name including the file extension app can be a maximum of 31 characters Use Browse to select a directory where you would like to save the job Activate the option Encrypt with password if the file is to be saved in protected mode NOTE The file cannot be reloaded afterwards without knowing the password Click on Save to create the file ...

Страница 147: ...me for the job into the Job Name field and click on Save NOTE The job name including the file extension app can be a maximum of 31 characters Encrypt with password Activate this option if the file is to be saved in protected mode Activate when switching the device on Activate this option if you want to activate the saved job when you switch on the Vision Sensor This pin shows that the job is activ...

Страница 148: ...ate folder with Browse Using Add an additional directory you may add additional directories containing images to be tested You may remove the added directories again by clicking on the X icon During the test you have the option of saving only certain images This is related to the results of the sensor tasks Choose between NOK only OK only and All Specify the directory where the pre selected images...

Страница 149: ... file will remain empty if no data is transferred You can limit the duration of the test Select a value and choose between seconds and images You can also activate or deactivate the outputs NOTE If you do not limit the test sequence you may terminate the test at any time using the Finish button ATTENTION If your Vision Sensor is already integrated in your machine it is often advisable to deactivat...

Страница 150: ...Technical Documentation VeriSens v2 11 0 B4 150 429 Baumer Optronic GmbH Radeberg Germany Click on End test when you want to end the test ...

Страница 151: ...berg Germany 11 6 1 Test Protocol Overview When the test has been completed the results are displayed in a test protocol which you can save and print When you have completed the test with pictures from different directories in the test protocol are indicated in different colours ...

Страница 152: ...of the tested job or the entire job number of OK NOK to be evaluated Under Value you may evaluate the numerical results of the feature check the angle of the object s rotation in the event of a part location Minimum Set the minimum of the range of values here Number of classes You can set the scaling between the Minimum and Maximum here Maximum Set the maximum of the range of values here If you mo...

Страница 153: ...2 11 0 B4 153 429 Baumer Optronic GmbH Radeberg Germany 11 7 Result and user display The current job information for your Vision Sensor is displayed here The information consists of Job name OK NOK or Alarm Current user device dependant ...

Страница 154: ...ices with and without Industrial Ethernet Part location on contours is supported as an older version on devices with integrated Industrial Ethernet NOTE Most feature checks support the Teach function Initially the contours edges of the sample piece will be learned or switching thresholds set absolutely or as a percent 10 to the actually determined value A relative amendment will be retained if pos...

Страница 155: ...ject is determined using contours Choose the shape of the area from which the contours are adopted Press Teach to search for new contours if you move the area The match of the contours with the found object in the image is displayed here Using the appropriate switching points set how good the match must be so that the object is found The button on the extreme right inverts the set point ...

Страница 156: ...g time Max rotation If you want to find the object only in a limited angular range you may specify the maximum rotational position here Limiting the angular range reduces processing time If you do not wish to search for the object in the entire image set the tick and then limit the detection area Model editor tab You can use these two buttons to enlarge or reduce the model You can gradually undo o...

Страница 157: ...ature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Conformity Integer Match of the model...

Страница 158: ...is activated are corrected according to the current position of the test object This feature check does not support external teach If a teach procedure is still executed the parameters set will be maintained In this example two edges of a test object are found with a horizontal and a vertical search line and the reference point for part location is determined at the intersection of the detected ed...

Страница 159: ...ected as closely as possible to the middle The first contour is detected which intersects the search line along the search axis You can correct the positioning at any time With long edges it is advisable to search the main reference edge with two search lines Enter the criteria Min edge length You must also specify whether a short medium or long edge is to be sought Using User defined you may manu...

Страница 160: ... Angle of the object degrees Edge A 2 Float Coordinates 1 of the found edge A Start point X separator Start point Y separator Rising of edge x separator Rising of edge y separator Edge B Float Coordinates of the found edge B Start point X separator Start point Y separator Rising of edge x separator Rising of edge y separator The output values for the data frame of the process interface describes t...

Страница 161: ...the soft sensor Part location in a circle This feature check does not support external teach If a teach procedure is still executed the parameters set will be maintained Configuration for part location on a circle as follows Select the shape of the field of view A circular ring and a circular ring sector can be chosen Draw the inner and outer reference circles with the mouse The inspection of a ci...

Страница 162: ...ons device dependant Minimum contrast Specify whether you are searching for an edge with sharp or weak contrast Direction Select the direction of the search If you wish to change the reference position of the part location press the Teach button and the new position will be adopted Confirm your settings and return to the feature list with OK Return to the feature list without making any changes wi...

Страница 163: ...rated The background of the text should be homogeneous to achieve a stable analysis The position found can then be used to align other feature checks for example the Text feature check This feature check supports external Teach The position of the text line will be re taught The conformance of the current object with the taught in model is displayed directly You can set the associated switching po...

Страница 164: ...o the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Conformity Integer Match between the current object and the taught in model Text position Float point X Separator Y Text angle Flo...

Страница 165: ... points and the distance of an edge in relation to a reference edge a taught in edge and compares the distance found with the associated switching points This feature check supports external Teach The switching points are adjusted as a percentage to the current measured value Select the shape of the field of view A search line and an arc can be chosen Adjust the field of view by holding the left m...

Страница 166: ... of the feature check Select the computation method Point to point Distance between two points Rectangular distance Right angular distance between two points To reference Distance to a reference edge Edge to circle Distance from one edge to the centre of a circle Circle to circle Distance between centres of two circles Click on Teach to retrain a new reference Min edge length With short medium or ...

Страница 167: ...so makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail...

Страница 168: ...ing points This feature check supports external Teach The switching points for the diameter are adjusted as a percentage to the current measured value The thresholds for the distance remain unchanged as the newly programmed circle is adopted as a reference and the distance reverts to zero Select the shape of the field of view A circular ring and a circular ring sector can be chosen Adjust the fiel...

Страница 169: ...ith short medium long or user defined select the anticipated length of the sought contour to achieve a consistent result Using User defined you may manually enter the length of an edge 5 1000 pixels Transition You must specify whether each edge can progress from bright to dark or from dark to bright device dependant Minimum contrast You can also specify whether you are searching for an edge with s...

Страница 170: ... without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Circle centre Float point Circle diameter Float Distance of the centre to the reference Float Difference of the diameter to the reference Float Roundness Integer ...

Страница 171: ...Teach The switching points are adjusted as an absolute to the current measured value Select the shape of the field of view A search line and an arc radial search for edges can be chosen Adjust the field of view by holding the left mouse button depressed In this example the angle between a vertical edge and a horizontal edge on a test object is determined by one horizontal and one vertical search l...

Страница 172: ...ween edges Angle between two edges Angle to reference Angle to a reference edge Orientation of the angle Smallest angle between edge A and B Angle between edge A and B clockwise Angle between edge A and B anticlockwise You can teach in a new reference with this button Configure of the sensor as follows Min edge length With short medium or long select the anticipated length of the sought contour to...

Страница 173: ...ues for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Corner position Float point Coordinates of where the edges intersect Angle of the corner Float Size of the angle between the edges in degrees Position of corner Float Rotational position of edge 1 in degrees 0 horizontal 90 vertical Distance Float Distance between the c...

Страница 174: ...each The switching points are adjusted as an absolute to the current measured value Select the shape of the field of view A search line and an arc can be chosen Adjust the field of view by holding the left mouse button depressed In this example the edges of a test object are detected at both the bright dark and the dark bright transitions The number of detected edges is indicated directly in the d...

Страница 175: ... length With short medium or long select the anticipated length of the sought contour to achieve a consistent result Using User defined you may manually enter the length of an edge 5 1000 pixels Transition You must specify whether each edge can progress from bright to dark or from dark to bright device dependant Minimum contrast You can also specify whether you are searching for an edge with sharp...

Страница 176: ...176 429 Baumer Optronic GmbH Radeberg Germany This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Number of edges Integer ...

Страница 177: ... determine the grasp position for robots pick and place This feature check supports external Teach The switching points are adjusted as an absolute to the current measured value Set the point on the position to be determined You may need to rotate it with the lever Select the features that should be checked Rotation Determine the switching points of the rotation Position X Determine the switching ...

Страница 178: ...t set using Teach is identified with a cross Here select the part location with which the feature check should be corrected Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the ...

Страница 179: ... 6 Edge characteristics This feature check scans an edge with search beams and compares the distances detected with the defined conditions This feature check does not support external teach Select the shape of the field of view A rectangle a circular ring and a circular ring sector can be chosen ...

Страница 180: ...t related group only the number of distances located within the largest group will be counted i e the distances which fulfil the set criteria and appear directly next to one another Methods Here you can define the methods the search beams should use to search for edges The search direction is indicated by a yellow arrow in the field of view The methods available depend upon the shape of the field ...

Страница 181: ...nits If you have defined your own unit Adjust image Coordinates you can select it here Distance Here you can set the spacing between the search beams Alignment Define how the search beams are to be aligned to the field of view The search beams are aligned according to the orientation of the field of view to the object The system searches for a straight rectangular field of view or circular circula...

Страница 182: ...e positions of the switching points are displayed and where they can be changed The button on the right inverts the result of the respective partial check for this feature check Minimum distance Define the criteria for the smallest distance value located Maximum distance Define the criteria for the largest distance value located Difference max min distance Define the criteria for the difference be...

Страница 183: ...y the result of the part location you can choose this option here Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Number of distances Float Mini...

Страница 184: ...VeriSens v2 11 0 B4 184 429 Baumer Optronic GmbH Radeberg Germany Output value Data type Description Edge point B list Float Point list Intersection between search beam and located edge X separator Y NaN if point is not found ...

Страница 185: ...itching points are adjusted as a percentage to the current measured value Choose the shape of the field of view in this menu The current result is displayed directly in the dialog as the Number The switching points designated Min and Max are adjusted on the right hand side A graphic display is located in the middle in which the positions of the switching points are displayed and where they can be ...

Страница 186: ...n choose this option here External teach also makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Resul...

Страница 187: ...mparison adjacent pixels are counted and correspondence is determined on the basis of switching points To use this feature check to its best effect it is highly advisable to combine it with part location This feature check supports external Teach Here all of the contours will be adopted in the model but the switching points remain unchanged The field of view must firstly be defined The correspondi...

Страница 188: ...ns to enlarge or reduce the model You can gradually undo or redo the changes using these buttons With the displayed model you can then use the mouse to delete contour points that clearly do not belong to the reference object or to supplement missing contour areas The current result is displayed directly in the dialog as the Match The switching point designated Min is adjusted on the right hand sid...

Страница 189: ...d by the result of the part location you can choose this option here External teach also makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interfa...

Страница 190: ...ield of view and checks whether the result is within a preset tolerance This feature check supports external Teach The current colour is taught as the target colour Select the shape of the field of view Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre with your mouse ...

Страница 191: ...l the pixels in the marked area is used Methods Dominant single colour The dominant colour in the spectrum in the marked field of view is calculated and used This means that any small errors such as dirt or reflections can be ignored Automatic brightness correction In order to be independent of fluctuations in the ambient light the device offers a means of automatically correcting the brightness U...

Страница 192: ...rched for in each field of view Use the arrow to accept the colour currently detected as the target colour NOTE We recommend that you calculate the target colour with a correct model piece Entered values may deviate from the model piece Max deviation Here you can set the maximum permissible colour deviation in ΔE distance between two colour coordinates in the CIELab colour coordinate system This c...

Страница 193: ... with dotted lines Current colour outside of the target colour Result NOK Current colour inside of the target colour Result OK NOTE The scales of the CIELab colour coordinate system are divided into increments of 10 and show up to 50 CIELab colour coordinate system scale Δ L brightness difference from target colour Δ a red green parts difference from target colour Δ b blue yellow parts difference ...

Страница 194: ...tion for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Reference area brightness Integer Colour deviation ΔE Integer Colour Lab T...

Страница 195: ...ular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre with your mouse The current result for brightness is shown as an average grey scale value or as a percentage The lightness value calculated during the teach process is 100 The switching points designa...

Страница 196: ...d of view is defined as a reference area for example by attaching a white label to the edge of the conveyor belt static The brightness correction is now guided by the brightness of this area Use carry reference area This function is only available in connection with part location A field of view is still used as the reference area However this is carried with the position correction The brightness...

Страница 197: ...s feature check supports external Teach The switching points are adjusted as an absolute to the current measured value Select the shape of the field of view A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever...

Страница 198: ...is used to invert the result of the feature check If the feature check is to be corrected by the result of the part location you can choose this option here External teach also makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel Th...

Страница 199: ...e check supports external Teach The switching points are adjusted as a percentage to the current measured value Proceed as follows for configuration Select the shape of the field of view A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by corr...

Страница 200: ...itching point Set the switching point between 0 and 255 from which bright or dark pixels will be counted Colour This is where you enter the phenomenon that differentiates the pixels to be counted from their surroundings Methods Choose whether you want to count all areas or just the largest related areas Exclude cropped areas Areas which touch the edge of the field of view are excluded from the ana...

Страница 201: ...static The brightness correction is now guided by the brightness of this area Use carry reference area This function is only available in connection with part location A field of view is still used as the reference area However this is carried with the position correction The brightness correction is now guided by the brightness of this carried area Confirm your settings and return to the feature ...

Страница 202: ...ts This feature check supports external Teach The switching points are adjusted for the current calculated value Proceed as follows for configuration Select the shape of the field of view A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by cor...

Страница 203: ... automatically suggested for you to add as a new colour Move the suggested area to the desired area and adjust its size if necessary 3D Here you can see where the defined colours are in a CIELab colour coordinate system Unlike the CIELab colour coordinate system on the Colour parameters tab the complete colour area is displayed and is not limited to 50 values per axis The current target colour is ...

Страница 204: ...ns in the ambient light the device offers a means of automatically correcting the brightness Use do not carry reference area Here a field of view is defined as a reference area for example by attaching a white label to the edge of the conveyor belt static The brightness correction is now guided by the brightness of this area Use carry reference area This function is only available in connection wi...

Страница 205: ...0 here This change is displayed to you in the CIELab colour coordinate system The cover of the sphere represents the maximum deviation Only the current target colour is displayed as a coloured sphere the other target colours are displayed as abstract spheres CIELab colour coordinate system scale NOTE The scales of the CIELab colour coordinate system are divided into increments of 10 and show up to...

Страница 206: ... Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Area Integer Centre Float point Output switchable between pixels and coordinates Adjusting the ...

Страница 207: ... 0 B4 207 429 Baumer Optronic GmbH Radeberg Germany 12 3 8 Colour positioning This feature check checks the dominant colour or the presence of individual colours in one or more fields of view This can be used to classify colours for example ...

Страница 208: ...he desired area and adjust its size if necessary 3D Here you can see where the defined colours are in a CIELab colour coordinate system Unlike the CIELab colour coordinate system on the Colour parameters tab the complete colour area is displayed and is not limited to 50 values per axis The current target colour is marked with a grid Only colour areas that do not overlap can be definitively detecte...

Страница 209: ... of view Automatic brightness correction In order to be independent of fluctuations in the ambient light the device offers a means of automatically correcting the brightness Use do not carry reference area Here a field of view is defined as a reference area for example by attaching a white label to the edge of the conveyor belt static The brightness correction is now guided by the brightness of th...

Страница 210: ...viation in ΔE distance between two colour coordinates in the CIELab colour coordinate system max 50 here This change is displayed to you in the CIELab colour coordinate system The cover of the sphere represents the maximum deviation Only the current target colour is displayed as a coloured sphere the other target colours are displayed as abstract spheres CIELab colour coordinate system scale NOTE ...

Страница 211: ...es with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Reference area brightness Integer Field of view colour area Integer list Three values are listed for each combination of a field of view and a colour field of view colour area Field of view Number starting wi...

Страница 212: ...olygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre with your mouse The current result is displayed directly in the dialog as the Number of areas The switching points designated Min and Max are adjusted on the right hand side A graphic dis...

Страница 213: ... possible to retrain the feature check Select the appropriate option for this purpose In order to be independent of fluctuations in the ambient light the device offers a means of automatically correcting the brightness The mean brightness in the field of view of the reference area should exceed a grey scale value of 128 to ensure reliable operation Use do not carry reference area Here a field of v...

Страница 214: ...lowing output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Number of objects Integer Reference area brightness Integer List of centres Float Point list List of areas Float Point list List of structure values Integer list Number of contour points within the respective area BLOB List of lightness values Integer l...

Страница 215: ...his feature check supports external Teach The switching points are adjusted as an absolute to the current calculated value Select the shape of the field of view A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the l...

Страница 216: ... for you to add as a new colour Move the suggested area to the desired area and adjust its size if necessary 3D Here you can see where the defined colours are in a CIELab colour coordinate system Unlike the CIELab colour coordinate system on the Colour parameters tab the complete colour area is displayed and is not limited to 50 values per axis The current target colour is marked with a grid Only ...

Страница 217: ...ic brightness correction In order to be independent of fluctuations in the ambient light the device offers a means of automatically correcting the brightness Use do not carry reference area Here a field of view is defined as a reference area for example by attaching a white label to the edge of the conveyor belt static The brightness correction is now guided by the brightness of this area Use carr...

Страница 218: ...0 here This change is displayed to you in the CIELab colour coordinate system The cover of the sphere represents the maximum deviation Only the current target colour is displayed as a coloured sphere the other target colours are displayed as abstract spheres CIELab colour coordinate system scale NOTE The scales of the CIELab colour coordinate system are divided into increments of 10 and show up to...

Страница 219: ...m your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Number of objects Integer Reference area brightness Integer List of centres Float Point list List of a...

Страница 220: ...omparison This feature check verifies the presence of a taught in pattern It supports external teach The current image area is adopted in the model but the switching points remain unchanged Proceed as follows for configuration The field of view must firstly be defined Teach in a new pattern using this button ...

Страница 221: ...ss The mean brightness in the field of view of the reference area should exceed a grey scale value of 128 to ensure reliable operation Use current field of view The current defined field of view is used as a reference It should only be used if the pattern being checked is very similar Use do not carry reference area Here a field of view is defined as a reference area for example by attaching a whi...

Страница 222: ... to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Deviation Integer Reference area brightness Integer ...

Страница 223: ... compatibility It is strongly recommended that you use the newer more powerful version It is not possible to convert to the newer version This feature check verifies the presence of a taught in pattern This feature check supports external Teach The current image area is adopted in the model but the switching points remain unchanged Proceed as follows for configuration The field of view must firstl...

Страница 224: ...n automatic brightness correction to increase the stability of the feature check under ambient conditions Brightness correction corrects the brightest and darkest grey scale values in the image and thereby adjusts all other grey scale values to the corresponding level If the feature check is to be corrected by the result of the part location you can choose this option here External teach also make...

Страница 225: ...s adopted in the model but the switching points remain unchanged Proceed as follows for configuration Select the shape of the field of view A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre wi...

Страница 226: ...of automatically correcting the brightness The mean brightness in the field of view of the reference area should exceed a grey scale value of 128 to ensure reliable operation Use current field of view The current defined field of view is used as a reference It should only be used if the pattern being checked is very similar However we recommend that you choose a separate field of view Use do not c...

Страница 227: ...le to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Deviation Integer...

Страница 228: ...place applications This feature check does not support external teach Select the shape of the area in which you want to programme an object A circle a rectangle and a freely definable polygon a circular ring and a circular ring sector are available Adjust the field of view by holding the left mouse button depressed You can rotate the rectangle by correspondingly dragging the lever in the centre wi...

Страница 229: ... the amount of detail to be used in the inspection The more detailed the mode the higher the processing time Max rotation If you want to find the object only in a limited angular range you may specify the maximum rotational position here Maximum number of objects This is where you configure the maximum number of objects to be found Select the number to be as low as possible to reduce computation t...

Страница 230: ...the changes using these buttons With the displayed model you can use the mouse to delete contours which clearly do not belong to the reference object Select the required tool strength to do this The reference position is by default the centre of the work area The coordinates of this point can be output for each located object via the process interface This tab can be used to amend the reference po...

Страница 231: ...of overlapping objects for example by stipulating criteria in their vicinity or on the surface of the object These additional tests can be used to discard initially located objects Select Add and then select a feature Now a shape rectangle circle can be selected for the area to be marked The next step is to mark the test area within the image Criteria for this feature check can now be configured i...

Страница 232: ...he located objects The Preview area on the right displays the effect the settings have on the Formatted list in a live view Output format This is where you determine the format of the output Select User defined to see further options for governing the Formatted list Open the wizard for the mask There are further configuration options available Sorting by lists This offers you the opportunity to de...

Страница 233: ...eturn to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Conformity Integer Model match for the object with the lowest match Number of objects Integer Number of located objects Num...

Страница 234: ...tion of results between Application Suite and device This is due to slight rounding differences caused by platforms that are technologically different The results displayed after the device is activated are decisive 12 4 1 Barcode With this feature check barcodes can be read In addition the quality of the barcode can be determined according to ISO IEC 15416 This feature check supports external Tea...

Страница 235: ... for the code search during the external teach This is only necessary if you have set the search parameters in the User defined option Abort read attempt after circa Use this function to limit computing time for code determination NOTE If computing time for code determination is limited and code quality is also to be determined you need to be aware that limiting computing time only applies to code...

Страница 236: ... Parameters on the Common tab to User defined Polarity Specify whether the code is brighter or darker than the background Minimum contrast Specify the minimum contrast of the barcode Optimise for dot matrix Activate this function if the barcode consists of a dot matrix Optimise for long slim codes Activate this function if the height of the code is less than 15 of its width Bar width pixel Specify...

Страница 237: ...out making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Read code Text Read result Quality Text Overall quality Quality details Text Individual quality characteristics Output of position Float point Centre of the detected code The following val...

Страница 238: ...uality is determined once the image has been converted to black and white You cannot therefore observe any influence the colour has on the quality This feature check supports external Teach Here the parameters are adjusted for the identification and the expected value adopted Choose the detection area Read The read result is displayed here Arrow Using the arrow you can accept the current result as...

Страница 239: ...ity is also to be determined you need to be aware that limiting computing time only applies to code determination If necessary the extra time required for determining code quality should be established empirically and planned in addition so deducted from the maximum permitted computing time for example The limit on computing time may potentially vary between device and PC as they each have a diffe...

Страница 240: ...arcode and background appear in similarly light colours Polarity Specify whether the code is brighter or darker than the background The Arbitrary option doubles the processing time Minimum contrast Specify the minimum contrast of the barcode Noise suppression Activate this function if you want to minimize noise Bar width pixel Specify the minimum width of one bar of the barcode Bar height pixel Sp...

Страница 241: ...out making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail Read code Text Read result Quality Text Overall quality Quality details Text Individual quality characteristics Output of position Float point Centre of the detected code The following val...

Страница 242: ... DPM 1 2006 This feature check supports external Teach In this process the parameters for identification are adjusted and the expected value is accepted if an expected value has already been set Choose the detection area Read The read result is displayed here Arrow Using the arrow you can accept the current result as the new expected value Expected In addition you may specify an expected value Tex...

Страница 243: ...ation NOTE If computing time for code determination is limited and code quality is also to be determined you need to be aware that limiting computing time only applies to code determination If necessary the extra time required for determining code quality should be established empirically and planned in addition so deducted from the maximum permitted computing time for example The limit on computi...

Страница 244: ...rmity evaluation of the slope angle unused error correction mean grey value of the light modules 0 70 0 86 A 0 86 1 0 and 0 55 0 7 B 0 4 0 55 C 0 25 0 4 D below 0 25 F NOTE In order to be able to make the settings Appearance and Code parameters on the tabs you must set the Parameters on the Common tab to User defined Polarity Specify whether the code is brighter or darker than the background Mirro...

Страница 245: ...o makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail ...

Страница 246: ...de can be determined according to ISO IEC 15415 or AIM DPM 1 2006 This feature check supports external Teach In this process the parameters for identification are adjusted and the expected value is accepted if an expected value has already been set Choose the detection area Read The read result is displayed here Arrow Using the arrow you can accept the current result as the new expected value Expe...

Страница 247: ...ion NOTE If computing time for code determination is limited and code quality is also to be determined you need to be aware that limiting computing time only applies to code determination If necessary the extra time required for determining code quality should be established empirically and planned in addition so deducted from the maximum permitted computing time for example The limit on computing...

Страница 248: ...lue of the light modules 0 70 0 86 A 0 86 1 0 and 0 55 0 7 B 0 4 0 55 C 0 25 0 4 D under 0 25 F NOTE In order to be able to make the settings Appearance and Code parameters on the tabs you must set the Parameters on the Common tab to User defined Colour conversion Enter the method you wish to use to convert the field of view into a black and white image here Select Gray value if the black and whit...

Страница 249: ...o makes it possible to retrain the feature check Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the datagram at the process interface Output value Data type Description Result Result of the feature check P Pass F Fail ...

Страница 250: ...lue Select the area containing the text Always mark only one line If the text covers multiple lines you must use several feature checks Make sure that the text is marked as precisely as possible If the text fluctuates in its location in the image you can use the Alignment to text line feature check for part location Read unknown text Select this option if you want to read unknown text Test print q...

Страница 251: ...previously taught characters and set it as a reference using external teach NOTE Using teach only the text contents are read and not the text format e g date All characters to be read must be taught in advance using the Print quality tab You can teach in the reference characters on the Print quality tab You can also make settings on the Common Characters and Filter tabs Text type Set the type of t...

Страница 252: ...ther it should be entered manually With manual entry you may enter this value or draw a frame in the image around one individual character Find text line Activate the Find text line option if structures are present below or above the text and these structures are to be automatically masked Remove small characters In addition you can set a minimum size for the characters to remove very small charac...

Страница 253: ...e characters that have not been taught in If the feature check is to be corrected by the result of the part location you can choose this option here External teach also makes it possible to retrain the sensor Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel ...

Страница 254: ...interface Output value Data type Description Result Result of the feature check P Pass F Fail Read text Text Read result The following values can be set via the process interface Please note that an expected value must be provided during parametrization of the feature check Input value Data type Description Mask Text Masking of the expected text Expected Text expected text ...

Страница 255: ...ctually read is adopted as a new expectation value Select the area containing the text Always mark only one line If the text covers multiple lines you must use several feature checks Make sure that the text is marked as precisely as possible If the text fluctuates in its location in the image you can use the Alignment to text line feature check for part location Read unknown text Select this optio...

Страница 256: ...previously taught characters and set it as a reference using external teach NOTE Using teach only the text contents are read and not the text format e g date All characters to be read must be taught in advance using the Print quality tab You can teach in the reference characters on the Print quality tab You can also make settings on the Common Characters and Filter tabs Text type Set the type of t...

Страница 257: ...te image here Select Gray value if the black and white version of the field of view contrasts well Select Two colour optimization if the barcode and background appear in similarly light colours Re learn text colour Use this function to optimize the way the field of view is converted into a black and white image This is useful if the colours in the field of view have changed Find text line Activate...

Страница 258: ...he feature check is to be corrected by the result of the part location you can choose this option here External teach also makes it possible to retrain the sensor Select the appropriate option for this purpose Confirm your settings and return to the feature list with OK Return to the feature list without making any changes with Cancel This feature check has the following output values for the data...

Страница 259: ...sult Result of the feature check P Pass F Fail Read text Text Read result The following values can be set via the process interface Please note that an expected value must be provided during parametrization of the feature check Input value Data type Description Mask Text Masking of the expected text Expected Text expected text ...

Страница 260: ...y scale profile of a symbol Decodability Deviations in the width of symbol elements Additional code specific parameters Depending on code type for example evaluation of the width of the quiet zones or ratio of symbol widths Determining the quality of barcode The barcode is scanned internally by multiple detection beams 1 and assessed by the above named quality features An average of the respective...

Страница 261: ...aximum and minimum grey scale value of the modules Modulation Amplitude between data code modules dependant on error correction Pattern damage Disturbances in the frame pattern finder pattern Legibility A Code legible F Code not read Axial non uniformity Evaluation of the width and height of the modules Grid non uniformity Evaluation of the incline angle perspective distortion Unused error correct...

Страница 262: ... 25 0 4 D 0 0 25 F Quality characteristics PDF 417 ISO IEC 15415 Designation Description Reflection properties Start Stop pattern Analysis of reflection properties and bar width of the start stop pattern Proportion of decoded code words Relative proportion of decoded code words Unused error correction Proportion of the unused error redundancy Modulation Amplitude between symbol modules Decodabilit...

Страница 263: ...signal for triggering external illumination Camera ready Shows that the result is at one of the outputs pass fail and can for example be read by an PLC not for varied output times With the device a new image can be recorded before the current analysis is completed There is internal storage for two images for this reason Result invalid Indicates that the result can be read at the outputs pass fail ...

Страница 264: ...ms 1 s or next result 1 ms 1 s or next result 1 Devices with integrated lenses 2 Devices with interchangeable lenses Following image acquisition the Image trigger signal is deactivated The Image trigger signal is activated again at the end of image acquisition and another image acquisition operation is possible immediately The Pass Fail signal then switches at the set output time even if additiona...

Страница 265: ...5 5 ms 10 s 1 ms Image acquisition T3 16 ms 20 ms 8 ms 11 ms Output time min max T4 20 ms 11 ms Run up output T5 50 s 2 ms 50 s 2 ms Result retention time T6 1 ms 1 s or next result 1 ms 1 s or next result 1 Devices with integrated lenses 2 Devices with interchangeable lenses If continuous image acquisition is set in the job the image acquisition operation occurs as soon as the previous image acqu...

Страница 266: ... digital input Teach must be in the active high state at the trigger point To use external Teach Use External Teach Must be activated for the corresponding feature checks External Teach is then triggered simultaneously for all appropriate feature checks Job changes are only stored temporarily until the device is deactivated If you want to retain the settings you must activate the option Save chang...

Страница 267: ... type of feature checks job position New images cannot be triggered during the switch over Signal Switch over times Run up program selection T1 Jobs 1 16 5 ms Jobs 17 255 typically 1 s plus the set exposure time During program selection T1 the device is not active and the signal Image trigger signal is deactivated Please wait with the next image analysis operation until the Active state is display...

Страница 268: ... a clock and data line Bit serial The stored jobs can be selected directly using a clock and data line Switching between jobs is only possible when the current mode is set to Activated Switching between jobs is not possible in any other modes Observe that you must activate the option Job selection via digital inputs in the Job Management to execute job selection by this means You can also switch t...

Страница 269: ...inary job selection Bit 0 Binary job selection Bit 1 Binary job selection Bit 2 Binary job selection Bit 3 Job 1 Low Low Low Low Job 2 High Low Low Low Job 3 Low High Low Low Job 4 High High Low Low Job 5 Low Low High Low Job 6 High Low High Low Job 7 Low High High Low Job 8 High High High Low Job 16 High High High High NOTE Please observe that this table relates to the configuration of the inputs...

Страница 270: ...he clock line the corresponding bit is read on the data line The status of the data line must be held constant for the result retention time T1 and may only change when a low level is set on the clock line When all 8 bits have been transferred in this way the inactive state is restored We recommend that switching to the next bit on the data line should be done simultaneously with activation of the...

Страница 271: ...ic GmbH Radeberg Germany Transfer the desired job number in this manner Data to be transferred Job 1 10000000 Job 2 01000000 Job 3 11000000 Job 8 00010000 Job 255 11111111 Example Activation of job 5 You must switch the two digital inputs as follows to activate job 5 ...

Страница 272: ...via the FTP client If image analysis is not being performed at this time the alarm signal is activated in parallel with the Pass Fail signal of the next image acquisition analysis operation if an error occurs NOTE This output time for the alarm signal is not necessarily the next seen chronologically Pass Fail signal if you are using the Image trigger or Result valid signals The alarm signal is act...

Страница 273: ...ed to suit the application by configuring the 9 buttons for the main menu Sub functions and access rights for up to two user profiles can also be set In the web interface you will be able to access the functions you have configured during job creation Configure interface Web interface and in the device menu Device Device settings Configure web interface Functions NOTE It is possible but not essent...

Страница 274: ...ce requires at least Internet Explorer 8 see supported web browsers If this happens please contact Siemens Support NOTE When using the web interface ensure that security measures are in place to ensure that unauthorised persons do not have access This could include restricting access from outside sources or using VPN connections Only connect the Vision Sensor to a maximum of two browsers at any on...

Страница 275: ...ice on the Info tab next the Help tab in the Application Suite You can set the domain name under Device Device settings Device name You have the option to log into the device as an operator or expert via the address line in your browser password assignment for user profiles Device Device settings Access rights Web interface NOTE Please ensure the URL is encoded correctly when entering your passwor...

Страница 276: ...9 Baumer Optronic GmbH Radeberg Germany The following screen is displayed when the device is activated Click on the value to change the unit Parts s Parts min Parts h OK Parts Percentage NOK Parts Percentage Click on the picture to access the Settings ...

Страница 277: ... will determine the layout of the viewer http IP address cockpit http device name local cockpit The level of software of the accessed device will determine the layout of the viewer http IP address cockpit c column r row Live ip IP address1 c column r row ip IP address2 c column r row ip IP address3 c column r row ip IP address4 The level of software of the accessed device will determine the layout...

Страница 278: ... B4 278 429 Baumer Optronic GmbH Radeberg Germany Web interface For establishing a web interface to the device Live image For displaying a live image of the device in the frame If the device is activated graphical primitives will be displayed ...

Страница 279: ...ns The device specific functions that can be operated via the web interface are described below NOTE You can set the availability of settings options and the corresponding rights through Device Device settings Configure web interface Navigation Back to start view User profile Only shown when user profiles are activated ...

Страница 280: ...n this dialogue you will see the currently saved defect images You can save defect images in full resolution using your browser s context menu Under job management you have the following options Copy job Copy the job from one save location on the device to another Delete job Delete job from the device Access job Download a job from the device to your computer Transfer job Transfer a job from your ...

Страница 281: ...here Once the language is selected you can make sure this language is always used by ensuring Device Device settings Configuration Web interface Language settings functions Save selection via web interface is ticked Device specific functions provides access to all device specific functions via an additional menu level ...

Страница 282: ...ob are adopted and effective immediately The majority of feature checks support external teach which can be triggered in the web interface by reconfiguring using the Teach button External teach must be activated during configuration of the relevant feature check in the Application Suite NOTE You can set the availability of settings options and the corresponding rights for the feature check under C...

Страница 283: ...e target colour NOTE The external teach triggered using the Teach button can also no longer be cancelled using the Cancel button ATTENTION The live image function puts the device into free running mode i e it runs without the external trigger signal Please be aware of the effects this may have on later processes The user level required to access the live image display can be configured under Devic...

Страница 284: ...2 Part location NOTE The web interface does not support chained part location Function Icon Adjustable parameters Part location on contours Teach area Detection area Conformity Contrast Maximum rotation External Teach Part location on edges Field of view edge A Field of view edge A2 Field of view of edge B Part location on circle Field of view circle Field of view edge for rotation Part location o...

Страница 285: ...of view edge B Angle of the corner External Teach Count edges Field of view edges Number of edges External Teach Point position Field of view Rotation Position X Position Y External Teach Edge characteristics Field of view Number of distances 14 4 4 Feature comparison Function Icon Adjustable parameters Count contour points Field of view Number of contour points External Teach Contour comparison F...

Страница 286: ...t areas Field of view Number of areas Colour Binary threshold Areas filter Minimum Areas filter Maximum External Teach Count areas colour Field of view Number of areas Areas filter Minimum Areas filter Maximum Target colour Pattern comparison Field of view Deviation Pattern comparison colour Field of view Deviation Finding object positions Detection area Number of objects Conformity Contrast Maxim...

Страница 287: ...n tolerance External Teach Barcode colour Field of view Expected code Type of code Parameter set Bar width Minimum Bar height Minimum Polarity Minimum contrast Rotation tolerance Matrix code Field of view Expected code Type of code Parameter set Polarity Minimum contrast Recognition External Teach Matrix code colour Field of view Expected code Type of code Parameter set Polarity Minimum contrast R...

Страница 288: ...Technical Documentation VeriSens v2 11 0 B4 288 429 Baumer Optronic GmbH Radeberg Germany Text colour Field of view Expected code Type of code Parameter set Polarity Minimum contrast Recognition ...

Страница 289: ... in Chinese http IP address lang zh Web interface in Japanese http IP address lang ja Web interface in Korean http IP Adresse lang ko Web interface in Italian http IP Adresse lang it Web interface in Thai http IP address lang th 14 5 2 Scaling down the transferred image To increase the image refresh rate in the web interface you can scale down the image before transferring it binning The binning p...

Страница 290: ... 0 B4 290 429 Baumer Optronic GmbH Radeberg Germany 14 5 3 Live image View the live image in the full browser window via the browser s address field If the device is activated graphical primitives will be displayed http IP address liveImage ...

Страница 291: ... Germany 14 5 4 Defect images Access defect images via the browser s address field You can save defect images in full resolution using your browser s context menu http IP address defectImages Other access options http IP address errorImages Update defect images Delete defect images ...

Страница 292: ... VeriSens v2 11 0 B4 292 429 Baumer Optronic GmbH Radeberg Germany 14 5 5 Static images You can access a single image without displaying the feature checks using the address field of the browser http IP address live_image bmp ...

Страница 293: ...entation VeriSens v2 11 0 B4 293 429 Baumer Optronic GmbH Radeberg Germany You can also display a single image showing the feature checks using the address field of the browser http IP address live_image bmp results 1 ...

Страница 294: ...cified in milliseconds A value of 0 means that the images are to be transferred as quickly as possible If display errors result when using a fixed image refresh rate please increase the cycle time value NOTE It is possible that the device is transferring image data via the web interface while simultaneously being linked to an Application Suite In this case the image data are preferably transferred...

Страница 295: ...ters are also required to control the logical transfer of the process data Parameters Description Values Result Time of result transfer On request Continuous Receipt timeout Maximum duration between two characters 10 2 000 ms Connection timeout Maximum time between two received commands Deactivated 1 3 600s The transfer of the datagrams can occur at two different times The Vision Sensor transfers ...

Страница 296: ...erface is made with an RS485 connection For this purpose connect the device with your machine using the pins provided and set the RS485 parameters using the Application Suite The following parameters are available with which the physical transfer is controlled Parameters Description Values Baud rate Transfer speed 9600 38400 57600 115200 230400 bps Parity Control of the parity bit none even odd Da...

Страница 297: ...or verification with a checksum This protocol is suitable when fast reaction times and low data volumes are concerned and transfers are verified by other means Bus protocol This protocol permits up to 254 devices to be accessed on one RS485 bus Communication security is ensured by the use of synchronization signals and an optional checksum The formatting of the data is a so more strictly defined i...

Страница 298: ...r 0 is reserved to address the bus master PLC PC Device number 255 FF can be used to send commands to all connected devices simultaneously Command 2 byte Command designation Parameters 4 12 bytes Each command has a parameter block at least 4 bytes in length some of which remain unused Data variable Optional data section which may contain result or job data Checksum 2 byte ASCII hex The checksum is...

Страница 299: ... output via the process interface during job creation under Configure interface 0 0 0 8 0 6 G D 0 0 0 0 0 5 StartLength 8 byte Device no Com mand unused Check sum End Retrieve a result 0 0 1 6 0 6 R D 0 0 0 E S T P P 0 1 2 5 E T 7 5 StartLength 22 byte Device no Respon se Length 14 byte Start Data Result Result Intensity 1 Brightnes s Intensity 1 End Data Check sum End Response datagram ...

Страница 300: ...sentation Transferred value process interface ASCII hex EA 45 41 ASCII dec 234 32 33 34 Binary cannot be represented 00 00 00 EA 15 3 1 2 Float This data type is a floating value and can also be negative Example 10 02 Format Text representation Transferred value process interface ASCII 2 decimal places 10 02 31 30 2E 30 32 ASCII Exponent 1 002E 01 2B 31 30 30 32 45 2B 30 30 31 Decimal 10 31 30 Bin...

Страница 301: ... 33 Binary cannot be represented 00 00 00 EA 3B 00 00 00 7B 15 3 1 5 Composite data type Float point This composite data type is formed of two float values the x coordinate and y coordinate Available format Analogue float Portrayal x coordinate separator y coordinate Example Value 234 02 123 03 Separator Format Text representation Transferred value process interface ASCII 2 decimal places 234 02 1...

Страница 302: ...7 42 3B 45 41 3B 46 35 ASCII dec 3 123 234 245 33 3B 31 32 33 3B 32 33 34 3B 32 34 35 Binary cannot be represented 00 00 00 03 3B 00 00 00 7B 3B 00 00 00 EA 3B 00 00 00 F5 15 3 2 Numeric values in commands Various commands require numeric values as parameters or return numeric values For example when switching the current job the corresponding job number must be specified and the new job number is...

Страница 303: ...8 4E N 110 6E n 15 0F SI 47 2F 79 4F O 111 6F o 16 10 DLE 48 30 0 80 50 P 112 70 p 17 11 DC1 49 31 1 81 51 Q 113 71 q 18 12 DC2 50 32 2 82 52 R 114 72 r 19 13 DC3 51 33 3 83 53 S 115 73 s 20 14 DC4 52 34 4 84 54 T 116 74 t 21 15 NAK 53 35 5 85 55 U 117 75 u 22 16 SYN 54 36 6 86 56 V 118 76 v 23 17 ETB 55 37 7 87 57 W 119 77 w 24 18 CAN 56 38 8 88 58 X 120 78 x 25 19 EM 57 39 9 89 59 Y 121 79 y 26 ...

Страница 304: ...ted after a defined time The data received to this point is then discarded The possible error causes may be The cable was unplugged or mechanically damaged during the transfer Transmission of the data was prematurely terminated due to a technical fault An error occurred in the transfer of the length information so that the information is incorrectly transferred The device then presumes an incorrec...

Страница 305: ...sfer of the data begins not before time T2 or the value set by the user If the time of the maximum response delay is exceeded without data being transferred the possible response is discarded and you can transfer further commands Please observe that the received command will be processed in any case even if no response datagram has been transferred due to the elapse of the maximum response time Fo...

Страница 306: ...o reset the statistics for individual jobs Example Structure of the command PLC device Command Parameters C S 0 0 0 0 Clear Statistics 4 byte ASCII hex Job number 0000 active job 0001 0010 Job number 1 16 0011 00FF invalid Structure of the Response PLC device Response R C 0 0 0 0 Response Statistics Cleared 4 byte ASCII hex Job number 0000 active job 0001 0010 job number 1 16 0011 00FF invalid ...

Страница 307: ...There is currently no option to insert a new power on job via command Although power on jobs can be amended via an update Command UJ Example Structure of the command PLC device Command Parameters D J 0 0 0 0 Delete Job 4 byte ASCII hex FFFF all jobs on the device will be deleted 0001 1 00FF 255 individual jobs on the device will be deleted Structure of the command PLC device Command Parameters R J...

Страница 308: ... command Should the housing temperature continue to rise the device will undergo emergency shutdown to protect it from damage Example Structure of the command PLC device Command Parameters G A Get Alarm none Structure of the Response PLC device Response R A 0 0 0 0 0 0 0 0 Response Alarm 8 byte ASCII hex Temperature status Parameters of the RA command current temperature status The current tempera...

Страница 309: ...e 0001 Only jobs and device settings Structure of the Response PLC device Response R B 0 0 0 0 0 0 0 4 F 6 1 6 Response Backup 4 byte ASCII hex Parameters of the GB command Error messages F001 Device is not deactivated F004 Backup has already been called F008 Password protection activated 8 Byte ASCII Hex data length 32bit For errors the length is 0 Data device dependant NOTE If the device backup ...

Страница 310: ...of the last feature check NOTE You can set the content of the datagram for output via the process interface during job creation under Configure interface Output process interface Example Structure of the command PLC device Command Parameters G D Get Data none Structure of the Response PLC device Response R D 0 0 0 0 Response Data 4 byte ASCII hex Length of the result data Data ...

Страница 311: ...ASCII characters which specify the number of milliseconds since the system start of the device as a hexadecimal number This value reverts from 4 294 967 295 ms to the value 0 ms after about 49 7 days Numbers in datagrams can be represented in different ways Representation Description ASCII decimal Decimal notation of the number Negative numbers are represented with 123 78 89 123 ASCII hexadecimal ...

Страница 312: ...sponse R D 0 0 0 E S T P P 0 1 2 5 E T Response Data 4 byte ASCII hex Length of the result data Start Data Result Result Brightnes s Brightnes s End Data Each feature check result is represented within 1 Byte The inspection result is described by P result OK or F result NOK An interpretation of this datagram produces The overall result of the last image analysis was OK In the field of view for the...

Страница 313: ... job nn 2 byte ASCII Hex Job number 02nn Call a job using the job name nn 2 byte ASCII hex length of the file name file name 0300 Access Logging Structure of the Response PLC device Response R F 0 0 0 0 0 0 0 0 0 0 0 0 F 1 2 3 Response File 4 bytes ASCII hex mirrored parameters of the GF request 2 bytes ASCII hex Error code 00 no error occurred 01 is not in Configuration or IDLE mode 02 File not f...

Страница 314: ... 81 Fault image with field of view 2 byte ASCII hex image number 00 Last image 01 penultimate image 02 Structure of the Response PLC device Response R I 0 0 0 0 0 0 0 4 F 6 1 6 Response Image 2 byte ASCII hex 00 live image 01 Live image with field of view 80 Fault image 81 Fault image with field of view 2 byte ASCII hex Image number 8 byte ASCII hex Length of the image data Image data in the forma...

Страница 315: ...ters G M 0 0 4 0 Get Model Information 4 byte ASCII hex Access single elements 0001 Device type 0002 MAC address 0004 Serial number 0008 Firmware version 0010 Hardware version 0020 Device name 0040 Manufacturer 0000 All in the order given above Structure of the Response PLC device Response R M 0 0 4 0 0 0 1 4 Baumer Optronic GmbH Response Model Information 4 byte ASCII hex mirrored parameters of t...

Страница 316: ...a the controller Example Structure of the command PLC device Command Parameters G P Get Parameter none Structure of the Response PLC device Response R G 0 0 0 8 1 5 0 2 1 4 Response Get Parameter 4 byte ASCII hex Length of the result data Data The content of the data corresponds with the expected values currently set for the feature check e g a date or a combination of expected values for differen...

Страница 317: ...S 0 0 8 5 0 0 1 A Response State 4 byte ASCII hex Status 4 byte ASCII hex Number of the active job NOTE A TCP IP connection can be monitored for example by the PLC cyclically sending the GS command If the connection is broken this is shown on the Vision Sensor page and the connection is reset Parameters of the RS command Current status information The current status information consists of 8 chara...

Страница 318: ...the corresponding bits Jobupdate OK and Job update error These flags are retained until the next transfer of a job If the sensor is in Activated mode the current job number is entered in the datagram 0000 is entered here in all other operating modes Here are two examples of possible states of the device Character string Meaning 0 0 8 5 0 0 1 A 0 0 8 5 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 Current inspec...

Страница 319: ... the maximum permissible operating temperature circa 85 90 of loading has been reached see GA temperature alarm command Example Structure of the command PLC device Command Parameters G T Get Thermal Condition none Structure of the Response PLC device Response R T 0 0 0 0 0 0 0 0 Response Thermal Condition 8 byte ASCII hex Thermal state Parameters of the RS command current thermal state The percent...

Страница 320: ...the option Command SJ via process interface in the device settings Example Structure of the command PLC device Command Parameters S J 0 0 1 A Switch Job 4 byte ASCII hex desired job number Structure of the Response PLC device Response R S 0 0 8 5 0 0 1 A Response State 4 byte ASCII hex Status 4 byte ASCII hex Number of the active job NOTE Further explanation of the parameters of the RS response ca...

Страница 321: ... the result data is only transferred after the GD command has been received MR Mode switch Modus Run The device is activated Data is only transferred autonomously if the Continuous mode is activated as described above MS Mode switch Modus Parametrieren The device is switched to Configuration No result data is transferred For Ethernet only CC Command delimiter Carriage return Data packets from the ...

Страница 322: ...employed protocol to point to point protocol PB PB Protocol mode Bus without checksum Changes the used protocol to bus protocol without checksum PC PC Protocol mode Bus with Checksum Changes the used protocol to bus protocol with checksum Structure of the Response PLC device Response R S 0 0 8 5 0 0 1 A Response State 4 byte ASCII hex Status 4 byte ASCII hex Number of the active job NOTE Further e...

Страница 323: ...y The expected values are set temporarily and remain valid until the device is restarted or switches to configuration mode To save it long term activate Device Device settings Job selection Teach Save changed parameters from external Teach or process interface command XX to device NOTE You can set the content of the datagram for output via the process interface during job creation under Configure ...

Страница 324: ...CII hex Length of the result data Example 1 a date or a combination of expected values for different feature checks 0 0 0 D 3 0 0 0 0 3 0 2 5 4 5 0 0 4 byte ASCII hex Length of the result data Exposure time device dependent μs Reinforcement 0 100 Sensitivity edge detection 5 100 Trigger mode 1 continuous 4 external trigger Trigger delay e g 500 ms or set distance Example 2 Parameters for image set...

Страница 325: ... Structure of the Response PLC device Response R P 0 0 0 0 0 0 0 0 Response Parameter 4 byte ASCII hex Status 0000 OK 0001 defective data in data packet 0002 device not in RUN mode 0003 value range exceeded 0004 no datagram defined in job other internal fault 4 byte ASCII hex Error position ...

Страница 326: ...re a new one is triggered Example 1 sequential processing All processes are completed up to result output 1 SP TE then becomes effective 1 SP TE command 2 Trigger permitted 3 Trigger 4 Image acquisition 5 Image processing 6 Result 7 Value stored 1 ms Example 2 overlapped clocked processing The command comes after the second trigger all processes up to trigger 1 and trigger 2 are completed SP TE be...

Страница 327: ...ach or process interface command XX to device Structure of the command PLC device Command Parameters T E TEach Image none Structure of the Response PLC device Response R T Response Teach Timing diagram for SP and TE commands The SP and TE commands can be sent at any time and are buffered The system simultaneously sets a flag to prevent further images from being acquired This means that all process...

Страница 328: ...Example 2 overlapped clocked processing The command comes after the second trigger all processes up to trigger 1 and trigger 2 are completed SP TE become effective after result 2 1 SP TE command 2 Trigger permitted 3 Trigger 4 Image acquisition 5 Image processing 6 Result 7 Value stored 1 ms ...

Страница 329: ...r delay remains in effect The response datagram will only be sent if the result is automatically sent following image evaluation and if the data is defined Example Structure of the command PLC device Command Parameters T R TRigger Image none Structure of the Response PLC device Response R D 0 0 0 E Response Data 4 byte ASCII hex Length of the result data Data NOTE Further information on the compos...

Страница 330: ...is ignored The response datagram will only be sent if the result is automatically sent following image evaluation and if the data is defined Example Structure of the command PLC device Command Parameters T I Trigger Immediately none Structure of the Response PLC device Response R D 0 0 0 E Response Data 4 byte ASCII hex Length of the result data Data NOTE Further information on the composition of ...

Страница 331: ... transfer a string with the trigger for example the part number of the current item being checked The device allows you to use this string in the file name for the image when saving it to an FTP server This is an easy way to establish a connection between images and objects Example Structure of the command PLC device Command Parameters T D 0 0 0 0 Trigger Data 4 byte ASCII hex Length of the transf...

Страница 332: ... The device must be restarted following use of the UD command and successful transfer of a backup for example via the VB0000 command Example Structure of the command PLC device Command Parameters U D S 1 9 2 1 6 8 0 0 0 2 5 0 Update Device IP address S static D DHCP 15 characters ASCII IP address Parameters 2 5 5 2 5 5 2 5 5 0 0 0 15 characters ASCII Subnet mask Parameters 0 0 0 0 0 0 0 0 0 0 0 0 ...

Страница 333: ...0 000 In this case the alternative IP address is 192 168 0 250 The response datagram is only sent once the backup has been transferred and stored in full or an error occurs Structure of the Response PLC device Response R U 0 0 Response Update 2 byte ASCII hex 00 received OK 01 device not in Configuration mode 02 invalid job number 03 job could not be loaded 04 job update still active 05 invalid ne...

Страница 334: ... number 8 byte ASCII hex Job size Job as binary data Structure of the Response PLC device Response R U 0 0 Response Update 00 received OK 01 device not in Configuration mode 02 invalid job number 03 job could not be loaded 04 job update still active 05 invalid network settings 06 invalid device name 07 backup file device type not identical to the device 08 user management is active 09 device file ...

Страница 335: ...5 4 21 VB command restart device This function enables you to restart the device or put it into recovery mode This command does not send a response Example Structure of the command PLC device Command Parameters V B 0 0 0 0 Vision Sensor ReBoot 4 byte ASCII hex 0000 Restart FFFF Recovery mode ...

Страница 336: ...ass fail active job etc Result data configuration in the case of job creation via the Output process interface Job parameters configuration in the case of job creation via the Input process interface Additional trigger data data in addition to the trigger that can be transmitted for object identification The data will be combined into logical groups Data transmission of each group can be secured w...

Страница 337: ...bbreviation Meaning C Controller PLC D Device vision sensor HSS Handshake simple HSWA Handshake with Acknowledge HS Handshake ACT Activation Active ACK Acknowledge pad Padding Img Proc Image Processing Res Result PIF Process Interface Buf OV Buffer overflow Pipe OV Pipeline overflow Inv Invalid TRG Trigger RDY Ready Res Result O Originator T Target SM Switch Mode SP Set Parameter SJ Switch Job ...

Страница 338: ...d If the handshake is used this only happens when the handshake flag changes When the connection is first established actions are triggered for some data even if this data does not change Element Behaviour on initial receipt Trigger Is not analysed is only stored to detect changes Teach Is analysed 0 received deactivate teach 1 received activate teach Operating Mode Is analysed 0 received Run mode...

Страница 339: ...esponds with the SM process interface command Bits 3 7 Reserved always 0 Job selection PLC device UINT8 1 Current job number changing triggers job switching job number eff 0x01 0xFF 0x00 does not trigger job switching Inactive corresponds with the SJ process interface command Reset statistics PLC device UINT8 1 Reset statistics changing triggers a statistics reset for the corresponding job number ...

Страница 340: ...d always 0 Current job number Device PLC UINT8 1 Current job number 1 255 0 if not in run mode or if job switching is active corresponds with the GS process interface command Thermal state Device PLC UINT8 1 The device s current thermal state capacity in percent corresponds to the GT process interface command Action status Device PLC UINT8 1 Status for various actions corresponds with the GS proce...

Страница 341: ...a process alarm was produced during image analysis details ProcessAlarm otherwise 0 Bits 3 15 Reserved always 0 Bit 16 1 if partial result 1 Pass otherwise 0 Bit 17 1 if partial result 1 Fail otherwise 0 Bit 18 1 if partial result 2 Pass otherwise 0 Bit 19 1 if partial result 2 Fail otherwise 0 Bit 20 1 if partial result 3 Pass otherwise 0 Bit 21 1 if partial result 3 Fail otherwise 0 Bit 22 1 if ...

Страница 342: ...the invalid trigger alarm is pending otherwise 0 Bit 2 1 if the output time exceeded alarm is pending otherwise 0 Bit 3 1 if the job selection error alarm is pending otherwise 0 Bit 4 1 if the process interface error alarm is pending otherwise 0 Bit 5 1 if the FTP client was unable to send all data alarm is pending otherwise 0 Bit 6 1 if the buffer overflow alarm is pending otherwise 0 Bit 7 1 if ...

Страница 343: ...s of 4 8 16 32 64 128 250 bytes You should choose the smallest possible version for the volume of data you expect to handle An unnecessarily large selection reduces overall system performance The data corresponds to response to the GD command from the classic process interface Data element Direction Type Length byte Description Actual length of the result data Device PLC UINT16 2 Length of data ac...

Страница 344: ...available with payload capacities of 4 8 16 32 64 128 250 bytes You should choose the smallest possible version for the volume of data you expect to handle An unnecessarily large selection reduces overall system performance The data corresponds with the SP command in the classic process interface Data element Direction Type Length byte Description Actual length of the parameters PLC device UINT16 ...

Страница 345: ...nce It is used in the same way as the TD command in the process interface for FTP and in the results datagram the only difference being that new trigger data does not automatically trigger image acquisition Here image acquisition must be triggered with an additional trigger If the data is not deleted payload length 0 the data is used for each new image acquisition thereafter Data element Direction...

Страница 346: ...ctivation of the handshake ingoing handshake activation for input data bit 0 3 When it sends new data the Vision Sensor inverts the handshake flag ingoing handshake flag for input data bit 4 If new data is ready to be sent it is sent immediately with the handshake flag inverted once again 4 The inverted handshake flag ingoing handshake flag for input data bit 4 tells the PLC that new data has arri...

Страница 347: ...ding the received handshake flag back as an acknowledgement outgoing handshake act flag for input data bit 4 5 The Vision Sensor detects the acknowledgement outgoing handshake flag for input data bit 4 and therefore that the data has been received and can now send new data and invert the handshake act flag again General process for the handshake with acknowledgement for output data for the PLC con...

Страница 348: ...e value of the most recent handshake flag received therefore acknowledges receipt for the device if handshake with acknowledgement is activated Bits 5 7 Reserved always 0 Handshake for Input data from the controller Input ACK for activation and HS control Device PLC UINT8 1 Handshake for input data Bit 0 1 if simple handshake was activated ACK for activation otherwise 0 Bit 1 1 if handshake with a...

Страница 349: ...fter each new valid piece of data is sent and signalises with the edge that this data can be transferred if handshake is activated Bits 5 7 Reserved always 0 Handshake for output data from the controller Input ACK for activation and HS ACK Device PLC UINT8 1 Handshake for output data Bit 0 1 if simple handshake was activated ACK for activation otherwise 0 Bit 1 1 if handshake with acknowledgement ...

Страница 350: ... transferred via Profinet Off Profinet will not be used Long blinking Waiting for first cyclical connection On Cyclical connection active Short blinking Cyclical connection ended waiting for next connection 3 seconds of regular blinking Device identification in the system 15 5 4 2 Cabling Follow the general rules for cabling Industrial Ethernet Use a shielded cable for data transfer The maximum ca...

Страница 351: ...since data transmission via PROFINET is disabled in the Vision Sensor s factory settings This section explains how PROFINET is enabled a persistent IP address is assigned and a device name is determined for the Vision Sensor 1 After connecting the Vision Sensor to the PLC the Accessible devices dialogue contained in the Siemens PLC software package can be used to monitor whether the connected Visi...

Страница 352: ...n Sensor NOTE It is not essential to reset the network settings to the initial state A normal PROFINET device does not have any IP address 0 0 0 0 in the factory settings and the IP address is permanently or temporarily assigned by the PLC The Application Suite Device settings or the Siemens PLC software package can always be used to configure the PROFINET network and device name settings ...

Страница 353: ...vice name 10 You have to open Non grouped devices and use the TIA project to click on the Vision Sensor and Online Diagnostics to assign a permanent IP address and a device name for the Vision Sensor Determine the IP address and subnet mask for the Vision Sensor 11 Click Assign PROFINET device name and assign a chosen name for the Vision Sensor The data will be saved in the Vision Sensor s flash m...

Страница 354: ...ddress and device name 15 5 4 3 2 Installation of the GSD file Integrating the Vision Sensor into the PLC project requires installation of a product specific driver GSD file Data organisation in PROFINET is module based The product specific driver describes which modules are being offered Follow the next instructions to install the driver 1 Open the Siemens GSD file manager ...

Страница 355: ...led Storage location of the device description file after installation of the Application Suite Installation path Industrial_Ethernet PROFINET Device description file GSDML V2 32 Baumer VeriSens 20190725 100000 xml Download the device description file under https baumer com asset 1823249 3 The device description file has now been installed ...

Страница 356: ...Documentation VeriSens v2 11 0 B4 356 429 Baumer Optronic GmbH Radeberg Germany 4 All of the Vision Sensors will be available in the catalogue after a brief waiting period the hardware catalogue is being updated ...

Страница 357: ... Germany 15 5 4 3 3 Integration of the device into the PLC project Follow the next instructions to integrate the Vision Sensor into the PLC project 1 Use drag drop to move the Vision Sensor onto the PROFINET subsystem 2 Assign the Vision Sensor to the correct PROFINET network group ...

Страница 358: ...The shortest period supported by Vision Sensor is 2 ms Although a period of 4 ms is recommended A shorter period could result in alarms on the PLC Shorter periods reduce the computing power available for feature checking in the Vision Sensor and thus analysis performance Longer periods increase the delay during analysis of received data and when transmitting result data and thus reduce response pe...

Страница 359: ...data selection of the user data size 3 Parameters selection of the user data size 4 Trigger data selection of the user data size You can leave out individual modules For example only the control and status module and the result data module may be connected 6 Configure the correct data input output address range in the PLC process map The Vision Sensor has now been installed 7 The project has to be...

Страница 360: ...Technical Documentation VeriSens v2 11 0 B4 360 429 Baumer Optronic GmbH Radeberg Germany 8 Load the complete project into the PLC Switch the PLC to run mode ...

Страница 361: ...uite 1 Open the Application Suite and create a new job with any chosen feature check Configure the process interface message that is to be transmitted to the PLC 2 Save the job on the Vision Sensor Activate the Vision Sensor 3 The process interface message will be sent to the PLC and the sent data can be monitored via Watch table ...

Страница 362: ...een rectified Error code Error description Bit 0 Data buffer overrun The amount of data produced by the Vision Sensor e g result data is larger than can be received by the module intended Bit 1 Pipeline overflow The internal buffer for data output is full the data was sent too slowly via PROFINET or not at all Bit 2 Handshake error The handshake mechanism was not used correctly e g acknowledgement...

Страница 363: ...5 Action status pad 0 Status SM Status SP Status SJ 6 Job results pad 0 Sub Res 5 Fail Sub Res 5 Pass 7 Sub Res 4 Fail Sub Res 4 Pass Sub Res 3 Fail Sub Res 3 Pass Sub Res 2 Fail Sub Res 2 Pass Sub Res 1 Fail Sub Res 1 Pass 8 pad 0 9 pad 0 Alarm Total Res Fail Total Res Pass 10 Device alarms pad 0 11 pad 0 12 Alarm PIF HS Err 13 Alarm PIF Pipe OV Alarm PIF Buf OV Alarm FTP Alarm PIF Alarm Inv Job ...

Страница 364: ...e Byte Data element Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Handshake for input data pad 0 D C HS ACK pad 0 D C HSWA ACT D C HSS ACT 15 5 4 5 3 Module Parameters Input data device PLC Byte Data element Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Handshake for output data pad 0 C D HS ACK pad 0 C D HSWA ACT ACK C D HSS ACT ACK Output data PLC device Byte Data element Bit 7 Bit 6 Bit...

Страница 365: ... 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Handshake for output data pad 0 C D HS ACK pad 0 C D HSWA ACT ACK C D HSS ACT ACK Output data PLC device Byte Data element Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Handshake for output data pad 0 C D HS Flag pad 0 C D HSWA ACT C D HSS ACT 1 Actual length of the trigger data Act Trigger Data Len 2 Trigger data Trigger data 4 8 16 32 64 128 byte ...

Страница 366: ...s 14 Start address 48 Vision Sensor output data PLC device Control and status Result data Start address 500 Start address 5 Start address 6 Example 2 Extensive configuration use of the Control and status Result data 250 byte Parameters 128 byte and Trigger data 64 byte modules with selected start address 200 100 start addresses subject to overall configuration Vision Sensor input data PLC device C...

Страница 367: ... RUN Indicates that data is being transferred via Ethernet IP Off Ethernet IP will not be used Long blinking Waiting for first cyclical connection On Cyclical connection active Short blinking Cyclical connection ended waiting for next connection 15 5 5 2 Cabling Follow the general rules for cabling Industrial Ethernet Use a shielded cable for data transfer The maximum cable length is 100m Make sur...

Страница 368: ... of instances 0x01 Identification object 1 0x02 Message router object 1 0x04 Assembly object 2 0x06 Connection manager object 1 0xF4 Port object 2 0xF5 TCP IP interface object 1 0xF6 EtherNet link object 2 The payloads from the connected devices are assigned to the assembly object instances as follows Instance Type Content Size bytes 109 Output O T Data from the PLC to device 203 110 Input T O Dat...

Страница 369: ...connected to the PLC since data transmission via EtherNet IP is disabled in the Vision Sensor s factory settings This section describes how a persistent IP address is assigned and a device name determined for the Vision Sensor 1 After connecting the Vision Sensor to the PLC the RSLinx contained in the Rockwell software package can be used to monitor whether the connected Vision Sensor is visible I...

Страница 370: ... protocol 7 Open the IP address network Determine the IP address and subnet mask for the Vision Sensor 8 Restart the Vision Sensor 9 The RSLinx will now find the Vision Sensor with the recently determined IP address as an unknown device This Vision Sensor is unknown to the PLC since a driver has not been installed ...

Страница 371: ...ctions are described in the EDS file device description file When integrating the vision sensor into the PLC project it is possible to configure the necessary settings by installing an EDS file Follow the next instructions to install the EDS file 1 Open Studio 5000 which is available in the Rockwell software package Start the EDS Hardware Installation Tool 2 Follow the instructions provided by the...

Страница 372: ...stalled Storage location of the device description file after installation of the Application Suite Installation path Industrial_Ethernet EtherNetIP Device description file Baumer_EIP_VeriSens eds Download the device description file under https baumer com asset 1823248 3 Follow the other steps and complete installation of the EDS file ...

Страница 373: ...Technical Documentation VeriSens v2 11 0 B4 373 429 Baumer Optronic GmbH Radeberg Germany 4 Open RSLinx again and the Vision Sensor is now displayed as a correctly detected device ...

Страница 374: ...egrate the Vision Sensor into the PLC project 1 Open the project in Rockwell Studio 5000 Logix Designer Right click on Ethernet and select New module to create a new module for the I O configuration 2 Search and create the corresponding module in the catalogue 3 Enter a name for the Vision Sensor Enter the determined IP address for the Vision Sensor The Vision Sensor has now been installed ...

Страница 375: ...ision Sensor is 4 ms Shorter periods reduce the Vision Sensor s computing power available for feature checking and thus it evaluation performance Longer periods increase the time taken for evaluation of received data and sending result data and thus reduce response performance The period you choose will therefore be a compromise between these factors 5 The project has to be loaded into the PLC to ...

Страница 376: ... Configure the process interface message that is to be transmitted to the PLC 2 Save the job on the Vision Sensor Activate the Vision Sensor 3 The process interface message will be sent to the PLC and the sent data can be monitored via Controller tags NOTE In order to ensure data consistency in the PLC we recommend the use of the CPS Synchronous Copy File command when planning using the Rockwell p...

Страница 377: ...evice functionality Bit 0 1 in the event of data buffer overflow The amount of data produced by the Vision Sensor e g result data is larger than can be received by the module intended otherwise 0 Bit 1 1 in the event of pipeline overflow The internal buffer for data output is full the data was sent too slowly via PROFINET or not at all otherwise 0 Bit 2 1 in the event of handshake error The handsh...

Страница 378: ...there is no option available for selecting the payload size of the data elements Result data Parameters and Trigger data The payload size of the data elements Result data and Parameters is always 128 bytes and for Trigger data 64 bytes The data attribute 0x03 of the assembly object instance 109 110 should normally be accessed via cyclical I O connections implicit messaging ...

Страница 379: ...l Res Pass 9 pad 0 10 Sub Res 4 Fail Sub Res 4 Pass Sub Res 3 Fail Sub Res 3 Pass Sub Res 4 Fail Sub Res 4 Pass Sub Res 3 Fail Sub Res 3 Pass 11 pad 0 Sub Res 5 Fail Sub Res 5 Pass 12 Device alarms Alarm PIF Pipe OV Alarm PIF Buf OV Alarm FTP Alarm PIF Alarm Inv Job Alarm Output Timeout Alarm Inv TRG Alarm Any 13 Alarm PIF HS Err 14 pad 0 15 pad 0 16 Handshake for output data pad 0 O T HS ACK pad ...

Страница 380: ...SP pad 0 Reset State SJ 4 Handshake for output data pad 0 O T HS Flag pad 0 O T HSWA ACT O T HSS ACT 5 Handshake for input data pad 0 T O HS ACK pad 0 T O HSWA ACT T O HSS ACT 6 Result data Handshake for input data pad 0 T O HS ACK pad 0 T O HSWA ACT T O HSS ACT 7 Parameters Actual length of the Parameters Act Parameters Len 8 135 Parameters Parameters 128 byte 136 Handshake for output data pad 0 ...

Страница 381: ...ope Software for robot control and creation of UR programs Node Step in the UR program contains processing step or subroutine URCap Additional software plug in that allows UR to communicate with external accessories such as the vision sensor URCap is installed on the UR via a USB stick Reference level In relation to the Z axis there are different heights e g contact surface in the machine top of t...

Страница 382: ...ndividually is perfect USB stick with URCap SmartGrid of the calibration surface 200 mm x 150 mm SmartGrid mounting bracket with two M6x8 screws UR mounting bracket for the vision sensor with four M6x18 and four M4x8 screws UR mounting plate for the vision sensor with four screws M6x18 and four M4x8 Vision sensor connecting cable 2 m connection M12 12 pin with power supply unit 24 V 1 A Alternativ...

Страница 383: ...chnical Documentation VeriSens v2 11 0 B4 383 429 Baumer Optronic GmbH Radeberg Germany UR attachment 1 Offset Z 2 Reference level UR mounting bracket for vision sensor UR mounting plate for vision sensor ...

Страница 384: ...l Documentation VeriSens v2 11 0 B4 384 429 Baumer Optronic GmbH Radeberg Germany Centre of gravity of UR mounting bracket 235 g for vision sensor Centre of gravity of UR mounting plate 160 g for vision sensor ...

Страница 385: ...Technical Documentation VeriSens v2 11 0 B4 385 429 Baumer Optronic GmbH Radeberg Germany SmartGrid with mounting bracket SmartGrid on the flange of the robot ...

Страница 386: ...correction or coordinate transfer of objects H Place the SmartGrid in the depth of field of the vision sensor I Performing distortion correction Device Device settings Distortion correction optional necessary for coordinate transfer of found objects Do not adjust the focus of the vision sensor from now on J Performing shading correction Device Device settings Shading correction optional K Performi...

Страница 387: ...iate pose the stored installation pose is optimal S Dynamic vision sensor Place the SmartGrid at object height i e in the range of a good depth of field Stationary vision sensor The SmartGrid is clamped in the robot and driven with it to the height of the object to be examined optimum depth of field T Since all height distances are referenced to a reference level the distance from the top of the S...

Страница 388: ...stallation of the URCap For the UR robot control to communicate with the vision sensor the URCap must be installed on the UR The URCab contains the command sets and operating elements required for communication and operation as well as corresponding plug ins NOTE For proper operation PolyScope version 5 4 is required Insert the USB stick on which the URCap is supplied into the UR Teach Pendant ...

Страница 389: ... 0 B4 389 429 Baumer Optronic GmbH Radeberg Germany Under Settings select System URCaps the URCap file from the USB stick After successfully accepting the URCaps click Restart NOTE To uninstall a UCap click and select the URCap to uninstall ...

Страница 390: ...tronic GmbH Radeberg Germany After successful installation of the URCap you must call the first step of the installation node NOTE In the first step of the installation node you will also find the most important steps up to successful installation as an overview ...

Страница 391: ...int Route the cables in a suitable way over the robotic arm for example using commercially available mounting kits or flexible cable ties ATTENTION Please note that the position range for wrist 3 should be limited to avoid cable twists Installation Safety Joint Limits If an object is to be gripped in the application in any rotational position this range must cover at least 0 to 360 Since the other...

Страница 392: ... The accompanying vision sensor increases the space required by the robot in the area of the gripper The weight of the vision sensor reduces the useful load capacity of the UR Stationary Usually easier to install both mechanically and electrically No burden on the UR due to added weight and volume Higher freedom of UR movement since no vision sensor is in the way The UR arm covers part of the moni...

Страница 393: ...n sensor the PC with the Application Suite and the UR robot controller must all be in the same subnetwork e g connected by a hub or switch Number Description 1 UR robot controller For Setup see PolyScope Technical Documentation 2 Vision sensor To set up the network connection see Chapter IP address network 3 PC with Application Suite To set up the network connection see Chapter Initial set up of t...

Страница 394: ...h the UR To activate Robotics mode follow the instructions in Chapter Robotics device dependent Now the vision sensor can communicate with UR and should display an image via Application Suite 16 3 5 Shading correction optional Uneven lighting can result in some areas of the image being darker than others Shading correction provides the option to compensate for brightness irregularities in the imag...

Страница 395: ...ependend 16 3 7 Z calibration optional Image processing is two dimensional However in robotics the Z axis depth must also be taken into account because robotics typically works in space The Z calibration allows the world coordinates of the vision sensor to be adjusted to a height Z and further processed by a robot Z calibration is necessary if object positions are to be found with the vision senso...

Страница 396: ...nect button After some time the Connected signal should light up green and you should also see the live image of the vision sensor NOTE After loading an installation Open Installation it is necessary to reconnect to the Vision Sensor in order to adapt the dialog to the current device If the signal lights up yellow the vision sensor is deactivated It is possible that a test job is being configured ...

Страница 397: ... from this optimal position Options Automatic connection after startup Here an attempt is made to connect to the last selected vision sensor when the robot is powered up The vision sensor may also have been renamed via Application Suite The lighting settings below will be reactivated If no coordinates of found objects are to be passed on to the UR then the vision sensor setup is completed here Int...

Страница 398: ...t controller can be found in the Chapter Example programs for the robot controller NOTE Make sure that dimensions are distance dependent the vision sensor should always be in the same position and at the same distance from the test object NOTE Please note the instructions for data transfer to the UR in the Chapter Output Robotics device dependent 16 3 9 Coordinate alignment This step is necessary ...

Страница 399: ... with the following entries Select the type of installation of the vision sensor Dynamic vision sensor is robot guided or Stationary vision sensor is stationary mounted Robot coordinate system Select Base If you want to use another coordinate system then this must have the same orientation in the Z direction as the SmartGrid when teaching the distortion correction of the vision sensor Optional Z o...

Страница 400: ...tGrid you can set this value here Selection with stationary not robotically guided Now mount the SmartGrid directly on the robot flange or grip it on the SmartGrid using a gripper and if necessary using the mounting bracket Z axis adjustment Here you should only make sure that the robot flange is aligned parallel to the SmartGrid If not the rotation of X and Y can be set to zero with a button The ...

Страница 401: ...graph showing the calibration quality The goal should be to achieve at least a good calibration quality but ideally an excellent one Move the Tool Center Point TCP so that at least two linear movements at least 10 mm and one rotation movement at least 5 are performed On the bar display of the calibration quality close the function via the button Close The calibration of the vision sensor equipped ...

Страница 402: ...e robot Should the Vision Sensor be activated The vision sensor is in Configuration mode Complete the configuration of the vision sensor to perform further work Do you really want to overwrite the previously saved robot position Security query to prevent the accidental overwriting of a previously stored robot position Please update your URCap first to establish a connection to this device The vers...

Страница 403: ... Please note that the image based waypoints unlike classic waypoints do not have an additional parent program point for the movement The type of movement is individually set directly in the image based waypoint 16 5 1 Node for job execution The node of the vision sensor job execution is used to perform image processing In other words an image is triggered captured and after some time results are t...

Страница 404: ...ront of this waypoint with the current position to always start it before the job runs Note on UR programming result data VS_NumObjects is the number behind Object list contains This variable can be used to control a robot loop so that a vision waypoint is approached as long as VS_NumObjects 0 NOTE Please note that only one object list is managed in the robot program An existing object list is ove...

Страница 405: ...e depth Z The fixed value defined via the vision sensor is supplied for Z reference height RZ corresponds to the object rotation between the X and Y axes i e around the Z axis This node can also be used multiple times to for example first to move over a found object then move to the gripping position via a linear movement and again move a piece up after gripping by a linear movement Movement type ...

Страница 406: ...oint including offset Stop at this point After approaching the waypoint the robot stops in the course of the program Grinding with radius Here the radius can be ground analogously to non vision based waypoints Object list contains The number of objects found by the job execution node is displayed here It is the supply of object positions or objects to be approached Delete current entry after endin...

Страница 407: ...t by pose This is the most convenient way to adjust the offset by simply moving the robot using the Freedrive or Move function top button on the UR Teach Pendant The new position is displayed in the table and can be readjusted here optionally With OK the new offset is accepted and the dialogue is closed Cancel closes the dialogue without accepting the values ...

Страница 408: ...ypoint works only if the vision sensor and UR coordinates are properly aligned during installation URCap installation coordinate alignment If the coordinate alignment is not available or no longer up to date signalling inactive under URCap coordinate alignment then the icon of the waypoint is displayed in yellow and the following error message appears ...

Страница 409: ... Place This sample program represents a typical Pick Place application The vision sensor searches for objects and the coordinates of the objects found are transferred to the robot controller Then the objects are approached one after the other Settings in the Application Suite In the Application Suite configure the feature check Find object positions In the Configure interfaces step you can set the...

Страница 410: ...sor Find object positions is selected here If VS_NumObjects 0 If the number of found objects is 0 a message could subsequently be defined that no objects were found The robot then has no coordinates to approach Action if no objects found Comment Else The Else branch specifies what to do when objects are found While objects are in result list Comment Loop VS_NumObjects 0 The loop is executed while ...

Страница 411: ...bot should move to the storage position for the object Waypoint_2 Here the storage position of the object is defined NOTE In the following step a node should be inserted to control the gripper This is missing due to the large number of grippers to be used in the example program Afterwards you jump to the point Loop VS_NumObjects 0 until all coordinates from the object list have been processed ...

Страница 412: ...d to control the robot Settings in the Application Suite In the Application Suite configure the feature Check part location on contours Configure the feature check Distance In the step Configure interfaces you set which data is to be transmitted to the robot controller Configure interfaces Output robotics Since in contrast to example program 1 Pick Place no coordinates of the found object are to b...

Страница 413: ...aypoint_1 Position where the robot should move to in order to perform the vision sensor job For example in the case of stationary installation of the vision sensor the robot must be moved out of the field of view of the vision sensor so the test object can be found in the work area Vision Sensor Job Execution The job Distance stored on the vision sensor is selected here Check distance Comment If V...

Страница 414: ...he reproducibility of the results from the device ATTENTION As so many cleaning agents are available we hope you understand that we cannot test every single one Resistance to cleaning agents and areas of use depends upon the specific application Cleaning agents must be tested on an discreet area of the device under application conditions to evaluate if they are suitable Materials within the device...

Страница 415: ...ies the user that the maximum permissible operating temperature has been reached prior to the device undergoing emergency shutdown Warning message Subject to temperature situation work can be briefly continued at this warning level to save the project for example Confirm the query to do this Emergency shutdown Should the housing temperature continue to rise the device will undergo emergency shutdo...

Страница 416: ...0 Part location on edges Part location on circle Part location on text lines Geometry Distance Circle Angle Count edges Point position Edge characteristics Feature comparison Count contour points monochrome colour Contour comparison monochrome colour Brightness Contrast Colour identification Area size monochrome colour Count areas monochrome colour Pattern comparison monochrome colour Colour posit...

Страница 417: ...uration via Ethernet Functions Process linkage Digital I Os 5 3 5 5 3 5 5 3 5 5 3 5 5 5 5 3 5 5 3 Produce partial results via digital I Os at different times Process interface Ethernet RS485 device dependent Baumer FEX Image processor FEXLoc 360 part location User administration Password protection Coordinate conversion Distortion correction monochrome only 2 2 2 2 Support UR3e UR5e UR10e Z teach ...

Страница 418: ...Technical Documentation VeriSens v2 11 0 B4 418 429 Baumer Optronic GmbH Radeberg Germany 19 3 Technical drawing except XC series ...

Страница 419: ...Technical Documentation VeriSens v2 11 0 B4 419 429 Baumer Optronic GmbH Radeberg Germany 19 4 Technical drawing XC series only ...

Страница 420: ...Technical Documentation VeriSens v2 11 0 B4 420 429 Baumer Optronic GmbH Radeberg Germany 19 5 Technical drawing only devices with protection class IP 69K ...

Страница 421: ...r Optronic GmbH Radeberg Germany 19 6 Fastening bracket 90 degree VS mounting adapter NOTE For optimum heat dissipation use only this attachment bracket for Vision Sensors ID510 and XF700 XF800 XF900 XC700 XC800 XC900 Colour black Material anodized aluminium ...

Страница 422: ...429 Baumer Optronic GmbH Radeberg Germany 19 7 Fastening bracket 90 degree NOTE This attachment bracket is not suitable for Vision sensors ID510 and XF700 XF800 XC700 XC800 due to its low thermal conductivity Colour Black Material powder coated steel ...

Страница 423: ...umer Optronic GmbH Radeberg Germany 19 8 Fastening bracket straight NOTE This attachment bracket is not suitable for Vision sensors ID510 and XF700 XF800 XF900 XC700 XC800 XC900 due to its low thermal conductivity Colour Black Material powder coated steel ...

Страница 424: ...sp s 50 100 monochrome only XF series Reduced max brightness monochrome XF series only Defect image memory 32 8 4 32 Number of jobs Up to 255 on the device can be exchanged via process interface Features per job 32 Electrical data XC series XF series CS series ID series Nominal voltage power supply Socket 2 24 V 25 Class 2 according to NEC protection class III The device is intended for supply fro...

Страница 425: ...idth Height Depth 53 mm 99 5 mm 49 8 mm without lens tube 53 mm 99 5 mm IP 69K 107 5 mm 38 mm Material Housing Aluminium cover glass tube PMMA Housing Aluminium IP 69K Stainless steel 1 4404 Cover glass PMMA 5 Weight 300 g without lens tube 250 g IP69K 700 g Code types OCR Model XC800 XC200 Models XF200 XF800 XF205 ID110 ID100 Barcode 6 2 5 Industrial 2 5 Interleaved Codabar Code 39 Code 93 Code 1...

Страница 426: ...oded Pin Pin Assignment 1 Power 24 V 25 2 Ground 3 IN1 Trigger 4 OUT 1 PTC protected 5 IN 2 6 OUT 2 PTC protected 7 OUT 3 PTC protected 8 IN 3 9 OUT 4 RS 485 ID100 only PTC protected 10 IN 4 11 IN 5 12 OUT 5 RS 485 ID100 only PTC protected Socket Illumination port M8 XC series only Pin Pin Assignment 1 24V or 48V Flash 2 12V or 24V Flash 3 Ground 4 Flash Sync 1 100 mA PNP 1 voltage according to po...

Страница 427: ...ment of the connecting cable M12 Pin Designation Colour code 1 Power 24 V 25 brown 2 Ground blue 3 IN1 Trigger white 4 OUT 1 PTC protected green 5 IN 2 pink 6 OUT 2 PTC protected yellow 7 OUT 3 PTC protected black 8 IN 3 grey 9 OUT 4 RS 485 PTC protected red 10 IN 4 violet 11 IN 5 grey pink 12 OUT 5 RS 485 PTC protected red blue ...

Страница 428: ... been tested by UL Underwriters Laboratories and meets the requirements of the standards UL 61010 1 Edition 3 Revision Date 2016 04 29 UL 61010 2 201 Edition 2 Published 2018 05 14 CSA C22 2 NO 61010 1 12 Edition 3 Update No 2 2016 04 CSA C22 2 NO 61010 2 201 18 Edition 2 Published 2018 02 20 4 UR The vision sensor has been tested by UL Underwriters Laboratories and meets the requirements of the s...

Страница 429: ...1 R REI BkR VeriSens IP 14 12 2017 VS XC100C03X00EP 11116656 R R Bkr VeriSens XC EP 11 12 2018 VS XC100C12X00EP 11116724 R R Bkr VeriSens XC EP 11 12 2018 VS XC100M03X00EP 11086398 R R Bkr VeriSens XC EP 11 12 2018 VS XC100M12X00EP 11086399 R R Bkr VeriSens XC EP 11 12 2018 VS XC100M20X00EP 11086410 R R Bkr VeriSens XC EP 11 12 2018 VS XC200M03X00EP 11086175 R R Bkr VeriSens XC EP 11 12 2018 VS XC...

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