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Table B.2

Command response

Explanation

ACK message

Response to protocol version including the version

that is supported by the device

rgVER [errorCode] [protocolVersion]

Response to set mode (Run/Edit) including error code

and error message

rsMOD [errorCode] [errorMessage]

Response to fetch current mode (Run/Edit) including

the mode, error code, and error message

rgMOD [errorCode] [mode] [errorMes-

sage]

Response to set integer parameter and action com-

mands including error code and error message

rsINT [identifier] [errorCode] [er-

rorMessage]

Response to fetch integer parameter including para-

meter value, error code and error message

rgINT [identifier] [errorCode] [ret1]

[ret2] ...[retN] [errorMessage]

Response to the action command including error code

and error message

raACT [identifier] [errorCode] [er-

rorMessage]

Response to the trig command including error code

and error message

rTRIG [errorCode] [errorMessage]

Response to the get string command. If errorCode is

0 (No error) the errorMessage is instead the actual

response string

rgSTR [identifier] [errorCode] [er-

rorMessage/nameString]

Response to the get latest available Ethernet Result

Output string. If errorCode is 0 (No error) the errorMes-

sage is instead the actual Ethernet Result Output string

rgRES [errorCode] [errorMessage/res-

ultString]

Response to get the latest statistics from the device

in XML format

rgSTAT [statistics in XML format]

If returned errorCode is 0 no errorMessage will be shown. For explanation of errorCode and

errorMessage see Section B.4, “

Error codes

” (page 74).

The response message is a receipt that the command is valid and is executed on the Inspector.

However, the following commands take longer time to execute, and may not have finished

executing when you receive the command response:
• All action commands (aACT)
• Select reference object (sINT 1)
• Set mode (sMOD)
When sent over Ethernet Raw, all command responses have a start and end character:
• Start character =

STX

(This character has the ASCII decimal number 2)

• End character =

ETX

(This character has the ASCII decimal number 3)

B.1.1

Commands ID numbers for EtherNet/IP

Table with command ID numbers to be used as replacement for the normal command strings

for interfaces where strings not are possible or preferred.

Subject to change without notice

8015726/ZPP7/2018-

Appendix

Command channel

Reference Manual
Inspector PIM

Содержание Inspector PIM60

Страница 1: ...Inspector PIM60 ver 2 0 Vision sensor REFERENCE MANUAL...

Страница 2: ...2006 UV LED light 385 nm VSPM 6F2413 Inspector PIM60 IR VSPM 6B2413 Inspector PIM60 IR Base VSPM 6F2413S18 Inspector PIM60 IR Bead The Inspector is equipped with an LED illumin ation that must be cons...

Страница 3: ...nsion box 11 2 5 3 High number of unanswered requests to the I O exten sion box 12 3 Web interface 13 3 1 Introduction 13 3 2 Get results via Web API 13 3 2 1 Live image 13 3 2 2 Detailed results 13 3...

Страница 4: ...gs 49 A 3 2 Attributes 50 B Command channel 52 B 1 Command syntax 52 B 1 1 Commands ID numbers for EtherNet IP 53 B 2 Command channel index handling 54 B 2 1 Introduction 54 B 2 2 Blob indexing 54 B 2...

Страница 5: ...Introduction...

Страница 6: ...connections Web API interface is intended for integration with external HMI implementations and for customized web pages on the Inspector Ethernet Raw interface is intended for integration with exter...

Страница 7: ...Interfaces...

Страница 8: ...the box are changed 2 1 Physical network connection To minimize network latency it is recommended that the I O extension box is connected directly to the Inspector The I O box has a network switch so...

Страница 9: ...gital I O and I O extension boxes in the Inter faces tab The I O extension box is disabled if EtherNet IP is selected in the same tab Figure 2 3 I O Extension Box setup Communication mode It is possib...

Страница 10: ...rk it will connect to it and start using it as configured 2 3 1 Enabling the I O extension box The use of the inputs and outputs on the I O extension box is enabled on the Digital I O tab of the Inter...

Страница 11: ...mation see the Operating Instructions for Inspector PIM60 Perform the following steps to connect and use more I O modules 1 Close the SOPAS Engineering Tool ET application 2 Disconnect the power from...

Страница 12: ...web server in the I O extension box 2 5 3 High number of unanswered requests to the I O extension box The advanced communication mode User mode can be used to fine tune the communication with the I O...

Страница 13: ...Web API by a live image request using the URL http IP address LiveImage jpg The response to the request is a data buffer containing a JPEG image If the image is not available an empty image is return...

Страница 14: ...ult id ID Note The image might not update if this method is used due to caching see Section 3 4 1 Ex ample Display live image page 19 for more information Example URLs Request a live image without ove...

Страница 15: ...sic principles The command channel has a set of basic principles Only one command at a time can be executed Inspector PIM60 responds to each command with a response that includes the result of the com...

Страница 16: ...an a normal image is returned if no reference object is available for a certain position Example URL http 192 168 1 110 ActiveReferenceImage jpg http 192 168 1 110 getRefObject 1 3 3 4 Backup and rest...

Страница 17: ...text strings which you need to parse in order to extract the information that you are interested in To make this easier the Inspector PIM60 provides a JavaScript that you can use in your web pages and...

Страница 18: ...nction response if response httpStatus 200 response errorCode 0 alert response errorMessage The content of the response object depends on the function that you called as well as on the outcome of the...

Страница 19: ...t return any response at all making it difficult to figure out whether or not the command was performed on the Inspector Normally this is not a problem but if you are using timed triggers you should m...

Страница 20: ...ge and call the sickLiveImage function as in the following example html xmlns http www w3 org 1999 xhtml head title Live Image title script type text javascript src jquery js script script type text j...

Страница 21: ...and to allow command channel changes The same settings apply both to the Web Server and to the Web API The Web interfaces are configured in the Interfaces and I O settings dialog in the InspectorPIM6...

Страница 22: ...nction is which side initiates the connection to receive send the data UDP TCP PC PLC initiates the connection Inspector sends results to the spe cified IP address and port without knowing if it has b...

Страница 23: ...of the object locator angle for blobs angle for edges and angle measurements Little Big Endian This specifies the order of the bytes transferred from the device on Ethernet When using Little endian t...

Страница 24: ...the image and therefore negative Shown in pixels or mm Explanatory text and locator rotation in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog End o...

Страница 25: ...blob tool Result of validating output string with a Blob The result of validating the example formatting output string with output format ASCII can be as follows Blob_tool Found_blobs 16 Blob_informat...

Страница 26: ...and to trigger image acquisition via UDP or TCP This section describes how to setup image triggering and command channel settings in SOPAS Engineering Tool ET as well as the syntax of the command cha...

Страница 27: ...torPIM60 menu and Interfaces and I O settings dialog check the Ethernet box and in the list EthernetRaw in the Interfaces tab For the selected reference object choose Triggered by Ethernet in the Imag...

Страница 28: ...unit Note The device must be calibrated for it to be possible to use the mm attribute An error message is given in the output string if the device is not calibrated and mm is chosen 5 2 2 Example form...

Страница 29: ...ange depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 0 7 The combination of dataType and pos determine which parameter the re...

Страница 30: ...s depending on the configured value in the Ethernet Result Output dialog Structure value number of edge pixels inside the blob Edge flag 0 the blob is fully within the ROI 1 the blob touches ROI borde...

Страница 31: ...ype dataType Position ref pos from XML configuration FOUND_BLOBS 0 SINT 0 EDGE_FLAG 1 SINT 1 2 SINT 2 3 SINT 3 4 SINT 4 5 SINT 5 6 SINT 6 7 SINT 7 8 INT 0 10 INT 1 12 INT 2 14 INT 3 16 INT 4 18 INT 5...

Страница 32: ...bly 1 and dataType section SINT is selected the range of position is 8 i e 0 7 For more details about dataType and pos see table in Section A 3 2 Attributes page 50 Therefore the value of the attribut...

Страница 33: ...torPIM60 menu Assembly no Comment Size bytes Instance no Assemblies Slim command channel 4 100 Output Command channel result 36 101 Input Command channel 32 102 Output 1 Small result channel 64 103 In...

Страница 34: ...meter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode The commands is sent with help of output assembly 102 and the result is recei...

Страница 35: ...specify that the slim command channel in stance no 100 is to be used here and set the value of Trigger to 1 The image capture is made immediately without any delays The Inspector will capture an image...

Страница 36: ...8 bytes 24 24 2 bytes each INT 88 bytes 72 22 4 bytes each DINT 88 bytes 160 22 4 bytes each REAL Assembly 4 extra large result channel Instance ID 109 Size 484 bytes Table 5 4 Input Assembly 4 Total...

Страница 37: ...fier 8 DINT Argument 1 12 DINT Argument 2 16 DINT Argument 3 20 DINT Argument 4 24 DINT Argument 5 28 DINT Argument 6 Command channel result Instance ID 101 Size 36 bytes Table 5 7 101 input Command c...

Страница 38: ...Appendix...

Страница 39: ...polygon corners See example CORNERS POLYGON CORNERS X Y CORNERS POLYGON The XML based formatting string is entered in the Formatting string for Ethernet Output part of the EthernetResultOutput dialog...

Страница 40: ...ly applicable for the ASCII format and will be ignored when using binary format this is also stated in the binary column Note The Binary column in the tables below describes how the data should be int...

Страница 41: ...e located ob ject is scaled the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object 0 not found...

Страница 42: ...l 8 Longest sequence of too wide probes fail 16 Total amount of too narrow probes fail 32 Total amount of too wide probes fail Name attribute required if more than one Polygon exists any string name P...

Страница 43: ...tput dialog For a polygon with two corners single edge the estimated corner positions are the inter section between the found edge and the left and right borders of the search region The search region...

Страница 44: ...unit or con REAL 0 180 unit ANGLE figured value in the Ethernet Result output dialog Blob area in pixels In pixels or mm2 depending on attrib UDINT AREA ute coordUnit or configured value in the Ether...

Страница 45: ...value in the Ethernet Result output dia log 0 not found 1 pass 2 Out side image 11 Failed on score value 12 Failed on diameter USINT 0 1 2 11 12 DECISION Name attribute required if more than one Meas...

Страница 46: ...on attribute co ordUnit or configured value in the EthernetResultoutput dialog If the chosen Edge counter is circular the value is the pitch in degrees or radians depend ing on attribute unit or con...

Страница 47: ...value is a counter clockwise rotation g The angle of the single edge in degrees or radians depending on attribute unit or con figured value in the Ethernet Result output dialog Only applicable for Fea...

Страница 48: ...value are given for each Blob ROI not for each found blob e This tag concerns the whole tool i e not specific to the feature edge chosen by the index f Red arrow points out the midpoint for the Edge c...

Страница 49: ...s and 49 days using milliseconds UDINT s ms timeUnit TIME Device serial code UDINT SERIALCODE Only valid while the device is in Edit mode This is the focus value from the Image settings tab REAL 0 100...

Страница 50: ...to 3 in the EthernetResultOutput dialog all REAL will be printed with 3 decimals unless they are inside a tag that states otherwise Some attributes can also be set from the Ethernet Result Output dial...

Страница 51: ...embly The first position num ber of the dataType section is 0 The range of the attribute pos depends on which assembly is used Yes Angles de grees radians de grees unit a Only available for Ethernet R...

Страница 52: ...he different command types as well as ACK messages and their syntax The basic principle is that there are three major types of commands sINT gINT and aACT and some special commands Table B 1 Command s...

Страница 53: ...Ethernet Result Output string If errorCode is 0 No error the errorMes sage is instead the actual Ethernet Result Output string rgRES errorCode errorMessage res ultString Response to get the latest sta...

Страница 54: ...edge tool edge counter circle locator measure distance and measure angle are listed in the Tools tab in the SOPAS Engineering Tool ET starting with 0 The types of the tools pixel counter edge pixel co...

Страница 55: ...alculate coordinate align mentf a In order to run this command the device must be set to Calibration mode sINT 20 1 b The argument must be given in mm c Returned value is the calibration target covera...

Страница 56: ...ss format a b c d int a int b int c int d Yes 122 gINT Get gateway a In order for the settings to take effect the aACT 5 command needs to be sent to the device b There should be no dots in the argumen...

Страница 57: ...tion mode 0 calibration nor mal modec int parameterRes ult intparamet er Yes 20 gINT Get calibration para meters 1 calibratedd 2 scalinge 3 ori ginf 4 rotationg 5 mean pixel er ror 6 max pixel error 0...

Страница 58: ...s expressed in ms multiplied by 100 i e 3 8 ms is expressed as 380 c The result is 0 normal mode or 1 calibration mode d The result is 0 not calibrated or 1 calibrated e The result is expressed in mm...

Страница 59: ...mal 2 High speed int acc Yes 37 gINT Get object locator ac curacy x y pixels angle degrees Arguments int x int y int angle No 38 sINT Move and rotate ob ject locator are delta values as compared to th...

Страница 60: ...min max int min int max 0 100000 min max 0 7 int index Yes 53 gINT Get structure cri teria thresholds 0 100000 int min 0 100000 int max 0 7 int index No 54 sINT Change blob edge strength 0 100 percent...

Страница 61: ...nt index Yes 60 gINT Get blob area thresholds in mm2 10 pixel size 307200 pixel size min max int min 1000 int max 1000 10 pixel size 307200 pixel size min max 0 7 0 640 0 480 int w int height int blob...

Страница 62: ...ead max no of consecutive too narrow 0 7 int index No 256 sINT Set bead max no of consecutive too narrow 0 256 int max 0 7 int max TooWide int index Yes 257 gINT Get bead max no of consecutive too wid...

Страница 63: ...xing see Section B 2 3 Bead indexing page 54 Table B 10 Command channel functions Polygon Range Return values Argumentsa Us able in Run mode Iden tifier Com mand Description 0 7 int index No 64 sINT C...

Страница 64: ...0 255 0 255 int min int max 0 7 int index No 70 sINT Change polygon max defects threshold 0 100 pixels int max 0 7 int index Yes 70 gINT Get polygon max de fects threshold 0 100 pixels int max 0 7 in...

Страница 65: ...pixels min max 0 63 int index Yes 81 gINT Get No of pixels in range thresholds 0 ROI sizeb pixels int min 0 ROI sizeb pixels int max a For information about tools indexing see Section B 2 5 Tools inde...

Страница 66: ...d 0 100 percent int threshold 0 63 int index Yes 85 gINT Get pattern score threshold 0 100 percent int threshold a For information about tools indexing see Section B 2 5 Tools indexing page 54 Table B...

Страница 67: ...contrast 0 100 int con trast 0 63 int index No 221 sINT Change find maxim um criteria 0 2 0 first 1 last int criterion 0 63 int index Yes 221 gINT Get find maximum criteria 0 2 0 first 1 last int cri...

Страница 68: ...fied int max Max threshold in the unit specified 0 63 int index No 162 sINT Change circle line fit criteria 0 2 0 strongest 1 first 2 last int criterion 0 63 int index Yes 162 gINT Get circle line fit...

Страница 69: ...ter tolerance thresholds 0 640000 min max 0 640000 int min 1000 int max 1000 0 1 0 pixels 1 millimeters int unit 0 63 int index Yes 169 gINT Get circle diamet er tolerance thresholds 0 1 0 pixels 1 mi...

Страница 70: ...al id for Pixel Counter and Edge Pixel Counter a For information about tools indexing see Section B 2 5 Tools indexing page 54 Table B 18 Command channel functions Distance Range Return val ues Argume...

Страница 71: ...INT Change angle off set compensa tion 1000000 1000000 int off set 1000 0 63 int index Yes 181 gINT Get angle offset compensation int off set 1000 a For information about tools indexing see Section B...

Страница 72: ...ature type 0 bright 1 dark 2 single edge int type 0 63 int index No 194 sINT Change edge count min max features 0 63 int min 0 63 int max min max 0 63 int index Yes 194 gINT Get edge count min max fea...

Страница 73: ...t names Range Return val ues Arguments Usable in Run mode Iden tifier Com mand Description Yes 1 gSTR Get name of device 0 31 int referenceOb ject Yes 2 gSTR Get name of refer ence object string name...

Страница 74: ...ools indexing see Section B 2 5 Tools indexing page 54 b For information about blob indexing see Section B 2 2 Blob indexing page 54 c For information about polygon indexing see Section B 2 4 Polygon...

Страница 75: ...as described in the command list 8002 Command with no valid identifier for example sINT 200 8003 An invalid mode was supplied sMOD for example sMOD 2 8004 The device is performing an operation and ca...

Страница 76: ...valid combination of addresses was used 8113 The specified network mask was invalid 8113 The specified gateway address was invalid 8113 The combination of IP settings was invalid 8113 Calibration fail...

Страница 77: ...n mode rsMOD 0 sMOD 1 Switch to Edit mode rgMOD 0 1 gMOD Get device mode rsINT 16 0 sINT 16 0 Set trigger mode to free running rsINT 16 0 sINT 16 1 Set trigger mode to triggered rgINT 16 0 0 if free r...

Страница 78: ...Perform calibration a The below examples can also be done by sending the set device IP address set device netmask and set device gateway in a sequence and then send the aACT 5 command to activate all...

Страница 79: ...epare restore mode 4 Transfer restore file to device 5 Device restart The restore operation will remove the previous configuration and replace it with a new con figuration The IP address and the chess...

Страница 80: ...up file is transferred to the device Operations CREATE SOCKET CONNECT TO SOCKET IP address port 80 SEND HTTP POST REQUEST to RestoreConfig data full path to backup file CLOSE SOCKET URL template repla...

Страница 81: ...Raw 26 Image trig 27 Port interval 22 Reference object 27 Single port solution 27 TCP versus UDP 22 EtherNet IP 28 Basic principles 34 Command syntax 34 Control the sensor via EtherNet IP 33 Image tr...

Страница 82: ...principles 15 Command syntax 15 Control the sensor via Web API 15 Custom web pages 17 Live image 13 Logged image 14 Results 13 X XML based formatting 39 XML formatting 39 8015726 ZPP7 2018 09 SICK AG...

Страница 83: ......

Страница 84: ...03 8080 7425 E Mail enquiry my sick com Mexico Phone 52 472 748 9451 E Mail mario garcia sick com Netherlands Phone 31 30 2044 000 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tol...

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