Bit position
D7 (MSB)
Command 6: “Parameterization of evaluation with target region for dou‐
ble deep” is being processed. When the command is executed, the bit
is cleared.
7.5
Interpretation of the position correction values
The device determines the location of the positioning mark based on a coordinate
system in the field of view. To do so, the device determines the offset of the positioning
mark from the origin of the coordinate system on the X axis and Y axis. When evaluation
mode 1 to 8 is set, the origin is located in the middle of the target region. For evaluation
modes 1 to 8, the origin can also be shifted in SOPASair using the
Relative offset to origin
X [mm]
and
Relative offset to origin Y [mm]
parameters. When evaluation mode 9 to 14
is set, the origin is located at the center point of the image. The device corrects the
position of the automated storage and retrieval system relative to the positioning mark
based on the X values and Y values determined. When the positioning mark is precisely
in the middle of the target region or at the center point of the image, depending on the
selected evaluation mode, the offset from the origin of the coordinate system is Y = 0
and X = 0.
The coordinate system can be modified in SOPASair. You can rotate the coordinate
system and mirror the axes.
Y-
Y+
X+
X-
1
2
3
4
5
Figure 8: Interpretation of the position correction values
1
Device
2
Coordinate system, for determining the location of the positioning mark
3
Positioning mark in the middle of the target region (X = 0 μm, Y = 0 μm)
4
Target region
5
Positioning mark below the target region and to the right (X = 14,000 μm, Y = 15,000 μm)
7.6
Control via digital inputs and digital outputs
Digital input sensor 1 activates and deactivates continuous measurement. Continuous
measurement is activated after switching on the device even if the sensor 1 digital
input is switched off. This allows operation without digital inputs. The sensor 2 digital
input is used to switch between the single and double deep modes.
Sensor 1
1
Continuous measurement is switched on.
0
Continuous measurement is switched off.
SPECIFICATION OF THE INTERFACE AND INTERACTION WITH THE CONTROLLER
7
8024534/1DQ8/2022-01-14 | SICK
O P E R A T I N G I N S T R U C T I O N S | InspectorP Rack Fine Positioning
35
Subject to change without notice
