Adept AdeptSight Reference Guide

AdeptSight Reference Guide

AdeptSight Reference Guide, v3.2.x

This is a PDF/print version of the AdeptSight Reference Guide online documentation. A Table of Contents is provided so that you can locate the desired topics. Because the AdeptSight Reference Guide was designed for online viewing, there may be slight formatting anomalies in the PDF/print version. Additionally, links to external documents will not work in the PDF file.

For optimal viewing and navigation, please use the HTML version of this document, which can be accessed from the Adept Document Library.

NOTE: Please see the Adept ACE ReadMe file, which is included with your Adept ACE software, for a

description of any recent changes.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 1

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation of future documentation. Please submit your comments to: techpubs@adept.com.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks of

Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, ACE PackXpert, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540, Adept 550 Clean-

Room, Adept 560, Adept AnyFeeder, Adept Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350,

Adept Cobra 350 CR/ESD, Adept Cobra 550, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept

Cobra i800, Adept Cobra PLC Server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted, Adept Cobra Smart600, Adept Cobra Smart800, Adept DeskTop, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept iSight, Adept Impulse Feeder, Adept LineVision, Adept MB-10 ServoKit,

Adept MC, Adept MotionBlox-10, Adept MotionBlox-40L, Adept MotionBlox-40R, Adept MV, Adept MV-10,

Adept MV-19, Adept MV-4, Adept MV-5, Adept MV-8, Adept OC, Adept Python, Adept Quattro s650, Adept

Quattro s650H, Adept Quattro s650HS, Adept Quattro s800H, Adept sDIO, Adept SmartAmp, Adept Smar-

tAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept SmartMotion,

Adept SmartServo, Adept sMI6, Adept sSight, Adept Viper s650, Adept Viper s850, Adept Viper s1300,

Adept Viper s1700, AdeptCartesian, AdeptCast, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, Adept-

Motion, AdeptMotion Servo, AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-

XL, AdeptRAPID, AdeptSight, AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600,

AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVision AGS, AdeptVision AVI,

AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, Adept-

Vision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline

Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series, Flex-

FeedWare, HyperDrive, IO Blox, MicroV+, MotionBlox, MotionWare, ObjectFinder, ObjectFinder 2000, Pack-

One, PalletWare, sAVI, S-Series, UltraOne, V, V+, and VisionTeach are trademarks of Adept Technology,

Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 3

Table of Contents

Table Of Contents

AdeptSight Reference Guide 17

Recent Changes 19

Compatibility Differences

How Can I Get Help? 27

AdeptSight V+ and MicroV+ Keywords 29

VLOCATION transformation function VPARAMETER program instruction VPARAMETER real-valued function VRESULT real-valued function VRUN program instruction VSTATE real-valued function VTIMEOUT system parameter VWAITI program instruction

30 33 35 37 39 40 42 43

AdeptSight Properties Reference for V+ and MicroV+ 45

Abort ActiveCalibration ActiveSettings ArcMustBeTotallyEnclosed ArithmeticClippingMode ArithmeticConstant ArithmeticScale AssignmentConstant AssignmentHeight AssignmentWidth AutoCoarsenessSelectionEnabled AutomaticCandidateCountEnabled AverageContrast BeltCalibrationDownstreamLimit BeltCalibrationFrame BeltCalibrationNearsideLimit BeltCalibrationScale

47 48 49 50 52 54 55 56 57 58 59 60 62 63 64 64 66

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 5

Table of Contents

BeltCalibrationUpstreamLimit BilinearInterpolationEnabled BlobArea BlobBoundingBoxBottom BlobBoundingBoxCenterX BlobBoundingBoxCenterY BlobBoundingBoxHeight BlobBoundingBoxLeft BlobBoundingBoxRight BlobBoundingBoxRotation BlobBoundingBoxTop BlobBoundingBoxWidth BlobChainCode BlobChainCodeDeltaX BlobChainCodeDeltaY BlobChainCodeLength BlobChainCodeStartX BlobChainCodeStartY BlobConvexPerimeter BlobCount BlobElongation BlobExtentBottom BlobExtentLeft BlobExtentRight BlobExtentTop BlobGreyLevelMaximum BlobGreyLevelMean BlobGreyLevelMinimum BlobGreyLevelRange BlobGreyLevelStdDev BlobHoleCount BlobInertiaMaximum BlobInertiaMinimum BlobInertiaXAxis BlobInertiaYAxis BlobIntrinsicBoundingBoxBottom

67 68 70 71 72 73 74 75 76 77 78 79 80 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98

99 100 101 102 103 104

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 6

Table of Contents

BlobIntrinsicBoundingBoxCenterX BlobIntrinsicBoundingBoxCenterY BlobIntrinsicBoundingBoxHeight BlobIntrinsicBoundingBoxLeft BlobIntrinsicBoundingBoxRight BlobIntrinsicBoundingBoxRotation BlobIntrinsicBoundingBoxTop BlobIntrinsicBoundingBoxWidth BlobIntrinsicExtentBottom BlobIntrinsicExtentLeft BlobIntrinsicExtentRight BlobIntrinsicExtentTop BlobPositionX BlobPositionY BlobPrincipalAxesRotation BlobRawPerimeter BlobRoundness CalibratedUnitsEnabled CandidatePointsCount ChainCodeResultsEnabled ColorFilterCount ColorFilterMatchPixelCount ColorFilterMatchQuality CommunicationToolResults ConformityTolerance ConformityToleranceRangeEnabled Connectivity Constraints ContrastPolarity ContrastThreshold ContrastThresholdMode CoordinateSystem DefaultConformityTolerance DetailLevel Edge1Constraints Edge1Magnitude

105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 125 127 128 129 130 131 133 135 136 138 140 142 144 146 148 150 152

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 7

Table of Contents

Edge1MagnitudeConstraint Edge1MagnitudeScore Edge1PolarityMode Edge1PositionConstraint Edge1PositionScore Edge1PositionX Edge1PositionY Edge1Radius Edge1Rotation Edge1Score Edge1ScoreThreshold Edge2Constraints Edge2Magnitude Edge2MagnitudeConstraint Edge2MagnitudeScore Edge2PolarityMode Edge2PositionConstraint Edge2PositionScore Edge2PositionX Edge2PositionY Edge2Radius Edge2Rotation Edge2Score Edge2ScoreThreshold EdgeCount EdgeFilterHalfWidth EdgeMagnitude EdgeMagnitudeScore EdgeMagnitudeThreshold EdgePolarityMode EdgePositionScore EdgePositionX EdgePositionY EdgeRadius EdgeRotation EdgeScore

153 154 155 157 158 159 160 161 162 163 165 166 168 169 170 171 173 174 175 176 177 178 179 181 182 183 184 185 186 187 189 190 191 192 193 194

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 8

Table of Contents

EdgeSortResultsEnabled ElapsedTime ExtrinsicInertiaResultsEnabled FilterCount FilterHalfWidth FilterHueTolerance FilterHueValue FilteringClippingMode FilteringKernelSize FilteringScale FilterLuminanceTolerance FilterLuminanceValue FilterResult FilterSaturationTolerance FilterSaturationValue FitMode FitQuality Found FrameCount FrameIntrinsicBoundingBox FrameRotation FrameTranslationX FrameTranslationY GreylevelRange GreyLevelResultsEnabled GripperInputClose GripperInputExtend GripperInputOpen GripperInputRetract GripperOffset GripperOutputClose GripperOutputExtend GripperOutputOpen GripperOutputRelease GripperOutputRetract GripperToolTransform

195 196 198 200 201 202 204 206 208 209 210 212 214 215 217 219 221 223 224 226 228 229 230 231 232 234 235 236 237 238 239 240 241 242 243 244

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 9

Table of Contents

Histogram HistogramPixelCount HistogramThreshold HoleFillingEnabled ImageHeight ImageOriginBelt ImageOriginRobot ImagePixelCount ImageSubsampling ImageWidth InspectionFilterMeasuredValue InspectionFilterNominalDeviation InspectionFilterPassStatus InstanceClearQuality InstanceCount InstanceFitQuality InstanceIntrinsicBoundingBox InstanceLocation InstanceLocationGripperOffsetMaximum InstanceLocationGripperOffsetMinimum InstanceMatchQuality InstanceModel InstanceOrdering InstanceOrderingReferenceX InstanceOrderingReferenceY InstanceRobotLocation InstanceRotation InstanceScaleFactor InstanceSymmetry InstanceTime InstanceToolOffset InstanceTranslationX InstanceTranslationY InstanceVisible InstanceVisionOffset IntermediateFilterResult

245 246 247 248 249 250 252 254 255 257 258 258 259 261 263 265 267 269 271 273 275 277 278 280 281 282 284 285 287 289 291 293 294 295 297 299

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 10

Table of Contents

InterpolatePositionMode InterpolatePositionModeEnabled IntrinsicBoxResultsEnabled InverseKinematics KernelSize LastOperation LastOutputType LoadBeltCalibration LoadCameraSettings LoadColorCalibration LoadProject LoadRobotCalibration LoadSequence LoadVisionCalibration LogicalConstant MagnitudeConstraint MagnitudeThreshold MatchCount MatchPositionX MatchPositionY MatchQuality MatchRotation MatchStrength MatchThreshold MaximumAngleDeviation MaximumBlobArea MaximumGreylevelValue MaximumInstanceCount MaximumInstanceCountEnabled MaximumRotation MaximumScaleFactor Mean MeasurementPointsCount Median MinimumArcPercentage MinimumBlobArea

300 301 303 305 308 309 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 331 332 333 334 336 337 338 339 340 341 342 343

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 11

Table of Contents

MinimumClearPercentage MinimumClearPercentageEnabled MinimumGreylevelValue MinimumLinePercentage MinimumModelPercentage MinimumRequiredFeatures MinimumRotation MinimumScaleFactor Mode ModelDisambiguationEnabled ModePixelCount MorphologicalNeighborhoodSize NominalRotation NominalRotationEnabled NominalScaleFactor NominalScaleFactorEnabled Operation Operator OutlineLevel OutputArcAngle OutputArcCenterPointX OutputArcCenterPointY OutputArcRadius OutputLineAngle OutputLineEndPointX OutputLineEndPointY OutputLineStartPointX OutputLineStartPointY OutputLineVectorPointX OutputLineVectorPointY OutputPointX OutputPointY OutputSymmetricInstances OverrideType OverrideTypeEnabled PairCount

344 345 346 347 348 349 351 352 353 354 356 357 358 359 361 362 364 368 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 386 387 388

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 12

Table of Contents

PairPositionX PairPositionY PairRotation PairScore PairSize ParametersBasedOn PatternHeight PatternPositionX PatternPositionY PatternRotation PatternWidth PerimeterResultsEnabled PolarityMode PositionConstraint PositioningLevel ProjectionMode RecognitionLevel Reset Result ResultCount RobotXPosition RobotYPosition SamplingStepCustom SamplingStepCustomEnabled SaveBeltCalibration SaveCameraSettings SaveColorCalibration SaveImage SaveProject SaveRobotCalibration SaveSequence SaveVisionCalibration ScoreThreshold SearchBasedOnOutlineLevelOnly SearchCoarseness SearchMode

389 391 392 393 394 395 397 399 401 402 404 406 407 409 410 411 413 414 415 416 417 418 419 421 423 424 425 426 427 428 429 433 434 435 436 437

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 13

Table of Contents

SegmentationDark SegmentationDynamicDark SegmentationDynamicInside SegmentationDynamicLight SegmentationDynamicOutside SegmentationInside SegmentationLight SegmentationMode SegmentationOutside SequenceExecutionMode Sharpness SharpnessPeak ShowResultsGraphics SortBlobsBy SortResultsEnabled StandardDeviation StandardDeviationThreshold SubsamplingLevel TailBlack TailBlackGreylevelValue TailWhite TailWhiteGreylevelValue ThresholdBlack ThresholdWhite Timeout TimeoutEnabled ToolGuidelineOffset ToolHeight ToolOpening ToolPositionX ToolPositionY ToolRadius ToolRotation ToolSkew ToolThickness ToolWidth

439 441 443 445 447 449 451 453 455 457 459 460 461 462 465 466 467 468 469 470 471 472 473 474 475 477 478 479 480 482 484 485 487 489 491 493

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 14

Table of Contents

TopologicalResultsEnabled TransformFlags Variance VideoExposure VideoGain VisionOriginBelt VisionOriginRobot VisionRotation VisionXPosition VisionYPosition

495 496 497 498 499 500 502 504 505 506

AdeptSight Properties Quick Reference 508

AdeptSight Framework Properties 534

AdeptSight Tool Properties 536

Arc Caliper Properties Arc Edge Locator Properties Arc Finder Properties Blob Analyzer Properties Calculated Arc Properties Calculated Frame Properties Calculated Line Properties Calculated Point Properties Calibration Grid Locator Properties Caliper Properties Color Matching Tool Properties Communication Tool Properties Custom Vision Tool Properties Edge Locator Properties Gripper Clearance Tool Properties Image Histogram Tool Properties Image Processing Tool Properties Image Sampling Tool Properties Image Sharpness Tool Properties Inspection Tool Properties

537 540 542 544 548 549 550 551 552 553 555 556 557 558 560 561 563 564 565 566

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 15

Table of Contents

Line Finder Properties Locator Tool Properties Overlap Tool Properties Pattern Locator Properties Point Finder Properties Remote Vision Tool Properties Virtual Camera Tool Properties

567 569 572 573 575 577 579

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 16

Introduction

AdeptSight Reference Guide

The AdeptSight Reference Guide applies to AdeptSight version 3.2 and later. It contains the following topics:

Recent Changes

AdeptSight V+ and MicroV+ Keywords

AdeptSight Properties Reference for V+ and MicroV+

AdeptSight Properties Quick Reference

AdeptSight Framework Properties

AdeptSight Tool Properties

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 17

RecentChanges

Recent Changes

For the most recent change information, please see the ReadMe.rtf file, which can be viewed by selecting the following from the Windows Start button:

Start > Program > Adept Technology > Adept ACE > Adept ACE ReadMe File

Compatibility Differences

This section describes the compatibility differences between AdeptSight 2.x and AdeptSight 3.x.

1. A standard collection of AdeptSight V+ programs are contained in a file called asight.v2. This file is updated on any controllers in the workspace when the ACE software connects to a given controller.

2. The asight.v2 file contains some of the sample code associated with AdeptSight 2.x queue

management, namely:

getinstance reset_seq string2instance

nzs2string set_as_exec_mod

It is no longer necessary to include those programs in an application being migrated from AdeptSight 2 to AdeptSight 3.

3. AdeptSight 3.x operates in the “AdeptSight Server” mode of AdeptSight 2.x. This will not

functionally change applications that use the communications tool queue to access parts.

4. Several of the properties have changed. In total, there are 439 command parameter codes in

AdeptSight 2.x. The conversion to AdeptSight 3.x affects 17 of these commands. The changes

are as follows:

Property Name Code Description of the Change

RobotConfiguration 10400 No longer supported.

The configuration used in the kinematic calculation is based on the current configuration of the robot. It no longer uses the RobotConfiguration param-

InverseKinematics 10060

eter.

Inverse kinematics calculations for a Cobra i-series robot is not supported

GripperOffset 10100

AdeptSight 3 returns the gripper offset from the gripper offset table associated with a specific robot. For details, see GripperOffset.

The following command codes are not directly supported in AdeptSight 3.x at this time. Please contact Adept Technical Support for programming options.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 19

RecentChanges

Property Name Code

LoadProject 10300

LoadSequence 10301

LoadColorCalibration 10302

LoadVisionCalibration 10303

LoadRobotCalibration 10304

LoadBeltCalibration 10305

LoadCameraSettings 10306

SaveProject 10320

SaveSequence 10321

SaveColorCalibration 10322

SaveVisionCalibration 10323

SaveRobotCalibration 10324

SaveBeltCalibration 10325

SaveCameraSettings 10326

The following command codes are no longer supported.

Property Name Code

ModelAutomaticLevels 410

ModelOutlineLevel 411

ModelDetailLevel 412

ModelContrastThresholdMode 413

ModelContrastThreshold 414

ModelTrackingInertia 415

ModelFeatureSelection 416

ModelBoundingAreaBottom 417

ModelBoundingAreaTop 418

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 20

RecentChanges

Property Name Code

ModelBoundingAreaLeft 419

ModelBoundingAreaRight 420

ModelOriginPositionX 421

ModelOriginPositionY 422

ModelOriginRotation 423

ModelReferencePointCount 424

ModelReferencePointPositionX 425

ModelReferencePointPositionY 426

ModelShadingAreaBottom 427

ModelShadingAreaTop 428

ModelShadingAreaLeft 429

ModelShadingAreaRight 430

ToolUseEntireImage 102

LearnTime 1302

Status 1002

MessageCount 1300

MessageNumber 1301

ModelDatabaseModified 402

ModelCount 404

ModelEnabled 405

CoordinateSystem 1000

OutputOutlineSceneEnabled 21

OutputDetailSceneEnabled 22

OutputInstanceSceneEnabled 23

OutputMode 24

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 21

RecentChanges

Property Name Code

ModelBasedScaleFactorMode 220

ModelBasedMinimumScaleFactor 221

ModelBasedMaximumScaleFactor 222

ModelBasedRotationMode 223

ModelBasedMinimumRotation 224

ModelBasedMaximumRotation 225

ModelEnabled 405

FrameTranslationX (2400), FrameTranslationY (2401), and FrameRotation (2402) should be replaced with the InstanceTranslationX (1315), InstanceTranslationY (1316), and InstanceRotation (1314). The Instance parameter has been expanded to support all tools.

5. Table-mounted camera refinement has changed. In AdeptSight 2.x, a table-mounted camera is

treated as a special case, and the results are used to directly offset a target position for placement.

In AdeptSight 3.x, the table-mounted camera is not treated as a special case. If you use a table-

mounted camera, command code 1311 returns the world location of the located vision object.

In addition, the instruction InstanceToolOffset (command code 1372) has been added to return the location of the vision object relative to the gripper tip at the time the picture was taken. For details, see InstanceToolOffset.

6. Additional properties and corresponding command codes have been added to enable the reading of

a robot gripper IO:

Property Name Code

GripperOutputOpen 5511

GripperOutputClose 5512

GripperOutputRelease 5513

GripperInputOpen 5514

GripperInputClose 5515

GripperOutputExtend 5516

GripperOutputRetract 5517

GripperInputExtend 5518

GripperInputRetract 5519

NOTE: In version 3.1, the parameters for these were modified to the following:

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 22

RecentChanges

$ip IP address of the vision server

sequence Not used. Must be -1.

Tool The tip number

Index The robot number

Object The index of the signal number to access

7. Additional command codes have been added to enable the reading and writing of camera

settings:

Property Name Code

ActiveCalibration 5504

ActiveSettings 5505

VideoExposure 5502

VideoGain 5503

8. A property and corresponding command code has been added to enable the reading of a tool

transformation for a given tip on the robot gripper:

Property Name Code

GripperToolTransform 11000

NOTE: In version 3.1, the parameters were modified to the following:

$ip IP address of the vision server.

sequence Not used. Must be -1.

Tool Index of the tip to access.

Instance The robot number.

Result Not used.

Frame Not used.

9. A property and corresponding command code has been added to enable the reading of the total

number of results that have been queued by all communication tools within a given sequence:

Property Name Code

CommunicationToolResults

2600

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 23

RecentChanges

10. The following vision tools were added for AdeptSight 3:

Calculated Arc

Calculated Frame Custom Vision Tool Remote Vision Tool

Calibration Grid Locator Inspection Tool

Calculated Line Gripper Clearance Tool

Calculated Point

11. AdeptSight 3 can import project files created in AdeptSight 2. AdeptSight 3 will attempt to extract

all vision sequences and camera devices. There are some known limitations, which are described

below.

• AdeptSight 3 will not import the robot and controller device information. AdeptSight 2 does not store enough information to automate the creation of these objects in the workspace

• AdeptSight 3 will not properly import uncalibrated camera devices. AdeptSight 2 does not use a consistent scheme when defining the origin of images associated with camera devices. In AdeptSight 2, the origin of an uncalibrated device is the top left corner of the image. The origin of a calibrated device is the center of the image. In AdeptSight 3, the coordinates used for all images are the center of the image. When an uncalibrated device is loaded, there is not enough information in the project file to properly translate the uncalibrated data from an AdeptSight 2 device and tool locations to the equivalent device and tool information in AdeptSight 3. In this case, the device and tools will be imported, but the user will need to retrain the tools and device settings.

Image Sampling Tool

• The AdeptSight 3 Inspection Tool does not support the same set of operations as the AdeptSight 2 Results Inspection Tool. An AdeptSight 3 Inspection Tool will be created in place of an AdeptSight 2 Results Inspection Tool, but the filters are not imported.

12. The following properties and corresponding command codes were added to the Inspection tool in

AdeptSight 3:

Property Name Code

InspectionFilterMeasuredValue 2700

InspectionFilterNominalDeviation 2701

InspectionFilterPassStatus 2702

13. To support the Adept AnyFeeder bulk-part feeder, the AdeptSight V+keywords VPARAMETER,

VRUN, VSTATE, and VWAITI have been modified, and AdeptSight command codes 6000-6018

have been added. For details, see the Adept AnyFeeder User's Guide, Rev B or later, which is

available in the Adept Document Library.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 24

RecentChanges

CAUTION: If an AdeptSight vision sequence and an Adept AnyFeeder have the

same index value, only the AdeptSight vision sequence will be executed. This

prevents any conflict with an existing AdeptSight vision system when adding an

Adept AnyFeeder.

14. The following properties and corresponding command codes were added to AdeptSight 3.2:

Property Name Code

BeltCalibrationNearsideLimit 10003

InstanceVisionOffset 1373

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 25

How Can I Get Help?

For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website:

For contact information: http://www.adept.com/contact/americas

For product service information: http://www.adept.com/support/service-and-support/main

For user discussions, support, and programming examples: http://www.adept.com/forum/

For further information about Adept Technology, Inc.: http://www.adept.com

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 27

AdeptSight V+ and MicroV+ Keywords

The following keywords are required for programming AdeptSight applications in MicroV+ or V+.

Click on a keyword to view the corresponding description.

VLOCATION transformation function

VPARAMETER program instruction

VPARAMETER real-valued function

VRESULT real-valued function

VRUN program instruction

VSTATE real-valued function

VTIMEOUT system parameter

VWAITI program instruction

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 29

VLOCATION transformation function

Syntax

MicroV+

VLOCATION (sequence_id, tool_id, instance_id, result_id, index_id, frame_id)

V+

VLOCATION ($ip, sequence_id, tool_id, instance_id, result_id, index_id, frame_id)

Description

Returns a Cartesian transform result of the execution of the specified vision sequence. The returned value

is a transform result: x, y, z, yaw, pitch, roll.

Parameters

$ip

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance in the specified result frame. If no result frame is specified,

result_id Identifier (ID) of the result. Refer to the AdeptSight Properties Quick Reference

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame for which you want to retrieve the result contained in the

Details

The following parameters are optional: sequence_id, tool_id, instance_id, index_id, and frame_id.

These parameters are 1-based. If no value is provided for these parameters, they default to 1.

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

it is the index for all instances returned by the tool.

tables to find the ID for the required result.

Typically this value = 1311.

For gripper offset location, this value can be set to 1400 and incremented by 1

for each additional gripper offset. The maximum value is 1499. See Example 2.

specified instance.

For V+ systems, the vision server is the PC on which the AdeptSight vision software is running.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 30

VLOCATION transformation function

To retrieve specific values

To retrieve global values: sequence_id = -1, tool_id = -1

To retrieve camera values:

To retrieve camerarelative-to robot values:

To retrieve sequence values:

To retrieve Belt Calibration related values (read only)

Property sequence_id tool_id

sequence_id = -1, tool_id = cameraIndex

sequence_id = -1, tool_id = cameraIndex, index_id = robotIndex

sequence_id = sequenceIndex, tool_id = -1

instance_id

result_id index_id frame_id

Frame -1 cameraIndex n/a 10000 robotIndex n/a

UpstreamLimit -1 cameraIndex n/a 10001 robotIndex n/a

DownstreamLimit -1 cameraIndex n/a 10002 robotIndex n/a

NearsideLimit -1 cameraIndex n/a 10003 robotIndex n/a

VisionOrigin -1 cameraIndex n/a 10050 robotIndex n/a

Examples

Example 1

In this example, the 1311 result ID indicates using the first gripper offset. This is equivalent to using

the 1400 result ID.

; Retrieve the location of a found instance

; instance location = 1311

SET location = VLOCATION($ip, 1, 2, 1, 1311)

Example 2

; set 1st gripper offset location

; 1st gripper offset location = 1400

SET location = VLOCATION ($ip, 1, 2, 1, 1400)

; set 2nd gripper offset location

SET location = VLOCATION ($ip, 1, 2, 1, 1401)

...

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 31

VLOCATION transformation function

; set 6th gripper offset location

SET location = VLOCATION ($ip, 1, 2, 1, 1405)

Example 3

; Retrieve the location of the Belt frame

; BeltCalibrationFrame index is 10000

VLOCATION ($ip, -1, cameraIndex, , 10000, robotIndex)

; Retrieve the location of the Vision origin

; VisionOrigin index is 10050

VLOCATION ($ip, -1, cameraIndex, , 10050, robotIndex)

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 32

VPARAMETER program instruction

NOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the Adept

AnyFeeder User's Guide, Rev B or later.

Syntax

MicroV+

VPARAMETER (sequence_id, tool_id, parameter_id, index_id, object_id) = value

V+

VPARAMETER (sequence_id, tool_id, parameter_id, index_id, object_id) $ip = value

Description

Sets the current value of a vision tool parameter.

Parameters

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

parameter_id Identifier (ID) of the parameter. Refer to the AdeptSight Properties Quick

Reference tables to find the ID for the required parameter.

index_id Reserved for internal use. Value is always 1.

object_id Some parameters require an object index to access specific values in an array.

Please refer to the details for the individual parameter to understand the

meaning and possible usage.

$ip

Details

The following parameters are optional: sequence_id, tool_id, parameter_id, index_id, and object_id.

These parameters are 1-based. If no value is provided for these parameters, they default to 1.

For V+ systems, the vision server is the PC on which the AdeptSight vision software is running.

Example

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 33

VPARAMETER program instruction

; Set a Locator to find

; a maximum of 4 object instances.

; MaximumInstanceCount = 519

VPARAMETER(1, 2, 519) $ip = 4

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 34

VPARAMETER real-valued function

Syntax

MicroV+

value = VPARAMETER (sequence_id, tool_id, parameter_id, index_id, object_id)

V+

value = VPARAMETER ($ip, sequence_id, tool_id, parameter_id, index_id, object_id)

Description

Gets the current value of a vision tool parameter.

Parameters

$ip

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

parameter_id Identifier (ID) of the parameter. Refer to the AdeptSight Properties Quick

index_id Reserved for internal use. Value is always 1.

object_id Some parameters require an object index to access specific values in an array.

Details

The following parameters are optional: sequence_id, tool_id, parameter_id, index_id, and object_id.

These parameters are 1-based. If no value is provided for these parameters, they default to 1.

To retrieve specific values

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

Reference tables to find the ID for the required parameter.

Please refer to the details for the individual parameter to understand the

meaning and possible usage.

To retrieve global values: sequence_id = -1, tool_id = -1

To retrieve camera values: sequence_id = -1, tool_id = cameraIndex

To retrieve sequence values: sequence_id = sequenceIndex, tool_id = -1

To retrieve Belt-Calibration-related values ( read only )

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 35

VPARAMETER real-valued function

Scale (10004)

To retrieve sequence-related values

Mode (10200)

Example

; Get the scale value for the Belt Calibration

scalevalue = VPARAMETER ($ip, -1, cameraIndex, 10004, robotIndex)

sequence_id = -1, tool_id = cameraIndex, index_id = robotIndex, object_id = n/a

sequence_id = sequenceIndex, tool_id = -1, index_id = n/a, object_id = n/a

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 36

VRESULT real-valued function

Syntax

MicroV+

value = VRESULT (sequence_id, tool_id, instance_id, result_id, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, result_id, index_id,

frame_id)

Description

Returns a specified result of a vision tool, or returns the status of a specified tool.

Parameters

$ip

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance in the specified result frame. If no result frame is specified,

result_id

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame for which you want to retrieve the result contained in the

Details

The following parameters are optional: sequence_id, tool_id, instance, index_id, and frame_id. These

parameters are 1-based. If no value is provided for these parameters, they default to 1.

For V+ systems, the vision server is the PC on which the AdeptSight vision software is running.

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

it is the index for all instances returned by the tool.

Identifier (ID) of the result. Refer to the AdeptSight Properties Quick Reference

tables to find the ID for the required result.

specified instance.

When a VRESULT is issued for a specific tool, it checks to see if that tool supports the VRESULT code. If

the specified tool does not support the code, VRESULT moves to the parent tool to see if it supports the

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 37

VRESULT real-valued function

code. It continues up the chain until it finds a tool that supports the code. If no valid tool is found, an

invalid vision result error is generated.

For example, suppose an Arc Finder tool is placed relative to a Blob Analyzer tool. In the application, the

Blob Analyzer tool locates many blobs and adds an Arc Finder tool at each instance. If you ask for the

blob area associated with an arc finder instance, VRESULT will recognize that the Arc Finder tool does

not support that code, so it moves to the parent tool (the Blob Analyzer tool) and finds the blob

instance associated with the specified arc result. It validates that the blob result supports the VRESULT

code, and so it returns the data.

Example

The following illustrates how to retrieve a specific tool result.

; Get the number of instances found by a Locator.

; instance count = 1310

instance_count = VRESULT($ip, 1, 2, 1, 1310)

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 38

VRUN program instruction

NOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the Adept

AnyFeeder User's Guide, Rev B or later.

Syntax

Micro V+

VRUN sequence_id

V+

VRUN $ip, sequence_id

Description

Initiates the execution of a vision sequence.

Parameters

$ip

sequence_id Index of the vision sequence. The first sequence is 1.

Details

The sequence_id parameter is optional. This parameter is 1-based. If no value is provided for this

parameter, it defaults to 1.

For V+ systems, the vision server is the PC on which the AdeptSight vision software is running.

Example

; Execute the first sequence

VRUN $ip, 1

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 39

VSTATE real-valued function

NOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the Adept

AnyFeeder User's Guide, Rev B or later.

Syntax

MicroV+

value = VSTATE (sequence_id)

V+

value = VSTATE ($ip, sequence_id)

Description

Returns the state of the execution of a sequence.

Parameters

$ip

sequence_id Index of the vision sequence. The first sequence is 1.

Details

The sequence_id parameter is optional. This parameter is 1-based. If no value is provided, it defaults to

In V+ the vision server is the PC on which the AdeptSight vision software is running.

Return

Return values are different for V+ and MicroV+:

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

MicroV+

Value Description

0 Running

1 This value is currently unused.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 40

MicroV+

Value Description

2 Completed

3 Error

V+

Value Description

0 Idle

1 Running

2 Paused

3 Done

4 Error

VSTATE real-valued function

5 Starting

Example

; Get the state of the first sequence

value = VSTATE($ip, 1)

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 41

VTIMEOUT system parameter

Syntax

MicroV+

PARAMETER VTIMEOUT = value

V+

PARAMETER VTIMEOUT = value

Description

Sets a timeout value so that an error message is returned if no response is received following a vision

command. The timeout value is expressed in seconds (for example, the value 0.15 = 150 ms).

For the MicroV+ system, the default value is 0, which causes an infinite timeout. For the V+ system, the

default value is 5 (seconds).

Details

For the MicroV+ system:

• It is important to set a value other than the default value of 0.

• VTIMEOUT = 0 sets the timeout to "infinite". In this case, the MicroV+ system will wait indefinitely for a response from the vision system.

For the V+ system, VTIMEOUT = 0 sets the timeout value to 16 ms (which is the minimum timeout that will be used).

Example

; Get error message if there is no response after 200 ms.

PARAMETER VTIMEOUT = 0.20

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 42

VWAITI program instruction

NOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the Adept

AnyFeeder User's Guide, Rev B or later.

Syntax

MicroV+

VWAITI (sequence_id) type

V+

VWAITI (sequence_id) $ip, type

Description

Waits until the specified vision sequence reaches the state specified by the type parameter. Use a VWAITI

call after VRUN. In a V+ conveyor-tracking application, the absence of a specific VWAITI instruction can

interfere with the Virtual Camera tool and the Communication tool, and cause a delay in the execution of

the application.

Parameters

sequence_id Index of the vision sequence. The first sequence is 1.

$ip

type 0 Wait for full completion (default).

Details

The following parameters are optional: sequence_id and type. The sequence_id parameter is 1-based.

If no value is provided for the sequence_id parameter, it defaults to 1. If no value is provided for the

type parameter, it defaults to 0.

In V+, the vision server is the PC on which the AdeptSight vision software is running.

Example

; Execute the first sequence

VRUN $ip, 1

IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

1 Wait for partial completion.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 43

VWAITI program instruction

; Wait for full completion of first sequence

VWAITI (1) $ip, 0

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 44

AdeptSight Properties Reference for V+ and MicroV+

This chapter provides details on all AdeptSight properties and their use in V+ and MicroV+.

• All properties are described in alphabetical order in the following pages.

• To find a property by name, by tool, or by ID, click a link below.

Global Tables

All properties sorted by name or ID number:

Search for Properties by Name

Search for Properties by ID

Framework Properties

Properties required for configuring standalone vision applications:

AdeptSight Framework Properties

Tool Properties

Properties that apply to the selected vision tool:

Arc Caliper Properties

Arc Edge Locator Properties

Arc Finder Properties

Blob Analyzer Properties

Calculated Arc Properties

Calculated Frame Properties

Calculated Line Properties

Calculated Point Properties

Calibration Grid Locator Properties

Caliper Properties

Color Matching Tool Properties

Communication Tool Properties

Custom Vision Tool Properties

Edge Locator Properties

Gripper Clearance Tool Properties

Image Histogram Tool Properties

Image Processing Tool Properties

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 45

AdeptSight Properties Reference for V+ and MicroV+

Image Sampling Tool Properties

Image Sharpness Tool Properties

Inspection Tool Properties

Line Finder Properties

Locator Model Tool Properties (NOTE: This tool cannot be accessed by AdeptSight)

Locator Tool Properties

Overlap Tool Properties

Pattern Locator Properties

Point Finder Properties

Remote Vision Tool Properties

Virtual Camera Tool Properties

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 46

Abort

Stops the execution of the specified Virtual Camera tool. Write only.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5501, index_id, object_id) = value

V+

VPARAMETER (sequence_id, tool_id, 5501, index_id, object_id) $ip = value

Type

Boolean

VPARAMETER

5501

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5501: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 47

ActiveCalibration

Reads and writes the index of the active calibration relative to a camera.

Syntax

MicroV+

VPARAMETER (sequence_id, tool_id, 5504, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5504, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5504, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5504, index_id, object_id)

Type

Real variable.

VPARAMETER

5504

Range

Minimum: 0

Maximum: The number of calibrations associated with the tool.

Parameters

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5504: the value used to reference this property.

index_id N/A

object_id N/A

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 48

ActiveSettings

Reads and writes the index of the active settings relative to a camera.

Syntax

MicroV+

VPARAMETER (sequence_id, tool_id, 5505, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5505, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5505, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5505, index_id, object_id)

Type

Real variable.

VPARAMETER

5505

Range

Minimum: 0

Maximum: The number of calibrations associated with the tool.

Parameters

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5505: the value used to reference this property.

index_id Robot number to select.

object_id Index of the tool tip to access.

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 49

ArcMustBeTotallyEnclosed

VPARAMETER

5141

When ArcMustBeTotallyEnclosed is True, the start and end points of the arc must be located on the

radial bounding sides of the Search Area. When set to False, the found arc can enter and/or exit the Search

Area at the inner or outer annular bounds of the Search Area.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5141, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5141, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5141, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5141, index_id, object_id)

Type

Boolean

Range

Value Description

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

sequence_id Index of the vision sequence. The first sequence is 1.

Start and end points of the arc must be located on the sides of the bounding area.

Start and end points of the arc can be anywhere inside or outside of the bounding area.

address format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 50

ArcMustBeTotallyEnclosed

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5141: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 51

ArithmeticClippingMode

Clipping mode applied by an arithmetic operation.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5360, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5360, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5360, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5360, index_id, object_id)

Remarks

VPARAMETER

5360

hsClippingNormal mode forces the destination pixel value to a value from 0 to 255 for unsigned 8-bit

images, to a value from -327678 to 32767 for signed 16 bits images and so on. Values that are less

than the specified minimum value are set to the minimum value. Values greater than the specified

maximum value are set to the maximum value.

hsClippingAbsolute mode takes the absolute value of the result and clips it using the same algorithm

as for the hsClippingNormal mode.

Type

Long

Range

Value Image Processing Clipping Mode Description

0 hsClippingNormal Normal clipping method is used.

1 hsClippingAbsolute Absolute clipping method is used.

Parameters

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 52

ArithmeticClippingMode

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5360: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 53

ArithmeticConstant

Constant applied by an arithmetic operation when no valid operand image is specified.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5361, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5361, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5361, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5361, index_id, object_id)

Type

Long

VPARAMETER

5361

Range

Minimum: 1

Maximum: 256

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5361: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 54

ArithmeticScale

Scaling factor applied by an arithmetic operation.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5362, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5362, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5362, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5362, index_id, object_id)

Type

Double

VPARAMETER

5362

Range

Unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5362: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 55

AssignmentConstant

Constant applied by an assignment operation.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5365, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5365, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5365, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5365, index_id, object_id)

Type

Long

VPARAMETER

5365

Range

Unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5365: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 56

AssignmentHeight

Constant value that defines the height of the output image. Read only.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5366, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5366, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5366, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5366, index_id, object_id)

Type

Long

VPARAMETER

5366

Range

Minimum: 1

Maximum: 2048

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5366: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 57

AssignmentWidth

Constant value that defines the width of the output image. Read only.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5367, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5367, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5367, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5367, index_id, object_id)

Type

Long

VPARAMETER

5367

Range

Minimum: 1

Maximum: 2048

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5367: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 58

AutoCoarsenessSelectionEnabled

VPARAMETER

When AutoCoarsenessSelectionEnabled is True, the value of SearchCoarseness is automatically

determined by the Pattern Locator process when the pattern is learned.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5421, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5421, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5421, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5421, index_id, object_id)

5421

Type

Long

Range

Value Description

1 The Coarseness levels are automatically determined and set by the tool.

0 The Coarseness levels are set by the user.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 5421: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 59

AutomaticCandidateCountEnabled

VPARAMETER

5301

When AutomaticCandidateCountEnabled is True, the number of candidate measurement points is

automatically determined according to the dimension of the tool's region of interest. When

AutomaticCandidateCountEnabled is False, the number of candidate measurement points is set manually

through the CandidatePointsCount property.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 5301, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 5301, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 5301, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 5301, index_id, object_id)

Type

Long

Range

Value Description

1 The number of candidate measurement points is set automatically.

0 The number of candidate measurement points is set manually.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 60

AutomaticCandidateCountEnabled

ID 5301: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 61

AverageContrast

VRESULT

1801

Average contrast, expressed in greylevel values, between light and dark pixels on either side of the found

entity (point, line, or arc). Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1801, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1801, index_id, frame_id)

Type

Double

Range

Minimum: Greater than 0.

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance for which you want the result.

ID 1801: the value used to reference this property.

index_id N/A

frame_id Frame that contains the entity for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 62

BeltCalibrationDownstreamLimit

VLOCATION

10002

The downstream limit of the belt, which is defined during the Belt Calibration. Expressed as a transform.

Read only.

Syntax

V+

value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 10002, index_id, frame_id)

MicroV+

Not applicable. Conveyor-tracking is supported only in V+ running on the Adept

SmartController.

Type

Location

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id N/A

instance_id Index of the instance for which you want the transform. 1-based.

ID 10002: the value used to reference this property.

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame that contains the specified instance.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 63

BeltCalibrationFrame

VLOCATION

10000

The belt frame of reference, which is defined during the Belt Calibration. Expressed as a transform. Read

only.

Syntax

V+

value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 10000, index_id, frame_id)

MicroV+

Not applicable. Conveyor-tracking is supported only in V+ running on the Adept

SmartController.

Type

Location

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance for which you want the transform. 1-based.

ID 10000: the value used to reference this property.

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame that contains the specified instance.

BeltCalibrationNearsideLimit

VLOCATION

10003

The nearside limit of the belt, which is defined during the Belt Calibration. Expressed as a transform. Read

only.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 64

BeltCalibrationFrame

Syntax

V+

value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 10003, index_id, frame_id)

MicroV+

Not applicable. Conveyor-tracking is supported only in V+ running on the Adept

SmartController.

Type

Location

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id N/A

instance_id Index of the instance for which you want the transform. 1-based.

ID 10003: the value used to reference this property.

index_id Reserved for internal use. Value is always 1.

frame_id Index of the frame that contains the specified instance.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 65

BeltCalibrationScale

VPARAMETER

10004

The scale factor between encoder counts and millimeters, which is defined during the Belt Calibration. This

is the number of millimeters that the belt advances for each encoder count. Read only.

Syntax

V+

value = VPARAMETER ($ip, sequence_id, tool_id, 10004, index_id, object_id)

MicroV+

Not applicable. Conveyor-tracking is supported only in V+ running on the Adept SmartController.

Type

Double

Parameters

sequence_id Must be set to -1.

tool_id The camera number referenced in the keyword mapping of the camera calibration

object.

ID 10004: the value used to reference this property.

index_id N/A

object_id The robot number associated with the calibration.

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP address

format, for example: 192.168.1.120.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 66

BeltCalibrationUpstreamLimit

VLOCATION

10001

The upstream limit of the belt, which is defined during the Belt Calibration. Expressed as a transform. Read

only.

Syntax

MicroV+

Not applicable. Conveyor-tracking is supported only in V+ running on the Adept

SmartController.

V+

value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 10001, index_id, frame_id)

Type

Location

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id N/A

instance_id Index of the instance for which you want the transform. 1-based.

ID 10001: the value used to reference this property.

index Reserved for internal use. Value is always 1.

frame_id Index of the frame that contains the specified instance.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 67

BilinearInterpolationEnabled

VPARAMETER

Specifies if bilinear interpolation is used to sample the input image. By default, bilinear interpolation is

enabled because it ensures subpixel accuracy.

Syntax

Micro V+

VPARAMETER (sequence_id, tool_id, 120, index_id, object_id) = value

value = VPARAMETER (sequence_id, tool_id, 120, index_id, object_id)

V+

VPARAMETER (sequence_id, tool_id, 120, index_id, object_id) $ip = value

value = VPARAMETER ($ip, sequence_id, tool_id, 120, index_id, object_id)

120

Remarks

Bilinear interpolation is crucial for obtaining accurate results with inspection tools. When a tool is

positioned in frame-based mode, the tool region of interest is rarely aligned with the pixel grid, which

results in jagged edges on edges of objects. The bilinear interpolation function smooths out the

jaggedness within the sampled image by attributing to each pixel a value interpolated from values of

neighboring pixels, which provides a more true-to-life representation of contours, as illustrated in the

following figure.

Uninterpolated sampling may provide a small increase in speed but will provide less accurate results.

Figure: Effect of Bilinear Interpolation

Type

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 68

BilinearInterpolationEnabled

Boolean

Range

Value Description

1 Bilinear interpolation is enabled. Recommended default setting.

0 Bilinear interpolation is disabled.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

ID 120: the value used to reference this property.

index_id N/A

object_id N/A

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 69

BlobArea

Area of the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1611, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1611, index_id, frame_id)

Type

Double

VRESULT

1611

Range

Minimum: MinimumBlobArea

Maximum: MaximumBlobArea

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1611: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 70

BlobBoundingBoxBottom

VRESULT

1648

The bottommost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinate

system. This value is returned with respect to the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1648, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1648, index_id, frame_id)

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1648: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 71

BlobBoundingBoxCenterX

VRESULT

X-coordinate of the center of the bounding box aligned with the Tool coordinate system. This value is

returned with respect to the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1624, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1624, index_id, frame_id)

Type

Double

1624

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the instance for which you want the result.

ID 1624: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 72

BlobBoundingBoxCenterY

VRESULT

Y-coordinate of the center of the bounding box aligned with the Tool coordinate system. This value is

returned with respect to the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1625, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1625, index_id, frame_id)

Type

Double

1625

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1625: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 73

BlobBoundingBoxHeight

Height of the bounding box with respect to the Y-axis of the Tool coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1626, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1626, index_id, frame_id)

Type

Double

VRESULT

1626

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1626: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 74

BlobBoundingBoxLeft

VRESULT

The leftmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinate

system. This value is returned with respect to the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1645, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1645, index_id, frame_id)

Type

Double

1645

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1645: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 75

BlobBoundingBoxRight

VRESULT

The rightmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinate

system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1646, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1646, index_id, frame_id)

Type

Double

1646

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1646: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 76

BlobBoundingBoxRotation

VRESULT

Rotation of the bounding box with respect to the X-axis of the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1649, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1649, index_id, frame_id)

Type

Double

1649

Range

Minimum: 0

Maximum: 360

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1649: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 77

BlobBoundingBoxTop

VRESULT

The topmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinate

system. This value is returned with respect to the selected coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1647, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1647, index_id, frame_id)

Type

Double

1647

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1647: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 78

BlobBoundingBoxWidth

Width of the bounding box with respect to the X-axis of the Tool coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1627, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1627, index_id, frame_id)

Type

Double

VRESULT

1627

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1627: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 79

BlobChainCode

VRESULT

1656

Direction of a given boundary element associated to the chain code. This direction can only be expressed

with respect to the Tool coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1656, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1656, index_id, frame_id)

Type

Long

Range

Value Name Description

0 hsDirectionRight Right direction

1 hsDirectionTop Top direction

2 hsDirectionLeft Left direction

3 hsDirectionBottom Bottom direction

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 80

BlobChainCode

ID 1656: the value used to reference this property.

index_id index of the selected boundary element.

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 81

BlobChainCodeDeltaX

Horizontal length of a boundary element associated to the chain code. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1659, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1659, index_id, frame_id)

Type

Double

VRESULT

1659

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1659: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 82

BlobChainCodeDeltaY

Vertical length of a boundary element associated to the chain code. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1660, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1660, index_id, frame_id)

Type

Double

VRESULT

1660

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1660: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 83

BlobChainCodeLength

Number of boundary elements in the chain code of the blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1655, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1655, index_id, frame_id)

Type

Long

VRESULT

1655

Range

Minimum: Greater than 4

Maximum: unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1655: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 84

BlobChainCodeStartX

VRESULT

1657

X position of the first pixel associated to the chain code according to the Tool coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1657, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1657, index_id, frame_id)

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1657: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 85

BlobChainCodeStartY

VRESULT

1658

Y position of the first pixel associated to the chain code according to the Tool coordinate system. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1658, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1658, index_id, frame_id)

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1658: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 86

BlobConvexPerimeter

Convex perimeter of the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1614, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1614, index_id, frame_id)

Type

Double

VRESULT

1614

Range

Minimum: Greater than 0.0

Maximum: unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1614: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 87

BlobCount

Number of blobs detected by the tool. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1610, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1610, index_id, frame_id)

Type

Long

VRESULT

1610

Range

Minimum:

Maximum: 65534

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1610: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 88

BlobElongation

VRESULT

1616

Ratio of the moment of inertia about the blob’s minor axis (BlobInertiaMaximum) to the moment of inertia

about the blob’s major axis (BlobInertiaMinimum). Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1616, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1616, index_id, frame_id)

Remarks

No units.

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1616: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 89

BlobExtentBottom

VRESULT

Distance along the Y-axis between the blob’s center of mass and the bottom side of the bounding box.

Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1653, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1653, index_id, frame_id)

Type

Double

1653

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1653: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 90

BlobExtentLeft

VRESULT

Distance along the Y-axis between the blob’s center of mass and the bottom side of the bounding box.

Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1650, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1650, index_id, frame_id)

Type

Double

1650

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1650: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 91

BlobExtentRight

VRESULT

1651

Distance along the X-axis between the blob’s center of mass and the right side of the bounding box. Read

only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1651, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1651, index_id, frame_id)

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1651: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 92

BlobExtentTop

VRESULT

1652

Distance along the Y-axis between the blob’s center of mass and the top side of the bounding box. Read

only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1652, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1652, index_id, frame_id)

Type

Double

Range

Boundaries of the input image.

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1652: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 93

BlobGreyLevelMaximum

Highest greylevel value of the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1622, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1622, index_id, frame_id)

Type

Long

VRESULT

1622

Range

Minimum: 0

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard

IP address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1622: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 94

BlobGreyLevelMean

Mean greylevel value in the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1618, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1618, index_id, frame_id)

Type

Double

VRESULT

1618

Range

Minimum: 0

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1618: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 95

BlobGreyLevelMinimum

Lowest greylevel value in the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1621, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1621, index_id, frame_id)

Type

Long

VRESULT

1621

Range

Minimum: 0

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1621: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 96

BlobGreyLevelRange

VRESULT

1619

Range of the greylevel values in the selected blob. The range is calculated as [BlobGreyLevelMaximum -

BlobGreyLevelMinimum + 1]. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1619, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1619, index_id, frame_id)

Type

Long

Range

Minimum: 0

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1619: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 97

BlobGreyLevelStdDev

Standard deviation of the greylevel values in the selected blob. Read only.

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1620, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1620, index_id, frame_id)

Type

Double

VRESULT

1620

Range

Minimum: 0

Maximum: 255

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1620: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 98

BlobHoleCount

The number of holes found in the selected blob. Read only

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1654, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1654, index_id, frame_id)

Type

Long

VRESULT

1654

Range

Minimum: 0

Maximum: Unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1654: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 99

BlobInertiaMaximum

VRESULT

1633

Moment of inertia about the minor axis, which corresponds to the highest moment of inertia. Read only

Syntax

Micro V+

value = VRESULT (sequence_id, tool_id, instance_id, 1633, index_id, frame_id)

V+

value = VRESULT ($ip, sequence_id, tool_id, instance_id, 1633, index_id, frame_id)

Type

Double

Range

Minimum: Greater than .0

Maximum: Unlimited

Parameters

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP

address format, for example: 192.168.1.120.

sequence_id Index of the vision sequence. The first sequence is 1.

tool_id Index of the tool in the vision sequence. The first tool is 1.

instance_id Index of the blob for which you want the result.

ID 1633: the value used to reference this property.

index_id N/A

frame_id Frame containing the blob for which you want the result.

AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

Page 100

Adept AdeptSight Reference Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

AdeptSight Reference Guide

RecentChanges

Compatibility Differences

How Can I Get Help?

AdeptSight V+ and MicroV+ Keywords

VLOCATION transformation function

VPARAMETER program instruction

VPARAMETER real-valued function

VRESULT real-valued function

VRUN program instruction

VSTATE real-valued function

VTIMEOUT system parameter

VWAITI program instruction

AdeptSight Properties Reference for V+ and MicroV+

Abort

ActiveCalibration

ActiveSettings

ArcMustBeTotallyEnclosed

ArithmeticClippingMode

ArithmeticConstant

ArithmeticScale

AssignmentConstant

AssignmentHeight

AssignmentWidth

AutoCoarsenessSelectionEnabled

AutomaticCandidateCountEnabled

AverageContrast

BeltCalibrationDownstreamLimit

BeltCalibrationFrame

BeltCalibrationNearsideLimit

BeltCalibrationScale

BeltCalibrationUpstreamLimit

BilinearInterpolationEnabled

BlobArea

BlobBoundingBoxBottom

BlobBoundingBoxCenterX

BlobBoundingBoxCenterY

BlobBoundingBoxHeight

BlobBoundingBoxLeft

BlobBoundingBoxRight

BlobBoundingBoxRotation

BlobBoundingBoxTop

BlobBoundingBoxWidth

BlobChainCode

BlobChainCodeDeltaX

BlobChainCodeDeltaY

BlobChainCodeLength

BlobChainCodeStartX

BlobChainCodeStartY

BlobConvexPerimeter

BlobCount

BlobElongation

BlobExtentBottom

BlobExtentLeft

BlobExtentRight

BlobExtentTop

BlobGreyLevelMaximum

BlobGreyLevelMean

BlobGreyLevelMinimum

BlobGreyLevelRange

BlobGreyLevelStdDev

BlobHoleCount

BlobInertiaMaximum