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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.
description of any recent changes.
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 1
Copyright Notice
Copyright Notice
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.
Copyright 2006 - 2012 by Adept Technology, Inc. All rights reserved.
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Created in the United States of America
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
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Table of Contents
Table Of Contents
AdeptSight Reference Guide 17
Recent Changes 19
Compatibility Differences
19
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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:
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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
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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
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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
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How Can I Get Help?

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:
l
For contact information: http://www.adept.com/contact/americas
l
For product service information: http://www.adept.com/support/service-and-support/main
l
For user discussions, support, and programming examples: http://www.adept.com/forum/
l
For further information about Adept Technology, Inc.: http://www.adept.com
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
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AdeptSight V+ and MicroV+ Keywords

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
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VLOCATION transformation function

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.
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