Epson Net 5 User Manual
EPSON RC+ 5.0 Option
Ver.5.3
Vision Guide 5.0
Properties and Results Reference
Rev.1 EM08ZR1778F
EPSON RC+ 5.0 Option (Ver.5.3) Vision Guide 5.0 Properties and Results Reference Rev.1
EPSON RC+ 5.0 Option (Ver.5.3)
Vision Guide 5.0 Properties and Results Reference
Rev.1
Copyright © 2007-2008 SEIKO EPSON CORPORATION. All rights reserved.
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 i
FOREWORD
WARRANTY
Thank you for purchasing our robot products. This manual contains the information
necessary for the correct use of the EPSON RC+ software.
Please carefully read this manual and other related manuals when using this software.
Keep this manual in a handy location for easy access at all times.
The robot and its optional parts are shipped to our customers only after being subjected
to the strictest quality controls, tests and inspections to certify its compliance with our
high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free
of charge during the normal warranty period. (Please ask your Regional Sales Office
for warranty period information.)
However, customers will be charged for repairs in the following cases (even if they
occur during the warranty period):
1. Damage or malfunction caused by improper use which is not described in the
manual, or careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the robot or associated equipment is used outside of the usage conditions
and product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we
cannot be responsible for any malfunction or accident, even if the result is
injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this
manual cannot warn the user of all possible hazards.
ii Vision Guide 5.0 Reference (Ver.5.3) Rev.1
TRADEMARKS
Microsoft, Windows, Windows logo, Visual Basic, and Visual C++ are either
registered trademarks or trademarks of Microsoft Corporation in the United States
and/or other countries.
Other brand and product names are trademarks or registered trademarks of the
respective holders.
TRADEMARK NOTIFICATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Throughout this manual, Windows XP, and Windows Vista refer to above respective
operating systems. In some cases, Windows refers generically to Windows XP, and
Windows Vista.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any
comments regarding its contents.
INQUIRIES
Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier office
for your region.
Please prepare the following items before you contact us.
- Your controller model and its serial number
- Your manipulator model and its serial number
- Software and its version in your robot system
- A description of the problem
SERVICE CENTER
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 iii
MANUFACTURER & SUPPLIER
TEL : +81-(0)266-61-1802
FAX : +81-(0)266-61-1846
Japan & Others
SEIKO EPSON CORPORATION
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,
Suwa-gun, Nagano, 399-0295
JAPAN
SUPPLIERS
Factory Automation/Robotics
TEL : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : info@robots.epson.com
Factory Automation Division
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
North & South America
Europe
EPSON AMERICA, INC.
18300 Central Avenue
Carson, CA 90746
USA
EPSON DEUTSCHLAND GmbH
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
iv Vision Guide 5.0 Reference (Ver.5.3) Rev.1
SAFETY PRECAUTIONS
Installation of robots and robotic equipment should only be performed by qualified
personnel in accordance with national and local codes. Please carefully read this
manual and other related manuals when using this software.
Keep this manual in a handy location for easy access at all times.
WARNING
CAUTION
NOTE
)
This symbol indicates that a danger of possible serious injury
or death exists if the associated instructions are not followed
properly.
This symbol indicates that a danger of possible harm to
people or physical damage to equipment and facilities exists
if the associated instructions are not followed properly.
The “NOTE” sections describe important information to be
followed for operating the Robot system.
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 v
vi Vision Guide 5.0 Reference (Ver.5.3) Rev.1
TABLE OF CONTENTS
Vision Properties and Results Reference............................................................................................ 1
Overview.......................................................................................................................... 1
Vision Properties and Results Format Description........................................................... 1
AbortSeqOnFail Propertys......................................................................................................... 2
Accept Property ......................................................................................................................... 3
AcquireState Result................................................................................................................... 4
AllFound Result ......................................................................................................................... 5
Angle Result .............................................................................................................................. 6
AngleAccuracy Property ............................................................................................................ 7
AngleEnable Property................................................................................................................ 8
AngleMaxIncrement Property .................................................................................................... 9
AngleObject Property .............................................................................................................. 10
AngleOffset Property ............................................................................................................... 11
AngleRange Property .............................................................................................................. 12
AngleStart Property ................................................................................................................. 13
Area Result.............................................................................................................................. 14
BackColor Property ................................................................................................................. 15
CalComplete Result................................................................................................................. 16
Calibration Property................................................................................................................. 17
Camera Property ..................................................................................................................... 18
CameraGain Property.............................................................................................................. 19
CameraOffset Property............................................................................................................ 20
CameraOrientation Property.................................................................................................... 21
CameraX Result ...................................................................................................................... 22
CameraX1 Result .................................................................................................................... 23
CameraX2 Result .................................................................................................................... 24
CameraXYU Result ................................................................................................................. 25
CameraY Result ...................................................................................................................... 26
CameraY1 Result .................................................................................................................... 27
CameraY2 Result .................................................................................................................... 28
Caption Property...................................................................................................................... 29
CenterPntObjResult Property .................................................................................................. 30
CenterPntOffsetX Property...................................................................................................... 31
CenterPntOffsetY Property...................................................................................................... 32
CenterPointObject Property..................................................................................................... 33
CenterX Property..................................................................................................................... 34
CenterY Property..................................................................................................................... 35
Compactness Result ............................................................................................................... 36
Confusion Property.................................................................................................................. 37
Contrast Result........................................................................................................................ 38
ContrastTarget Property .......................................................................................................... 39
ContrastVariation Property ...................................................................................................... 40
CurrentResult Property............................................................................................................ 41
DetailLevel Property ................................................................................................................ 43
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Table of Contents
EdgeThreshold Property.......................................................................................................... 44
EdgeType Property..................................................................................................................45
EndPntObjResult Property....................................................................................................... 46
EndPointObject Property ......................................................................................................... 47
EndPointType Property............................................................................................................ 48
ExposureTime Property ........................................................................................................... 50
Extrema Result ........................................................................................................................ 51
Found Result ........................................................................................................................... 52
FoundColor Property ...............................................................................................................53
FoundOnEdge Result .............................................................................................................. 54
Frame Property........................................................................................................................ 55
Graphics Property.................................................................................................................... 56
Holes Result ............................................................................................................................ 57
ImageFile Property .................................................................................................................. 58
ImageSource Property............................................................................................................. 59
Iterations Property ................................................................................................................... 60
Lamp Property ......................................................................................................................... 61
LampDelay Property ................................................................................................................ 62
Length Result .......................................................................................................................... 63
LineObject1 Property ............................................................................................................... 64
LineObject2 Property ............................................................................................................... 65
MaxArea Property....................................................................................................................66
MaxLength Property ................................................................................................................67
MaxPixelLength Property......................................................................................................... 68
MaxX Result ............................................................................................................................ 69
MaxY Result ............................................................................................................................ 70
MinArea Property..................................................................................................................... 71
MinLength Property ................................................................................................................. 72
MinMaxArea Property .............................................................................................................. 73
MinPixelLength Property.......................................................................................................... 74
MinX Result ............................................................................................................................. 75
MinY Result ............................................................................................................................. 76
ModelObject Property .............................................................................................................. 77
ModelOK Property ................................................................................................................... 78
ModelOrgAutoCenter Property ................................................................................................79
ModelOrgX Property ................................................................................................................ 80
ModelOrgY Property ................................................................................................................ 81
ModelWin Property .................................................................................................................. 82
ModelWinHeight Property........................................................................................................ 83
ModelWinLeft Property ............................................................................................................ 84
ModelWinTop Property ............................................................................................................ 85
ModelWinWidth Property ......................................................................................................... 86
Name Property......................................................................................................................... 88
NumberFound Result............................................................................................................... 89
NumberToFind Property .......................................................................................................... 91
Operation Property ..................................................................................................................93
viii Vision Guide 5.0 Reference (Ver.5.3) Rev.1
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OriginAngleEnabled Property .................................................................................................. 95
OriginPntObjResult Property ................................................................................................... 96
OriginPoint Property ................................................................................................................ 97
Perimeter Result...................................................................................................................... 99
PixelLength Result................................................................................................................. 100
PixelLine Result..................................................................................................................... 101
PixelX Result ......................................................................................................................... 102
PixelX1 Result ....................................................................................................................... 103
PixelX2 Result ....................................................................................................................... 104
PixelXYU Result .................................................................................................................... 105
PixelY Result ......................................................................................................................... 106
PixelY1 Result ....................................................................................................................... 107
PixelY2 Result ....................................................................................................................... 108
PointsTaught Property........................................................................................................... 109
PointType Property................................................................................................................ 110
Polarity Property .................................................................................................................... 112
Radius Property..................................................................................................................... 113
RejectOnEdge Property......................................................................................................... 114
ReferenceType Property........................................................................................................ 115
RobotAccel Property.............................................................................................................. 116
RobotArm Property................................................................................................................ 117
RobotLocal Property.............................................................................................................. 118
RobotSpeed Property ............................................................................................................ 119
RobotTool Property ............................................................................................................... 120
RobotU Result ....................................................................................................................... 121
RobotX Result ....................................................................................................................... 122
RobotX1 Result ..................................................................................................................... 123
RobotX2 Result ..................................................................................................................... 124
RobotXYU Result .................................................................................................................. 125
RobotY Result ....................................................................................................................... 126
RobotY1 Result ..................................................................................................................... 127
RobotY2 Result ..................................................................................................................... 128
RotationAngle Property ......................................................................................................... 129
Roughness Result ................................................................................................................. 130
RuntimeAcquire Property....................................................................................................... 131
RuntimeFreeze Property........................................................................................................ 133
SaveImage Property.............................................................................................................. 134
Scale Result .......................................................................................................................... 135
ScaleEnable Property............................................................................................................ 136
ScaleFactorMax Property ...................................................................................................... 137
ScaleFactorMin Property ....................................................................................................... 138
ScaleTarget Property............................................................................................................. 139
Score Result.......................................................................................................................... 140
ScoreWeightContrast Property .............................................................................................. 141
ScoreWeightStrength Property .............................................................................................. 142
SearchWidth Property ........................................................................................................... 143
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Table of Contents
SearchWin Property............................................................................................................... 144
SearchWinHeight Property .................................................................................................... 145
SearchWinLeft Property......................................................................................................... 146
SearchWinTop Property ........................................................................................................ 147
SearchWinWidth Property ..................................................................................................... 148
SeparationAngle Property...................................................................................................... 149
SeparationMinX Property....................................................................................................... 150
SeparationMinY Property....................................................................................................... 151
SeparationScale Property...................................................................................................... 152
SharedEdges Property .......................................................................................................... 153
ShowAllResults Result........................................................................................................... 154
ShowExtensions Property...................................................................................................... 155
ShowModel Property .............................................................................................................156
ShowProcessing Property ..................................................................................................... 158
SizeToFind Property .............................................................................................................. 159
Smoothness Property ............................................................................................................ 160
Sort Property ......................................................................................................................... 161
StartPntObjResult Property ................................................................................................... 162
StartPointObject Property ...................................................................................................... 163
StartPointType Property ........................................................................................................164
Strength Result...................................................................................................................... 166
StrengthTarget Property ........................................................................................................ 167
StrengthVariation Property .................................................................................................... 168
TargetSequence Property...................................................................................................... 169
Thickness Property................................................................................................................ 170
ThresholdColor Property........................................................................................................ 171
ThresholdHigh Property......................................................................................................... 172
ThresholdLow Property.......................................................................................................... 173
Time Result ........................................................................................................................... 174
Timeout Property ................................................................................................................... 175
TotalArea Result.................................................................................................................... 176
TriggerMode Property............................................................................................................ 177
TwoRefPoints Property.......................................................................................................... 178
UpwardLamp Property........................................................................................................... 179
UpwardSequence Property.................................................................................................... 180
VGet Statement ..................................................................................................................... 181
VRun Statement .................................................................................................................... 183
VSet Statement ..................................................................................................................... 184
X Property.............................................................................................................................. 186
X1 Property............................................................................................................................ 187
X2 Property............................................................................................................................ 188
XAvgError Result................................................................................................................... 189
XMaxError Result .................................................................................................................. 190
XmmPerPixel Result.............................................................................................................. 191
XTilt Result ............................................................................................................................ 192
Y Property.............................................................................................................................. 193
x Vision Guide 5.0 Reference (Ver.5.3) Rev.1
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Y1 Property............................................................................................................................ 194
Y2 Property............................................................................................................................ 195
YAxisPntObjResult Property.................................................................................................. 196
YAxisPoint Property............................................................................................................... 197
YAvgError Result................................................................................................................... 199
YMaxError Result .................................................................................................................. 200
YmmPerPixel Result.............................................................................................................. 201
YTilt Result ............................................................................................................................ 202
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 xi
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xii Vision Guide 5.0 Reference (Ver.5.3) Rev.1
Vision Properties and Results Reference
Overview
This reference manual explains all Vision Guide sequence, object, and calibration properties and
results, and all Vision Guide SPEL+ commands. For more information on how to use Vision Guide,
refer to the Vision Guide manual.
Vision Properties and Results Format Description
All Vision Guide properties and results are listed in the pages that follow. An explanation of the
headings for the property and result reference pages is given below:
Applies To
Description
Usage
Values
Remarks
See Also
Runtime only
If the property or result is used with vision objects, then this section simply lists
the vision objects for which this property applies. (Ex. Blob, Correlation,
Polar...)
If the property or result is used with vision sequences then the words Vision
Sequence will appear in this section.
If the property or result is used with vision calibration then the words Vision
Calibration will appear in this section.
A simple description is given for each property or result. This section is
normally very short for simplicity.
The Usage Section describes how to access the property or result from the
+
Language.
SPEL
Describes the range of acceptable values which the property can be set to or
which the result will return. A default value is also shown for those properties
that have a default.
Explains more details than the Description Section. This section is normally
used to describe any caveats or special information that may apply to the
specific property or result. (It is highly recommended to read the Remarks
Section for each property prior to its usage.)
Gives a list of related properties, results, vision objects and other topics that may
prove useful to review.
This is displayed under the property or result name when it applies. Runtime
only properties and results cannot be accessed from the Vision Guide GUI.
They can only be accessed from the SPEL+ language or from VB Guide.
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 1
AbortSeqOnFail Property
AbortSeqOnFail Property
Applies To
Vision Objects: Blob, Geometric, Correlation, Edge, Freame, Line, Point, Polar
Description
Allows the user to specify that if an object fails (i.e. is not found), then the entire sequence is aborted at that
point and no further objects are processed.
Usage
VGet Sequence.Object.AbortSeqOnFail, var
VSet Sequence.Object.AbortSeqOnFail, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Boolean variable that will contain the value of the property.
value Boolean expression for the new value of the property.
Values
False Does not cause the sequence to abort when the object is not found.
True Causes the sequence to abort when the object is not found.
Default: False
Remarks
Use AbortSeqOnFail when you no longer want a sequence to continue if an object is not found.
See Also
Blob Object, Correlation Object, Edge Object, Frame Object, Geometric Object, Line Object, Point Object,
Polar Object, Object Tab
2 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
Accept Property
Accept Property
Applies To
Vision Objects: Correlation, Edge, Geometric, Polar
Description
The Accept property specifies the score that a feature must equal or exceed to be considered found.
Usage
VGet Sequence.Object.Accept, var
VSet Sequence.Object.Accept, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Integer variable that will contain the value of the property.
value Integer expression for the new value of the property.
Values
Integer number from 1 - 999
Default: 700 - Correlation, Geometric, Polar
100 - Edge
Remarks
The Accept property can also affect the searching speed by providing a hint as to when to pursue the search
in a given area of the Region of Interest. When the Accept property is high, features must be very similar
to the model, so many regions can be ruled out by a cursory examination and not pursued further. However,
if the Accept property is low, features that are only slightly similar to the model may exceed the Accept
property, so that a detailed examination of more regions in the scene is needed. Thus, raising the Accept
property tends to reduce the time required for searches.
If the specified value is small, it may result in false detection.
See Also
Confusion Property, Correlation Object, Edge Object, Geometric Object, Object Tab, Polar Object, Score
Result
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 3
AcquireState Result
AcquireState Result
Runtime only
Applies To
Vision Sequence
Description
The AcquireState result is used determine if a picture has been taken for a sequence whose
RuntimeAcquire property has been set to Strobed.
Usage
VGet Sequence.AcquireState, var
Sequence Name of a sequence or string variable containing a sequence name.
var Integer variable that will contain the value of the result.
Values
0 Picture has not been taken, strobe has not yet fired.
3 Picture has been taken.
Remarks
After calling VRun for a strobed sequence, the SPEL
before further vision processing can continue.
See Also
Object Tab, RunTimeAcquire Property
+
program must wait for the AcquireState to become 3
4 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
AllFound Result
AllFound Result
Applies To
Vision Sequence
Description
The AllFound result returns whether or not all objects within the specified sequence were found.
Usage
VGet Sequence.AllFound, var
Sequence Name of a sequence or string variable containing a sequence name.
var Boolean variable that will contain the value of the result.
Values
False One of the objects within the sequence was not found.
True All objects within the sequence were found.
Remarks
The AllFound result is useful to determine that all objects within a specified sequence are found. This
result applies to sequences only and will not be found in object results.
See Also
Found Result, Sequence Tab, Time Result, Vision Sequences
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 5
Angle Result
Angle Result
Applies To
Vision Objects: Blob, Correlation, Frame, Geometric, Line, Polar
Description
Returns the angle of the found object.
Usage
VGet Sequence.Object.Angle[(result)], var
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Real variable that will contain the value of the result.
result Optional result number. If omitted, the result number is the CurrentResult. Used for objects
that return multiple results.
Values
Real number in degrees
Blob : −90 to 90 degree
Others ： 0 to 360 degree
Remarks
The Angle result returns the found part's angle in the image coordinate system. In some cases, you may
want to use a Polar object to determine angle because it can be faster and more accurate.
Statistics
For the Angle result, the following statistics are available. AngleMax, AngleMean, AngleMin,
AngleRange, AngleStdDev. Please see Statistics in the Vision Guide manual for details about using
statistics.
See Also
AngleEnable Property, AngleMaxIncrement Property, AngleOffset Property, AngleTolerance Property,
Blob Object, Correlation Object, Geometric Object, Line Object, Object Tab, Polar Object, RobotU Result
6 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
AngleAccuracy Property
AngleAccuracy Property
Applies To
Vision Objects: Correlation
Description
Specifies the accuracy of a correlation search with rotation.
Usage
VGet Sequence.Object.AngleAccuracy, var
VSet Sequence.Object.AngleAccuracy, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Real variable that will contain the value of the property.
NOTE
)
value Real expression for the new value of the property.
Values
Real number in degrees from 0.1 - 10
Default: 1
Remarks
The AngleAccuracy property is used at model training time and not at run-time. This value specifies the
desired accuracy for angle search.
The Correlation model must be taught after a new value for the AngleAccuracy property is set in order for
the new setting to take affect. If you teach a Correlation Model, then later set the AngleAccuracy property
to a new value, and then try to run that Correlation object, it will not search with the new angle accuracy.
You must re-teach the Correlation Model with the AngleEnable property set to True, and with the new
value for the AngleAccuracy property in order for Correlation search with angle to use the new
AngleAccuracy property value.
See Also
AngleMaxIncrement Property, AngleRange Property, Angle Result, Correlation Object, Object Tab
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 7
AngleEnable Property
AngleEnable Property
Applies To
Vision Objects: Correlation, Geometric
Description
Specifies whether or not a correlation or geometric object will search for rotation of a feature.
Usage
VGet Sequence.Object.AngleEnable, var
VSet Sequence.Object.AngleEnable, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Boolean variable that will contain the value of the property.
Values
Remarks
NOTE
)
value Boolean expression for the new value of the property.
False Do not search for rotation.
True Search for rotation.
Default: False
The AngleRange and AngleMaxIncrement properties will not be used with the correlation or geometric
search object if the AngleEnable property is set to False.
It should be noted that while correlation with angle is normally able to find rotated parts, the correlation
search time usually increase significantly. This is why correlation with angle is most useful for finding
parts which rotate only slightly. The Polar object however, is normally very fast and can be used in
conjunction with the Correlation object for a powerful and fast combination. (See the sections on
Correlation or Polar Searching for more information.)
The Correlation Model must be taught after the AngleEnable property is set to True. If you teach a
Correlation Model, then set the AngleEnable property to True, and then try to run that Correlation object, it
will not search with angle. You must re-teach the Correlation Model with the AngleEnable property set to
True in order for Correlation search with angle to work properly. You must also have the proper settings
for the AngleMaxIncrement and AngleRange Properties prior to teaching the new Model as well.
See Also
AngleMaxIncrement Property, AngleRange Property, Angle Result, Correlation Object, Geometric Object,
Object Tab
8 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
AngleMaxIncrement Property
AngleMaxIncrement Property
Applies To
Vision Objects: Correlation
Description
The AngleMaxIncrement property specifies the maximum angle increment amount for teaching a
correlation model for searching with angle. The model training function selects an angular increment
automatically and then uses the smaller of the automatically selected increment and the maximum angle
increment defined by the AngleMaxIncrement property.
Usage
VGet Sequence.Object.AngleMaxIncrement, var
VSet Sequence.Object.AngleMaxIncrement, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
NOTE
)
var Real variable that will contain the value of the property.
value Real expression for the new value of the property.
Values
Real number in degrees from 1 - 45
Default: 1
Remarks
Before reading anything else about the AngleMaxIncrement property it should be noted that the Correlation
Model must be taught after a new value for the AngleMaxIncrement property is set in order for those
settings to take affect. If you teach a Correlation Model, then later set the AngleMaxIncrement property to
a new value, and then try to run that Correlation object, it will not search with the new angle increment.
You must re-teach the Correlation Model with the AngleEnable property set to True, and with the new
value for the AngleMaxIncrement property in order for Correlation search with angle to use the new
AngleMaxIncrement property value. You must also have the proper settings for the AngleRange property
prior to teaching the new Model as well.
If you wish to measure angle precisely, you should provide a maximum angle increment corresponding to
the degree of precision you desire. You should keep in mind, however, that the smaller the angle increment,
the more storage will be required for the model and the slower the search time will be.
It should be noted that while correlation with angle is normally able to find rotated parts, the correlation
search time usually increase significantly. This is why correlation with angle is most useful for finding
parts which rotate only slightly. The Polar object however, is normally very fast and can be used in
conjunction with a Correlation object for a powerful and fast combination. (See the sections on Correlation
or Polar Searching for more information.)
See Also
Angle Result, AngleEnable Property, AngleRange Property, Correlation Object, Object Tab
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 9
AngleObject Property
AngleObject Property
Applies To
Vision Objects: ImageOp
Description
Sets / returns the object to be used to determine the angle of rotation for the ImageOp object Rotate
operation.
Usage
VGet Sequence.Object.AngleObject, var
VSet Sequence.Object.AngleObject, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var String variable that will contain the value of the property.
value String expression for the new value of the property.
Values
Screen, or the name of an object whose step number is prior to the step number of the ImageOp object and
returns an Angle result.
Default: Screen
Remarks
Use AngleObject together with the Rotate setting of the Operation property to automatically rotate the
image according to the Angle result of the AngleObject.
The following objects can be used:
Blob, Correlation, Geometric, Polar, Frame
See Also
ImageOp Object, Operation Property, RotationAngle Property
10 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
AngleOffset Property
AngleOffset Property
Applies To
Vision Objects: Polar
Description
An angle value which is used as an offset to line up the Polar Search direction indicator (graphic line on the
image display) with the part since it is virtually impossible and normally impractical to teach a polar object
with the proper rotation of a part so that the direction lines up with the part.
Usage
VGet Sequence.Object.AngleOffset, var
VSet Sequence.Object.AngleOffset, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Real variable that will contain the value of the property.
value Real expression for the new value of the property.
Values
Real number in degrees from 0 - 360
Default: 0
Remarks
The AngleOffset is provided to allow the Polar object's graphic direction indicator to line up with a specific
area on a part. The graphic direction indicator is normally set at the default position for the polar object
which is 0 degrees (at 3 O'clock). The rotation for the AngleOffset property is then defined in a counter
clockwise direction.
See Also
Object Tab, Polar Object
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 11
AngleRange Property
AngleRange Property
Applies To
Vision Objects: Correlation, Geometric
Description
Specifies the range within which to train a series of rotated models.
Usage
VGet Sequence.Object.AngleRange, var
VSet Sequence.Object.AngleRange, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Integer variable that will contain the value of the property.
Values
Remarks
NOTE
)
value Integer expression for the new value of the property.
Integer number in degrees from 0 - 180
Default: 180
Before reading anything else about the AngleRange property it should be noted that the Correlation Model
must be taught after a new value for the AngleRange property is set in order for those settings to take affect.
If you teach a Correlation Model, then later set the AngleRange property to a new value, and then try to run
that Correlation object, it will not search with the new angle range. You must re-teach the Correlation
Model with the AngleEnable property set to True, and with the new value for the AngleRange property in
order for Correlation search with angle to use the new AngleRange property value. You must also have the
proper settings for the AngleMaxIncrement property prior to teaching the new Model as well.
The AngleRange property is must be set before teaching the model. This value specifies the range within
which to train a series of rotated models. For example, if the AngleRange property is set to 5, then when
the model is trained, a set of models is actually trained within +/- 5 degrees of the current model position.
These models are then used when a correlation search with angle is specified.
It should be noted that using correlation with angle will generally cause the correlation time to increase
significantly. This is why correlation with angle is normally used for small angle increments only. The
Polar object however, is normally very fast and can be used in conjunction with the Correlation object for a
powerful and fast combination. (See the sections on Correlation or Polar Searching in the Vision Guide
Manual for more information.)
Specify a small value for the setting. If the value is large, the detection time gets longer and may result in
false detection.
See Also
Angle Result, AngleEnable Property, AngleMaxIncrement Property, Correlation Object, Geometric Object,
Object Tab
12 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
AngleStart Property
AngleStart Property
Applies To
Vision Objects: Correlation, Geometric
Description
Sets / returns the starting search angle.
Usage
VGet Sequence.Object.AngleStart, var
VSet Sequence.Object.AngleStart, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Integer variable that will contain the value of the property.
value Integer expression for the new value of the property.
Values
Integer number in degrees from 0 - 360
Default: 0
Remarks
Use AngleStart to set the starting search angle. This property is only valid when AngleEnable is set to True.
The system will search for the model starting with AngleStart using the AngleRange property. For
example, if AngleStart is 45 degrees and AngleRange is 10 degrees, then the system will search from 35 to
55 degrees.
Note that after setting AngleStart, the model will be automatically preprocessed on the next run, which
could cause slower cycle time on that first run. Subsequent cycle times will be at normal speed.
See Also
Angle Result, AngleEnable Property, AngleMaxIncrement Property, AngleRange Property, Correlation
Object, Geometric Object, Object Tab
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 13
Area Result
Area Result
Applies To
Vision Objects: Blob
Description
Returns the area of a blob.
Usage
VGet Sequence.Object.Area[(result)], var
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Real variable that will contain the value of the result.
result Optional result number. If omitted, the result number is the CurrentResult.
Values
Real number in pixels from 1 to searchWinWidth x searchWinHeight
Remarks
The Area result is the total area of the blob (in pixels). The area measurement may have a fractional
component.
Statistics
For the Area result, the following statistics are available. AreaMax, AreaMean, AreaMin, AreaStdDev.
Please see Statistics in the Vision Guide manual for details about using statistics.
See Also
Blob Object, MaxArea Property, MinArea Property, MinMaxArea Property, Object Tab
14 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
BackColor Property
BackColor Property
Applies To
Vision Objects: All
Description
Sets the background color for an object's label.
Usage
VGet Sequence.Object.BackColor, var
VSet Sequence.Object.BackColor, value
Sequence Name of a sequence or string variable containing a sequence name.
Object Name of an object or string variable containing an object name. The object must exist in the
specified sequence.
var Integer variable that will contain the value of the property.
value Integer expression for the new value of the property.
Values
0 - None
1 - Black
2 - White
Remarks
With some images, it is difficult to read the label because of the video background. Use BackColor to
make the label easier to read.
See Also
FoundColor Property
Vision Guide 5.0 Reference (Ver.5.3) Rev.1 15
CalComplete Result
CalComplete Result
Applies To
Vision Calibration
Description
Returns the completion status of a calibration.
Usage
VGet Calibration.CalComplete, var
Calibration Name of a calibration or string variable containing a calibration name.
var Boolean variable that will contain the value of the result.
Values
False Calibration has not been completed.
True Calibration has been completed.
Remarks
Use CalComplete to determine if a calibration has been completed successfully.
See Also
PointsTaught Property
16 Vision Guide 5.0 Reference (Ver.5.3) Rev.1
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