Epson Net 5 User Manual

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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

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

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

Table of Contents

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

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Table of Contents

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

Table of Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Calibration Property

Applies To

Vision Sequence

Description

Sets / returns the calibration used with the specified sequence.

Usage

VGet Sequence.Calibration, var

VSet Sequence.Calibration, value

Sequence Name of a sequence or string variable containing a sequence name.

var String variable that will contain the value of the property.

value Name of a calibration or string expression containing a calibration name.

Values

String value of up to 16 characters containing the name of the calibration

Remarks

Calibration is required for most vision applications to calculate the proper results for the robot coordinate system and camera coordinate system. The Calibration property associates a previously defined calibration with the specified vision sequence. All calibrations which have been completed previously will appear in the Sequence Tab Calibration property which allows the user to select which calibration to use for this sequence.

It should be noted that each vision sequence may have only 1 calibration defined at a time. However, if you want to run a sequence with different calibrations, you can set the Calibration property for the sequence at runtime prior to initiating the sequence. For example, you can run the sequence test with calibration calib1 and then later run the sequence test with calibration calib2 as follows:

VSet test.Calibration, calib1 VRUN test VSet test.Calibration, calib2 VRUN test

See Also

Calibration Details, Sequence Tab, Vision Sequences

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 17

Camera Property

Applies To

Vision Sequence

Vision Calibration

Description

Specifies which camera to use for a vision sequence or calibration.

Usage

VGet {Sequence | Calibration}.Camera, var

VSet {Sequence | Calibration}.Camera, value

Sequence Name of a sequence or string variable containing a sequence name.

Calibration Name of a calibration or string variable containing a calibration name.

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

Integer value from 1-8.

Default: 1

Remarks

One camera may be associated with a vision sequence or calibration at a time.

For sequences, the camera number must be selected before executing VRun.

For calibrations, the camera number must match the camera number of the calibration target sequence.

Example

The following example shows how to use different cameras with the same vision sequence. We will set the Camera property prior to executing the vision sequence called FINDMARK.

Function test #define CAMERA1 1 #define CAMERA2 2 VSet findmark.Camera, CAMERA1 VRun findmark 'Get any info req'd from 1st sequence here (i.e. VGet findmark.xxx.xxx) VSet findmark.Camera, CAMERA2 VRun findmark 'Get any info req'd from 2nd sequence here (i.e. VGet findmark.xxx.xxx) Fend

See Also

CameraGain Property, CameraOffset Property, Sequence Tab, Vision Sequences

18 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CameraGain Property

Applies To

Vision Sequence

Description

Specifies the gain settings for the camera used in the current sequence. The gain determines the dynamic range of the digital values that will be assigned to the video signal in the A/D converter on the camera. (Also known as Contrast.)

Usage

VGet Sequence.CameraGain, var

VSet Sequence.CameraGain, value

Sequence Name of a sequence or string variable containing a sequence name.

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

Integer value from 0 - 255

Default: 80

Remarks

Adjust the value of the CameraGain property when you want to change the contrast of an acquisition. The CameraGain property can have values in the range of 0-255, with lower values representing higher gain in the analog section.

The CameraGain property is normally left at a value of 80. Setting too high or low CameraGain property value may cause improper vision processing.

See Also

Camera Property, CameraOffset Property, Sequence Tab, Vision Sequences

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 19

CameraOffset Property

Applies To

Vision Sequence

Description

Specifies the offset for the camera used in the current sequence. The offset is the lower limit of the digital values that will be assigned to the video signal in the A/D converter. (Also known as Brightness.)

Usage

VGet Sequence.CameraOffset, var

VSet Sequence.CameraOffset, value

Sequence Name of a sequence or string variable containing a sequence name.

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

Integer value from 0 - 255

Default: 0

Remarks

The CameraOffset property is normally left at a value of 0.

Change the CameraOffset property when you want to change the brightness of an acquisition. Adjusting the CameraOffset property allows you to select the lower and upper limits (saturation points) at which differentiation of assigned digital values begins and ends. Due to variations in camera components, the lowest digital values that can be converted may not be precisely 0, but will be close to 0. All signal voltages that exceed the upper limit of the dynamic range are assigned the highest digital value possible.

See Also

Camera Property, CameraGain Property, Sequence Tab, Vision Sequences

20 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CameraOrientation Property

Applies To

Vision Calibration

Description

Sets / returns the CameraOrientation type for the specified calibration.

Usage

VGet Calibration.CameraOrientation, var

VSet Calibration.CameraOrientation, value

Calibration Name of a calibration or string variable containing a calibration name.

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

1 - Standalone

2 - Fixed Downward

3 - Fixed Upward

4 - Mobile on J2

5 - Mobile on J4

6 - Mobile on J5

7 - Mobile on J6

Default: 1

Remarks

The CameraOrientation property must be set before teaching calibration points.

See Also

Camera Property, CameraGain Property, Sequence Tab, Vision Sequences

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 21

CameraX Result

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric, Point, Polar

Description

Returns the X position coordinate of the found part's position in the camera coordinate frame.

Usage

VGet Sequence.Object.CameraX [(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 millimeters.

Remarks

The CameraX result is always in millimeters in the camera coordinate system.

It should be noted that the CameraX result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX result, an error will occur.

Statistics

For the CameraX result, the following statistics are available. CameraXMax, CameraXMean, CameraXMin, CameraXStdDev. Please see Statistics in the Vision Guide manual for details about using statistics.

See Also

Angle result, Blob Object, CameraY result, CameraXYU result, Correlation Object, Edge Object, Found result, Geometric Object, Object Tab, Point Object, Polar Object, RobotX result

22 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CameraX1 Result

Applies To

Vision Objects: Line

Description

Returns the starting point position (X1) of a Line object in Camera coordinates.

Usage

VGet Sequence.Object.CameraX1, 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.

Values

The value returned for the CameraX1 result depends upon the calibration used for the camera. Values are always returned in millimeters.

Remarks

Every line must have a starting point and ending point. The CameraX1 and CameraX2 results represent the X coordinate position starting (X1,Y1) and endpoints (X2,Y2) of the specified Line object. Since Line object starting and endpoints can be assigned to other vision objects, the (CameraX1, CameraY1) and (CameraX2, CameraY2) coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects. (In other words if a Line Object's starting point is defined by a Correlation object, then the (CameraX, CameraY) results from the Correlation object will match the (CameraX1, CameraY1) results for the Line object.)

It should be noted that the CameraX1 result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX1 result, an error will occur.

See Also

Angle Result, CameraX2 Result, CameraY1 Result, CameraY2 Result, Line Object, Object Tab, PixelX Result, PixelX1 Result, RobotX Result, RobotXYU Result, X1 Property, X2 Property, Y1 Property, Y2 Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 23

CameraX2 Result

Applies To

Vision Objects: Line

Description

Returns the end point position (X2) of a Line object in Camera coordinates.

Usage

VGet Sequence.Object.CameraX2, 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.

Values

The value returned for the CameraX2 result depends upon the calibration used for the camera. Values are always returned in millimeters.

Remarks

Every line must have a starting point and ending point. The CameraX1 and CameraX2 results represent the X coordinate position starting (X1,Y1) and endpoints (X2,Y2) of the specified Line object. Since Line object starting and endpoints can be assigned to other vision objects, the (CameraX1, CameraY1) and (CameraX2, CameraY2) coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects. (In other words if a Line object's starting point is defined by a Correlation object, then the (CameraX, CameraY) results from the Correlation object will match the (CameraX1, CameraY1) results for the Line object.)

It should be noted that the CameraX2 result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX2 result, an error will occur.

See Also

Angle Result, CameraX1 Result, CameraY1 Result, CameraY2 Result, Line Object, Object Tab, PixelX Result, PixelX2 Result, RobotX Result, RobotXYU Result, X1 Property, X2 Property, Y1 Property, Y2 Property

24 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CameraXYU Result

Runtime Only

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric, Point, Polar

Description

Returns the CameraX, CameraY and Angle position coordinates of the found part's position in the camera coordinate frame.

Usage

VGet Sequence.Object.CameraXYU [(result)], found, xVar, yVar, uVar

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.

found Boolean variable representing whether or not the part you are looking for was found.

xVar Real variable that will contain the X coordinate position of the part.

yVar Real variable that will contain the Y coordinate position of the part.

uVar Real variable that will contain the angular position (rotation) of the part with respect to the

camera coordinate system

result Optional result number. If omitted, the result number is the CurrentResult. Used for objects

that return multiple results.

Values

found Boolean value which is either True or False

xVar Real number in millimeters

yVar Real number in millimeters

uVar Real number in degrees

Remarks

The xVar and yVar values are returned in millimeters since the Camera Coordinate Frame is calibrated in millimeters. The uVar value is returned in degrees.

It should be noted that the CameraXYU result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraXYU result, an error will occur.

The CameraXYU result is available at runtime only.

See Also

Angle Result, Blob Object, CameraX Result, CameraY Result, Correlation Object, Edge Object, Found Result, Point Object, Polar Object, RobotXYU Result

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 25

CameraY Result

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric, Point, Polar

Description

Returns the Y position coordinate of the found part's position in the camera coordinate frame.

Usage

VGet Sequence.Object.CameraY [(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 millimeters

Remarks

The CameraY result is always in millimeters in the camera coordinate system.

It should be noted that the CameraY result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraY result, an error will occur.

Statistics

For the CameraY result, the following statistics are available. CameraYMax, CameraYMean, CameraYMin, CameraYStdDev. Please see Statistics in the Vision Guide manual for details about using statistics.

See Also

Angle Result, Blob Object, CameraX Result, CameraXYU Result, Correlation Object, Edge Object, Found Result, Geometric Object, Point Object, Polar Object, RobotXYU Result, RobotY Result

26 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CameraY1 Result

Applies To

Vision Objects: Line

Description

Returns the starting point position Y coordinate (Y1) of a Line object in Camera coordinates.

Usage

VGet Sequence.Object.CameraY1, 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.

Values

Real number in millimeters

Remarks

Every line must have a starting point and ending point. The CameraY1 and CameraY2 results represent the Y coordinate position starting (X1,Y1) and endpoints (X2,Y2) of the specified Line object. Since Line object starting and endpoints can be assigned to other vision objects, the (CameraX1, CameraY1) and (CameraX2, CameraY2) coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects. (In other words if a Line object's starting point is defined by a Correlation object, then the (CameraX, CameraY) results from the Correlation object will match the (CameraX1, CameraY1) results for the Line object.)

It should be noted that the CameraY1 result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraY1 result, an error will occur.

See Also

Angle Result, CameraX1 Result, CameraX2 Result, CameraY2 Result, Line Object, Object Tab, PixelX Result, PixelY2 Result, RobotY Result, RobotXYU Result, X1 Property, X2 Property, Y1 Property, Y2 Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 27

CameraY2 Result

Applies To

Vision Objects: Line

Description

Returns the ending point position (Y2) of a Line object in Camera coordinates.

Usage

VGet Sequence.Object.CameraY2, 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.

Values

The value returned for the CameraY2 result depends upon the calibration used for the camera. Values are always returned in millimeters.

Remarks

It should be noted that the CameraY2 result can only be calculated for vision sequences which have been associated with a calibration. If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraY2 result, an error will occur.

See Also

Angle Result, CameraX1 Result, CameraX2 Result, CameraY1 Result, Line Object, Object Tab, PixelX Result, PixelY2 Result, RobotY Result, RobotXYU Result, X1 Property, X2 Property, Y1 Property, Y2 Property

28 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Caption Property

Applies To

Vision Objects: All

Description

Sets or returns the caption of the object.

Usage

VGet Sequence.Object.Caption, var

VSet Sequence.Object.Caption, 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

String of 16 characters or less. Any alphanumeric or the following punctuation characters are allowed.

‘ _ ( ) * & $ # @ . : \ / < > “ Default: Empty string

Remarks

The Caption property allows you to assign a meaningful label to the vision object. By default, the Caption property is an empty string, and the name of the object will be used as its label.

See Also

Blob Object, Correlation Object, Edge Object, Frame Object, Geometric Object, ImageOp Object, Line Object, Object Tab, Point Object, Polar Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 29

CenterPntObjResult Property

Applies To

Vision Objects: Blob, Correlation, Geometric, Polar

Description

Specifies which result to use from the CenterPointObject.

Usage

VGet Sequence.Object.CenterPntObjResult, var

VSet Sequence.Object.CenterPntObjResult, 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

The value can range from 1 to the NumberToFind value for the CenterPointObject. If the CenterPointObject is 'Screen', then the value is always 1.

Remarks

CenterPntObjResult enables you to attach several objects to the results of one CenterPointObject. For example, you could create a blob object with NumberToFind set to 4. Then you could attach a polar object to each one of the results by specifying the blob for the CenterPointObject of each polar and a different CenterPntObjResult for each polar.

See Also

CenterPointObject Property, CenterX Property, CenterY Property, Object Tab

30 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CenterPntOffsetX Property

Applies To

Vision Objects: Blob, Correlation, Geometric, Polar

Description

Sets or returns the X offset of the center of the search window after it is positioned with the CenterPointObject.

Usage

VGet Sequence.Object.CenterPntOffsetX, var

VSet Sequence.Object.CenterPntOffsetX, 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 in pixels. If the search window would not be positioned within the video image as a result of the value, then the search window will not be re-positioned and the object will be marked as not found.

Default: 0

Remarks

The CenterPntOffsetX property can be used to shift a search window that has been positioned by a CenterPointObject.

If CenterPointObject property is set to None, then CenterPntOffsetX has no effect.

See Also

CenterPointObject, CenterPntOffsetY, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 31

CenterPntOffsetY Property

Applies To

Vision Objects: Blob, Correlation, Geometric, Polar

Description

Sets or returns the Y offset of the center of the search window after it is positioned with the CenterPointObject.

Usage

VGet Sequence.Object.CenterPntOffsetY, var

VSet Sequence.Object.CenterPntOffsetY, 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

Default: 0

Remarks

The CenterPntOffsetY property can be used to shift a search window that has been positioned by a CenterPointObject.

If CenterPointObject property is set to None, then CenterPntOffsetY has no effect.

See Also

CenterPointObject, CenterPntOffsetX, Object Tab

32 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CenterPointObject Property

Applies To

Vision Objects: Blob, Correlation, Geometric, Polar

Description

Specifies the object whose position is used as the center for the specified object.

Usage

VGet Sequence.Object.CenterPointObject, var

VSet Sequence.Object.CenterPointObject, 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

Name of a vision object or screen.

Default: Screen

Remarks

The CenterPointObject is based on the resulting coordinate position of an object which is executed prior to the specified object.

When teaching an object which has the CenterPointObject set to something other than Screen, the vision object defined as CenterPointObject is executed first and the resulting position (PixelX and PixelY) is used to position the object before it is taught. In order for the current object to be found in the future also requires that the vision object defined as the CenterPointObject is found so that the center of the current object can be based on the PixelX and PixelY positions for that object.

See Also

Blob Object, CenterX Property, CenterY Property, Correlation Object, Geometric Object, Object Tab, Polar Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 33

CenterX Property

Applies To

Vision Objects: Polar

Description

Specifies the X Coordinate position to be used as the center point for the Polar object.

Usage

VGet Sequence.Object.CenterX, var

VSet Sequence.Object.CenterX, 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 from 0 – (video width in pixels – 1). However, we must take into account the value of the Radius property for the Polar object since the center of the Polar object cannot be at the edge of the Camera's field of view. Therefore, the actual range is:

(0 + Radius) - (Max Camera X Resolution – Radius – 1)

For example, an image resolution of (640x480) and a 16 pixel radius gives a range of 16 - 623.

Default: X coordinate screen position of the center of the Polar object

Remarks

This property is filled in automatically when the CenterPointObject property for a Polar object is set to another vision object. However, if the CenterPointObject property for a Polar object is set to Screen, then the user may set the CenterX property to position the Polar object.

The user may also set the CenterPointObject property for a Polar object automatically by physically dragging the Polar object to a new position on the screen. When this drag operation is done, the CenterX property is automatically updated with the new CenterX position of the Polar object.

See Also

CenterY Property, CenterPoint Property, Object Tab, Polar Object

34 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CenterY Property

Applies To

Vision Objects: Polar

Description

Specifies the Y Coordinate position to be used as the center point for the Polar object.

Usage

VGet Sequence.Object.CenterY, var

VSet Sequence.Object.CenterY, 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 from 1 – (video width in pixels – 1). However, we must take into account the value of the Radius property for the Polar object since the center of the Polar object cannot be at the edge of the Camera's field of view. Therefore, the actual range is:

(0 + Radius) - (Max Camera Y Resolution – Radius – 1)

For example, an image resolution of 640x480 and a 16 pixel radius gives a range of 16 - 463.

Default: Y coordinate Screen Position of the center of the Polar object

Remarks

The user may also set the CenterPointObject property for a Polar object automatically by physically dragging the Polar object to a new position on the screen. When this drag operation is done, the CenterY property is automatically updated with the new CenterY position of the Polar object.

See Also

CenterX Property, CenterPoint, Object Tab, Polar Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 35

Compactness Result

Applies To

Vision Objects: Blob

Description

Returns the compactness of a blob.

Usage

VGet Sequence.Object.Compactness [(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 integer result number from 1 to the NumberToFind property. If omitted, the result

number is the CurrentResult

Values

Minimum value is 1.0.

Remarks

Compactness is a measure of how close all particles in a blob are from one another. It is derived from the perimeter and area. A circular blob is most compact and is defined to have a compactness measure of 1.0 (the minimum). More convoluted shapes have larger values.

See Also

Holes Result, Object Tab, Perimeter Result, Roughness Result

36 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Confusion Property

Applies To

Vision Objects: Correlation, Geometric, Polar

Description

Indicates the amount of confusion expected in the image to be searched. This is the highest shape score a feature can get that is not an instance of the feature for which you are searching. (i.e. Will there be patterns in the image which will "confuse" the searching algorithms? To what level?)

Usage

VGet Sequence.Object.Confusion, var

VSet Sequence.Object.Confusion, 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 with the higher numbers representing a higher confusion in an image.

Default: 800

Remarks

Both the Confusion property and the Accept property affect searching and pattern finding speed. The Confusion property allows the system to quit the Correlation Search or Polar Search before exploring all possible regions of the image, thus speeding up the process.

Set the Confusion property based on the highest value you expect the "wrong part" to get (plus a margin for error). The Confusion property should be greater than or equal to the Accept property. Setting the Confusion property to a high value may increase the time of the search, but may be necessary to insure that the correct features are found.

The Confusion property becomes very important when there are multiple features within an image which are very similar. In these cases the proper setting of the Confusion property (i.e. at a high enough level) helps eliminate the wrong features from the Correlation Search, or Polar Search. However, when an image has few features which look the same then the Confusion property can be set a little lower. This can help reduce processing time.

See Also

Accept Property, Correlation Object, Geometric Object, Object Tab, Polar Object, Score Result

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 37

Contrast Result

Applies To

Vision Objects: Edge

Description

Returns the contrast of the found Edge.

Usage

VGet Sequence.Object.Contrast, 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.

Values

Real number from 0 - 255

Remarks

Contrast is the difference in grayscale values between an edge and its background. Contrast can help find weaker edges. First, find the edge you want to search for and record the contrast value. Next, set the ContrastTarget property to this value. Then set the ScoreWeightContrast to a higher value that ScoreWeightStrength. This tells the Edge object to look for an edge with the desired contrast and base the score on it.

See Also

ContrastTarget Property, ContrastVariation Property, Edge Object

38 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ContrastTarget Property

Applies To

Vision Objects: Edge

Description

Sets the desired contrast for the edge search.

Usage

VGet Sequence.Object.ContrastTarget, var

VSet Sequence.Object.ContrastTarget, 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 - 255

Default: 0 (any contrast)

Remarks

ContrastTarget is the desired difference in grayscale values between an edge and its background. Use ContrastTarget to find weaker edges or edges at an angle. First, find the edge you want to search for and record the Contrast result value. You may have to temoparily change the Edge object position to find it. Next, set the ContrastTarget property to this value. Then set the ScoreWeightContrast to a higher value then ScoreWeightStrength. This tells the Edge object to look for an edge with the desired contrast and base the score on it.

See Also

Contrast Result, ContrastVariation Property, Edge Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 39

ContrastVariation Property

Applies To

Vision Objects: Edge

Description

ContrastVariation is the tolerance for the ContrastTarget property.

Usage

VGet Sequence.Object.ContrastVariation, var

VSet Sequence.Object.ContrastVariation, 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 0 - 255

Default: 0 (any variation)

Remarks

Use ContrastVariation to tighten the search for the edge with contrast of ContrastTarget.

See Also

Contrast Result, ContrastTarget Property, Edge Object

40 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

CurrentResult Property

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric

Description

Defines which result to display in the Results list on the Object tab or which result to return data for when an object searches for multiple results.

Usage

VGet Sequence.Object.CurrentResult, var

VSet Sequence.Object.CurrentResult, 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 - NumberToFind property value.

Default: 1

Remarks

Blob, Correlation, Edge, and Geometric objects support finding multiple results. The CurrentResult property defines which result to work with.

When you are only trying to find 1 result (as defined by the NumberToFind property), the CurrentResult property is automatically set to 1 since there is only 1 possible result to return.

When working with the Vision Guide window, you will also notice that the Results list on the Object tab will display a heading like "Result (1 of 15)". This means that the system tried to find 15 features (as defined by the NumberToFind property) and the Results list will display the results for item 1.

If you want to see the results for one of the other results, just change the CurrentResult property value to indicate which result you want to examine.

Results are ordered according to the Sort property setting.

See Also

Blob Object, Correlation Object, Edge Object, Found Result, Geometric Object, NumberFound Result, NumberToFind Property, Object Tab, Sort Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 41

CurrentResult Property

Example

The following SPEL

language example runs a vision sequence called "mtest" which contains a Blob object called "Blob01". "Blob01" has been defined to find multiple blobs (3) from within a single Search Window. (i.e. mtest.Blob01.NumberToFind = 3)

The following program will run the sequence and make sure that the proper number of features (3) was found for "Blob01" and then print the Area for each result.

Function main #define NUM_TO_FIND 3 Integer foundCount, area VRun mtest VGet mtest.Blob01.NumberFound, foundCount If foundCount = NUM_TO_FIND Then Print "The correct number of blobs were found" Else Print "Only (", found, ") blobs were found" EndIf VSet mtest.Blob01.CurrentResult, 1 VGet mtest.BLOB01.Area, area Print "1st blob area =", area, "pixels"

VSet mtest.Blob01.CurrentResult, 2 VGet mtest.Blob01.Area, area Print "2nd blob area =", area, "pixels"

VSet mtest.Blob01.CurrentResult, 3 VGet mtest.Blob01.Area, area Print "3rd blob area =", area, "pixels" Fend

42 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

DetailLevel Property

Applies To

Geometric

Description

Selects the level at which an edge is considered found during the geometric search.

Usage

VGet Sequence.Object.DetailLevel, 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 Integer variable that will contain the value of the property.

Values

1 - Medium

2 - High

3 - Very High

Default: 1 - Medium

Remarks

The DetailLevel property determines what is considered an edge during the search. Edges are defined by the transition in grayscale value between adjacent pixels. The default level (Medium) offers a robust detection of active edges from images with contrast variation, noise, and non-uniform illumination. Nevertheless, in cases where objects of interest have a very low contrast compared to high contrast areas in the image, some low contrast edges can be missed.

If your images contain low-contrast objects, a detail level setting of High should be used to ensure the detection of all important edges in the image. The Very High setting performs an exhaustive edge extraction, including very low contrast edges. However, it should be noted that this mode is very sensitive to noise.

The Smoothness property also affects how edges are extracted.

See Also

Geometric Object, Smoothness Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 43

EdgeThreshold Property

Applies To

Vision Objects: Edge

Description

Sets the threshold percentage for which edges with grayscale variation below this value are ignored.

Usage

VGet Sequence.Object.EdgeThreshold, var

VSet Sequence.Object.EdgeThreshold, 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 - 100%

Default: 2

Remarks

Use EdgeThreshold to reject edges along the search path with smaller grayscale variations. During an edge search, the image in the search area is projected into one line of pixels. Each pixel in the projection is a summation of all the pixels in the same column of the search area. An edge value is determined for each pixel in the projection. The EdgeThreshold rejects edges values below the setting.

See Also

Edge Object, Strength Result, StrengthTarget Property, StrengthVariation Property

44 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

EdgeType Property

Applies To

Vision Objects: Edge

Description

Sets / gets the type of edge to search for.

Usage

VGet Sequence.Object.EdgeType, var

VSet Sequence.Object.EdgeType, 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

1 - Single

2 - Pair

Default: 1

Remarks

Use EdgeType to choose whether to search for a single edge or an edge pair. An edge pair is two opposing edges. The coordinate of the pair is the midpoint of the line between the two edge coordinates.

See Also

Edge Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 45

EndPntObjResult Property

Applies To

Vision Objects: Edge, Line

Description

Specifies which result to use from the EndPointObject.

Usage

VGet Sequence.Object.EndPntObjResult, var

VSet Sequence.Object.EndPntObjResult, 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

The value can range from 1 to the NumberToFind value for the EndPointObject. If the EndPointObject is 'Screen', then the value is always 1.

Remarks

EndPntObjResult enables you to attach several objects to the results of one EndPointObject. For example, you could create a blob object with NumberToFind set to 4. Then you could attach a line object to each one of the results by specifying the blob for the EndPointObject of each line and a different EndPntObjResult for each line.

See Also

Edge Object, EndPointObject Property, Line Object, Object Tab, StartPntObjResult Property

46 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

EndPointObject Property

Applies To

Vision Objects: Edge, Line

Description

Specifies the vision object to use for the end point of a Line object.

Usage

VGet Sequence.Object.EndPointObject, var

VSet Sequence.Object.EndPointObject, 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. Valid vision objects for the

EndPointObject property are: Blob, Correlation, Edge, Geometric, Line, and Point objects. The Screen may also be used as the EndPointObject.

Values

Screen or any object that runs prior to the Line object.

Remarks

When a Line object is first created, the EndPointObject property is set to Screen. However, Line objects are normally attached to other vision objects. This is the purpose of the StartPointObject and EndPointObject properties. Through these two properties the user can define a line between any two vision objects (except Frames).

Frame objects cannot be used to define an end point for a Line object. However, this does not cause a limitation because Frames are defined by other vision objects. In those cases where you want to define a line end point with a Frame object, use a Point object in the frame to define the end point of the Line object.

It is important to note that for each specific vision sequence, only those vision objects which are executed prior to the Line object in the vision sequence steps will be available to use as an EndPointObject.

See Also

Edge Object, EndPointType Property, Line Object, Object Tab, StartPointObject Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 47

EndPointType Property

Applies To

Vision Objects: Edge, Line

Description

Specifies the type of end point to use for the line object. In most cases the end point type will be a point (which usually means the PixelX and PixelY position of the EndPointObject). However, when the EndPointObject for the current line is a 2nd Line object, the EndPointType property is used to define an intersection point on the 2nd line such as the lines midpoint, endpoint, startpoint or perpendicular position.

Usage

VGet Sequence.Object.EndPointType, var

VSet Sequence.Object.EndPointType, 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.

Values

Remarks

NOTE

)

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

EndPointObject = Line

See remarks.

Default: 2 - MidPoint

As you can see in the Values Table above, most of the EndPointObject's support only 1 EndPointType called Point. This is because most EndPointObject's use the PixelX and PixelY position for a reference position for defining a Start or End Point for a line. So when the EndPointObject is defined as Screen, Blob, Correlation, Edge, or Point, the EndPointType will always be set to 0 - Point.

The range of valid values for EndPointType depend upon the EndPointObject.

However, when the EndPointObject is another Line object, the user must decide where on the 2nd line to intersect with the 1st line. The choices are as follows:

EndPointObject = Screen, Blob, Correlation, Geometric, Edge, or Point object

0 - Point

When used with objects other than the Line object, the EndPointType can only be of type Point.

Default: 0 - Point

1 - EndPoint Use the end point of the other line as the endpoint for this line.

2 - MidPoint Cut the other line in half and use the center (or midpoint of the other line as the

endpoint for this line.

3 - Perpendicular Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular

fashion and use this position as the end point.

4 - StartPoint Use the starting point of the other line as the end point for this line.

5 - PerpToStartPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular

fashion through the start point of the first line and use this position as the end point.

48 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

EndPointType Property

6 - PerpToMidPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular

fashion through the mid point of the first line and use this position as the end point.

7 - PerpToEndPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular

fashion through the end point of the first line and use this position as the end point.

If the EndPointObject is modified to a Line object then the EndPointType is automatically changed to MidPoint.

If the EndPointObject is modified to Screen or Blob, Correlation, Edge, or Point object then the EndPointType is automatically changed to 0 - Point.

See Also

Edge Object, EndPointObject Property, Line Object, Object Tab, StartPointType Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 49

ExposureTime Property

Applies To

Vision Sequences

Description

Sets the electronic shutter time for a camera that is running in asynchronous reset mode.

Usage

VGet Sequence.ExposureTime, var

VSet Sequence.ExposureTime, value

Sequence Name of a sequence or string variable containing a sequence name.

var Long variable that will contain the value of the property.

value Long expression for the new value of the property.

Values

Long value in microseconds.

Default: 0 (microsecond)

Remarks

When RuntimeAcquire is Stationary and ExposureTime = 0, the camera acquires images in Next Frame mode. When the sequence runs, the camera waits for the next valid frame, then acquires the image. CameraGain and CameraOffset settings are used. Typical image acquire time is from 33 to 66 ms for SC300 series.

When RuntimeAcquire is Stationary and ExposureTime is > 0, the camera acquires images in async reset mode. When the sequence runs, the camera sensor is exposed for the ExposureTime, then the image is acquired. CameraGain and CameraOffset settings are not used. Typical image acquire time is 33 ms + Exposure time.

When RuntimeAcquire is Strobed, ExposureTime must be > 0, and the camera acquires images in async reset mode. After the hardware trigger input is received, the camera sensor is exposed for the ExposureTime, then the image is acquired. CameraGain and CameraOffset settings are not used. Typical image acquire time is 33 ms + Exposure time.

See Also

RuntimeAcquire Property, CameraGain Property, CameraOffset Property, Sequence Tab

50 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Extrema Result

Runtime only

Applies To

Vision Objects: Blob

Description

Returns the blob extrema coordinates.

Usage

VGet Sequence.Object.Extrema [(result)], varMinX, varMaxX, varMinY, varMaxY

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.

varMinX Real variable containing minimum X position of the blob's Extrema.

varMaxX Real variable containing maximum X position of the blob's Extrema.

varMinY Real variable containing minimum Y position of the blob's Extrema.

varMaxY Real variable containing maximum Y position of the blob's Extrema.

result Optional result number. If omitted, the result number is the CurrentResult. Used for objects

that return multiple results.

Values

The values returned are always in pixels and may be from 1 - video height.

Remarks

The MinX, MaxX, MinY, and MaxY results together define a blob's smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob. This rectangle is known as the extrema. The Extrema result enables you to retrieve all four coordinates in one command.

The Extrema value can be fractional. For example, 100.5 would be between the 100 and 101 pixels.

See Also

Area Result, MinX Result, MaxX Result, MaxY Result, MinY Result, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 51

Found Result

Applies To

Vision Objects: Blob, Correlation, Edge, Frame, Geometric, Line, Point, Polar

Description

Returns whether or not the object was found.

Usage

VGet Sequence.Object.Found [(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 Boolean 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

False The part was not found

True The part was found

Remarks

The Found result simply returns whether or not the part or the current object is looking for was found. For example, and Edge Object returns whether or not an Edge was found and a Correlation object returns whether or not an image was found which matches the taught model.

The Found result is also included with the RobotXYU, and CameraXYU results to reduce the number of function calls required to move the robot to pick up parts when they are found.

See Also

Blob Object, CameraXYU Result, Correlation Object, CurrentResult Property, Edge Object, FoundOnEdge Result, Frame Object, Geometric Object, Line Object, NumberFound Result, NumberToFind Property, Object Tab, Point Object, Polar Object, RobotXYU Result, Score Result

52 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

FoundColor Property

Applies To

Vision Objects: All

Description

Selects the color for an object when it is found.

Usage

VGet Sequence.Object.FoundColor, var

VSet Sequence.Object.FoundColor, 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

1 - Light Green If this object is found, show it in Light Green

2 - Dark Green If this object is found, show it in Dark Green

Remarks

You can set the FoundColor property to show an object that is found in Light Green, or Dark Green. In a bright image, the Dark Green could be easier to see, whereas in a darker image, the Light Green would be easier to see.

See Also

Graphics Property, Found Result

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 53

FoundOnEdge Result

Applies To

Vision Objects: Blob, Correlation, Geometric

Description

Returns True when a Blob, Correlation, or Geometric object is found too close to the edge of the search window.

Usage

VGet Sequence.Object.FoundOnEdge [(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 Boolean variable that will contain the value of the result.

NOTE

)

result Optional result number. If omitted, the result number is the CurrentResult.Used for objects

that return multiple results.

Values

False The part was not found at the edge of the search window

True The part was found at the edge of the search window

Remarks

The FoundOnEdge result is a special status which works only with the Blob, Correlation, and Geometric objects. It tells the user why a specific Blob, Correlation, or Geometric object is not Found.

Sometimes the Vision System tries to report that a Blob, Correlation, or Geometric object was found even though part of the object may be located outside of the Field of View. Rather than report these objects as Found, Vision Guide returns False for the Found result when a Blob, Correlation, or Geometric object is found but part of the object is outside of the Search Window.

If you want to reject a part when FoundOnEdge is True, set the RejectOnEdge property to True.

There will be cases where you will use a Correlation object and the Found result continues to return False even though the Score result for the object is well below the Accept property. In these situations, check the FoundOnEdge result and RejectOnEdge property. This will tell you that the part was in fact found by the Vision System but that Vision Guide will not return the results because the part or object is outside of the Field of View when the picture was taken.

See Also

Blob Object, Correlation Object, Found Result, Geometric Object, Object Tab, RejectOnEdge Property, Score Result

54 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Frame Property

Applies To

Vision Objects: Blob, Correlation, Edge, Geometric, ImageOp, Line, Point, Polar

Description

Defines the current object searching position with respect to the specified frame.

Usage

VGet Sequence.Object.Frame, var

VSet Sequence.Object.Frame, 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.

NOTE

)

value String expression for the new value of the property.

Values

Any Frame object which is located prior to the current vision object in the Object Execution Step List can be specified as the Frame property value.

Default: None

Remarks

The Frame property is very useful for aligning objects to specific positions which respect to other objects found positions. For more details see the Frame object explanation in Vision Objects.

Vision objects can use any Frame objects which have been defined as long as the associated Frame object is located before the vision object in the Object Execution Step List.

The Object Execution Step List is the list shown on the Sequence Tab which shows the execution order for all objects in the current sequence.

See Also

Blob Object, Correlation Object, Edge Object, Frame Object, Geometric Object, Line Object, Object Tab, Point Object, Polar Object

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 55

Graphics Property

Applies To

Vision Objects: All

Description

Specifies which graphics to display at runtime and design time. (i.e. Whether to show graphics for each object, just position information, or nothing at all.) This property can help remove screen clutter from complex vision sequences.

Usage

VGet Sequence.Object.Graphics, var

VSet Sequence.Object.Graphics, 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

1 - All Display object labels, line references, and found position

2 - Position Only Display found position only

3 - None Don't display any graphics at run time

Remarks

While graphics such as vision object Labels (which show vision object names), lines, Search Windows, and found position crosshairs are very useful they can get in the way if too many are displayed at the same time. The Graphics property helps eliminate unnecessary clutter on the Vision Guide Development, Run or Operator Windows by removing those graphics from objects which the designer specifies.

The Graphics property is used to define the graphics display characteristics for each vision object. These will normally be set to values which, when combined with the Graphics Properties of other vision objects, will help reduce screen display clutter. The Graphics property is normally used to set the graphics characteristics exactly as you would like your final vision solution to display graphics on the Run or Operator Window.

The Graphics property settings for all vision objects can be overridden with the Force All Graphics On and Force Labels Off Vision Guide toolbar buttons.

NOTE

)

It is important to point out that the Graphics property settings apply in both runtime and design modes. (i.e. the Run Window, Operator Window, and Vision Guide Window) This is done to ensure that the graphics display is always the same regardless of if you run a sequence from the Vision Guide Window or from a program.

See Also

Blob Object, Correlation Object, Edge Object, Frame Object, Geometric Object, ImageOp Object, Line Object, Object Tab, Point Object, Polar Object

56 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Holes Result

Applies To

Vision Objects: Blob

Description

Returns the number of holes found within a Blob object.

Usage

VGet Sequence.Object.Holes [(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 Integer variable that will contain the value of the result.

result Optional integer result number from 1 to the NumberToFind property. If omitted, the result

number is the CurrentResult

Values

Valid values are zero to the number of holes found.

Remarks

A hole is a blob with opposite polarity located within the blob that was found. Holes that intersect the edge of the blob are not counted.

See Also

Compactness Result, Object Tab, Perimeter Result, Roughness Result

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 57

ImageFile Property

Designtime only

Applies To

Vision Sequence

Description

Sets or returns the image file for the current sequence.

Remarks

Use the ImageFile property to view and search images stored on disk with the SaveImage property.

See Also

Sequence Tab, Vision Sequences, SaveImage Property, ImageSource Property

58 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ImageSource Property

Designtime only

Applies To

Vision Sequence

Description

Sets or returns the current image source for the sequence.

Remarks

ImageSource allows you to run a sequence from a camera image or from an image file set with the ImageFile property.

If the ImageFile property is set to a valid image file, then the ImageSource property will automatically be set to 2 - File.

See Also

Sequence Tab, Vision Sequences, ImageFile Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 59

Iterations Property

Applies To

Vision Objects: ImageOp

Description

Sets/returns how many times to execute the image operation.

Usage

VGet Sequence.Object.Iterations, var

VSet Sequence.Object.Iterations, 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

1 - 99

Remarks

The Iterations property affects the following ImageOp operations:

Open, Close, Erode, Dilate, Smooth, Sharpen1, Sharpen2, Thin, Thicken.

See Also

ImageOp Object, Operation Property

60 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Lamp Property

Applies To

Vision Calibration

Description

Sets / returns the output bit used for the calibration lamp.

Usage

VGet Calibration.Lamp, var

VSet Calibration.Lamp, value

Calibration Name of a calibration or string variable containing a calibration name.

var Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

Integer value of a valid standard output bit.

Remarks

Use the Lamp property to automatically turn on a lamp for calibration. Use the LampDelay property to allow time for a lamp to turn on before calibration continues.

See Also

LampDelay Property, UpwardLamp Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 61

LampDelay Property

Applies To

Vision Calibration

Description

Sets / returns the amount of time to wait for a calibration lamp to turn on.

Usage

VGet Calibration.LampDelay, var

VSet Calibration.LampDelay, value

Calibration Name of a calibration or string variable containing a calibration name.

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 seconds

Remarks

Use the LampDelay property to allow time for a lamp to turn on before calibration continues. This is especially useful for flourescent lamps.

See Also

Lamp Property, UpwardLamp Property

62 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Length Result

Applies To

Vision Objects: Line

Description

Returns a length in millimeters of the distance between the starting and ending point of the line.

Usage

VGet Sequence.Object.Length, 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 Integer variable that will contain the value of the result.

Values

The value returned is always in millimeters and may be from 0 on up. This real number represents the length of the line and depends upon calibration in order to return a value.

Remarks

The Length result can only be returned if calibration has been performed because the length is measured in millimeters. This calibration can be done with or without the robot.

The Length result can be used for inspection and measurement applications where measurements are required. (For example, to measure spark plug gaps.)

See Also

Calibration, Line Object, Object Tab, PixelLength Result

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 63

LineObject1 Property

Applies To

Vision Objects: Point

Description

Specifies the 1st Line object to use for defining the position of a Point object. (LineObject1 defines the line which is used by the PointType property for defining the position of the Point object. )

Usage

VGet Sequence.Object.LineObject1, var

VSet Sequence.Object.LineObject1, 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 String variable that will contain the value of the property.

value String expression for the new value of the property.

Values

Any Line object which is located prior to the Point object can be specified as the LineObject1 property value.

Default: None

Remarks

When a Point object is first created, the default LineObject1 property is set to None. However, if you want to position a point on the midpoint of a line, then the LineObject1 property defines which Line object to use. In this case the LineObject1 property must be set first and then the PointType property can be set to MidPoint. A MidPoint of a line can only be specified for LineObject1. (i.e. you cannot specify the MidPoint of the LineObject2 property.)

LineObject1 can also be used to define the 1st of 2 lines when you want to define a Point object position as the intersection point between 2 lines. (LineObject2 defines the other Line to use for the intersection point.)

It is important to note that for each specific vision sequence, only those Line objects which are executed prior to the Point object in the vision sequence steps will be available to use as LineObject1. (The order of the vision object execution can be adjusted from the Sequence Tab.)

When using the point and click interface click on the LineObject1 property Value Field and a drop down list will appear showing a list of available Line objects which can be used for the LineObject1 property. Click on one of the choices and the value field will be set accordingly.

When using the Point-and-Click Object tab to set the LineObject1 property it is important to note that only those objects which are defined prior to the Point object are displayed in the drop down list. This helps reduce the chances of the user defining a Line object which isn't defined prior to the Point object.

NOTE

)

Vision Guide automatically checks which vision objects may be used as LineObject1 and only displays those items in the LineObject1 drop down list.

See Also

Line Object, Object Tab, Point Object, PointType Property

64 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

LineObject2 Property

Applies To

Vision Objects: Point

Description

Specifies the 2nd Line object to use for defining the position of a Point object when that position is defined by the intersection point of 2 lines. (LineObject1 and LineObject2 together define 2 lines whose intersection point can be defined as the position of the Point object.)

Usage

VGet Sequence.Object.LineObject2, var

VSet Sequence.Object.LineObject2, 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.

Values

Remarks

NOTE

)

var String variable that will contain the value of the property.

value String expression for the new value of the property.

Any Line object which is located prior to the Point object can be specified as the LineObject2 property value.

Default: None

The LineObject2 property is only required when you want to define the position of a Point object as the position of intersection between 2 Lines. In this case LineObject1 must also specify a Line object before the PointType property can be set. Once the lines are defined for LineObject1 and LineObject2, the PointType property can be set to Intersection. However, if either the LineObject1 or LineObject property is not yet defined then an error will occur when trying to set the PointType property to Intersection.

It is important to note that for each specific vision sequence, only those Line objects which are executed prior to the Point object in the vision sequence steps will be available to use as LineObject2. (The order of the vision object execution can be adjusted from the Sequence Tab.)

When using the point and click interface click on the LineObject2 property Value Field and a drop down list will appear showing a list of available Line objects which can be used for the LineObject2 property. Click on one of the choices and the value field will be set accordingly.

When using the Point-and-Click Object tab to set the LineObject2 property it is important to note that only those objects which are defined prior to the Point object are displayed in the drop down list. This helps reduce the chances of the user defining a Line object which isn't defined prior to the Point object.

Vision Guide automatically checks which vision objects may be used as LineObject2 and only displays

NOTE

)

those items in the LineObject2 drop down list.

See Also

Line Object, LineObject1 Property, Object Tab, Point Object, PointType Property

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 65

MaxArea Property

(Maximum Area)

Applies To

Vision Objects: Blob

Description

Defines the upper Area limit for the Blob Object. For a Blob to be found it must have an Area result below the value set for MaxArea property.

Usage

VGet Sequence.Object.MaxArea, var

VSet Sequence.Object.MaxArea, 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 Long variable that will contain the value of the property.

value Long expression for the new value of the property.

Values

1 - (video width x video height)

Default: 100000

Remarks

The purpose of the MinArea and MaxArea Properties is to set a range for the Blob object such that if a blob area does not fit within the range then it is considered not found. (i.e. the Found result is returned as False.)

When a new Blob object is created the range between the MinArea property and MaxArea property is quite large because the default values are set at 25 and 100,000 respectively. This means that in most situations the Blob object will return a Found result as true since the range for Blobs is so wide. In most applications it is useful to set a tighter range between the MinArea and MaxArea Properties but of course there values will vary from application to application. The point here is to remember to set the MinArea and MaxArea Properties and don't just rely on the default settings.

Do no set the range between MinArea and MaxArea too large. If the range is too large, it may result in false detection.

See Also

Area Result, Blob Object, MinArea Property, MinMaxArea Property, Object Tab

66 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

MaxLength Property

Applies To

Vision Objects: Line

Description

Defines the upper length limit for the Line object. For a Line to be found it must have a Length result below the value set for MaxLength property.

Usage

VGet Sequence.Object.MaxLength, var

VSet Sequence.Object.MaxLength , 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 Long variable that will contain the value of the property.

value Long expression for the new value of the property.

Values

0 or higher

Default: 1000

Remarks

The purpose of the MinLength and MaxLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found. (i.e. the Found result is returned as False.)

This is useful when you want to gauge the length of a line in millimeters. To gauge a line in pixels, see the MinPixelLength and MaxPixelLength properties.

See Also

Line Object, MinLength Property, MinPixelLength Property, MaxPixelLength Property, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 67

MaxPixelLength Property

Applies To

Vision Objects: Line

Description

Defines the upper pixel length limit for the Line object. For a Line to be found it must have a PixelLength result below the value set for MaxPixelLength property.

Usage

VGet Sequence.Object.MaxPixelLength, var

VSet Sequence.Object.MaxPixelLength , 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

0 or higher in pixels

Default: 1000

Remarks

The purpose of the MinPixelLength and MaxPixelLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found. (i.e. the Found result is returned as False.)

This is useful when you want to gauge the length of a line in pixels. To gauge a line in Millimeters, see the MinLength and MaxLength properties. The default settings allow most lines to be found.

See Also

Line Object, MinLength Property, MaxLength Property, MinPixelLength Property, Object Tab

68 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

MaxX Result

Applies To

Vision Objects: Blob

Description

Returns the maximum X pixel coordinate of the blob extrema.

Usage

VGet Sequence.Object.MaxX [(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

The value returned is always in pixels and may be from 1 - video width.

Remarks

The MinX, MaxX, MinY, and MaxY results can hold fractional values. For example, 100.5 would be between the 100 and 101 pixels.

See Also

Area Result, Blob Object, Extrema Result, MaxY Result, MinX Result, MinY Result, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 69

MaxY Result

Applies To

Vision Objects: Blob

Description

Returns the maximum Y pixel coordinate of the blob extrema.

Usage

VGet Sequence.Object.MaxY [(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 pixels.

Remarks

The MinX, MaxX, MinY, and MaxY results can hold fractional values. For example, 100.5 would be between the 100 and 101 pixels.

See Also

Area Result, Blob Object, MaxX Result, MinX Result, MinY Result, Object Tab

70 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

MinArea Property

Applies To

Vision Objects: Blob

Description

Defines the lower Area limit for the Blob object. For a Blob to be found it must have an Area result above the value set for MinArea property.

Usage

VGet Sequence.Object.MinArea, var

VSet Sequence.Object.MinArea , 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 Long variable that will contain the value of the property.

value Long expression for the new value of the property.

Values

1 - MaxArea in pixels

Default: 25

Remarks

The purpose of the MinArea and MaxArea Properties is to set a range for the Blob object such that if a blob area does not fit within the range then it is considered not found.

When a new Blob object is created the range between the MinArea property and MaxArea property is quite large because the default values are set at 25 and 100,000 respectively. This means that in most situations the Blob object will return a Found result as true since the range is large. In most applications it is useful to set a tighter range between the MinArea and MaxArea Properties but of course there values will vary from application to application. The point here is to remember to set the MinArea and MaxArea Properties and don't just rely on the default settings.

Do no set the range between MinArea and MaxArea too large. If the range is too large, it may result in false detection.

See Also

Area Result, Blob Object, MaxArea Property, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 71

MinLength Property

Applies To

Vision Objects: Line

Description

Defines the lower length limit for the Line object. For a Line to be found it must have a Length result above the value set for MinLength property.

Usage

VGet Sequence.Object.MinLength, var

VSet Sequence.Object.MinLength , 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 millimeters

Default: 0

Remarks

The purpose of the MinLength and MaxLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found.

This is useful when you want to gauge the length of a line in millimeters. To gauge a line in pixels, see the MinPixelLength and MaxPixelLength properties.

See Also

Line Object, MaxLength Property, MinPixelLength Property, MaxPixelLength Property, Object Tab

72 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

MinMaxArea Property

Runtime only

Applies To

Vision Objects: Blob

Description

Defines the lower and upper Area limits for the Blob object. For a Blob to be found it must have an Area result greater than the MinArea property and less than the MaxArea property. (MinMaxArea property was added to allow easy manipulation of both the MinArea and MaxArea Properties from one function call in the SPEL+ language.)

Usage

VGet Sequence.Object.MinMaxArea, minVar, maxVar

VSet Sequence.Object.MinMaxArea, minVar, maxVar

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.

minVar Long variable containing the minimum area to get from or set to the MinArea property

maxVar Long variable containing the maximum area to get from or set to the MaxArea property

Values

For details, refer to MaxArea Property or MinArea Property.

Remarks

The purpose of the MinMaxArea property is to provide a single function call from the SPEL allow the setting of both the MinArea and MaxArea Properties.

Do no set the MinMaxArea setting too large. If the range is too large, it may result in false detection.

See Also

Area Result, Blob Object, MaxArea Property, MinArea Property, Object Tab

language to

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 73

MinPixelLength Property

Applies To

Vision Objects: Line

Description

Defines the lower length limit for the Line object. For a Line to be found it must have a PixelLength result above the value set for MinPixelLength property.

Usage

VGet Sequence.Object.MinPixelLength, var

VSet Sequence.Object.MinPixelLength , 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

0 or higher real number in pixels

Default: 0

Remarks

The purpose of the MinPixelLength and MaxPixelLength Properties is to set a range for the Line object such that if a line pixellength does not fit within the range then it is considered not found.

This is useful when you want to gauge the length of a line in pixels. To gauge a line in Millimeters, see the MinLength and MaxLength properties. The default settings allow most lines to be found.

See Also

Line Object, MaxLength property, MinLength property, MaxPixelLength property, Object Tab

74 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

MinX Result

Applies To

Vision Objects: Blob

Description

Returns the minimum X pixel coordinate of the blob extrema.

Usage

VGet Sequence.Object.MinX [(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 pixels

Remarks

The MinX, MaxX, MinY, and MaxY results can hold fractional values. For example, 100.5 would be between the 100 and 101 pixels.

See Also

Area Result, Blob Object, MaxX Result, MaxY Result, MinY Result, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 75

MinY Result

Applies To

Vision Objects: Blob

Description

Returns the minimum Y pixel coordinate of the blob extrema.

Usage

VGet Sequence.Object.MinY [(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 pixels

Remarks

The MinX, MaxX, MinY, and MaxY results can hold fractional values. For example, 100.5 would be between the 100 and 101 pixels.

See Also

Area Result, Blob Object, MaxX Result, MaxY Result, MinX Result, Object Tab

76 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ModelObject Property

Applies To

Vision Objects: Correlation, Geometric, Polar

Description

Determines which model to use for searching.

Usage

VGet Sequence.Object.ModelObject, var

VSet Sequence.Object.ModelObject, 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

Self Use the model for this object to search with.

objectName Use the model for this object.

Default: Self

Remarks

The ModelObject property enables you to use one model for several objects of the same type. For example, if you have 5 polar objects that all search for the same part, you can teach the model for the first polar object, then set the ModelObject for the remaining polar objects to "Polar01" (the first polar object).

Note that you cannot set the ModelObject property to an object whose ModelObject property is not 'Self'.

See Also

Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 77

ModelOK Property

Runtime only

Applies To

Vision Objects: Correlation, Geometric, Polar

Description

Returns the status of an object's model.

Usage

VGet Sequence.Object.ModelOK, 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 Boolean variable that will contain the value of the property.

Values

False

True

Remarks

If the model has been taught, ModelOK will return true. You can ensure that the sequence will run before running a sequence.

See Also

ModelObject Property

78 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ModelOrgAutoCenter Property

Applies To

Vision Objects: Correlation, Geometric

Description

A model has a fixed reference point by which we describe its location in an image. This point is referred to as the model's origin. The ModelOrgAutoCenter property causes the model origin to be placed at the center of the model window automatically.

Usage

VGet Sequence.Object.ModelOrgAutoCenter, var

VSet Sequence.Object.ModelOrgAutoCenter, 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.

Values

Remarks

NOTE

)

See Also

var Boolean variable that will contain the value of the property.

value Integer expression for the new value of the property.

False Do not cause the model origin to be automatically positioned

True Automatically position the model origin at the center of the model window

Default: True

The model origin may lie anywhere within the region defined by the model window. The origin's coordinates define the model origin relative to the model window's upper left corner, that is, relative to the location of element [0][0] of the model window that defines the model.

The ModelOrgAutoCenter property causes the model origin to be positioned automatically in the center of the model window whenever the model window is moved or resized.

If the ModelOrgAutoCenter property is set to True, then the ModelOrgX and ModelOrgY Properties cannot be used to reposition the model origin.

Anatomy of a Vision Object, Correlation Object, Geometric Object, ModelOrgX Property, ModelOrgY Property, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 79

ModelOrgX Property

Applies To

Vision Objects: Correlation, Geometric

Description

A model has a fixed reference point by which we describe its location in an image. This point is referred to as the model origin. The ModelOrgX property contains the X coordinate value of the model origin.

Usage

VGet Sequence.Object.ModelOrgX, var

VSet Sequence.Object.ModelOrgX, 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

The ModelOrgX property can be set between 1-255 because the model window is limited in the X direction to 255 pixels. It should be noted that the ModelOrgX defines the X coordinate of the model origin with respect to the model's upper left corner.

Default: The model origin is placed in the center of the model window when a new object is created.

Remarks

The model origin may lie anywhere within the model window Region. The origin's coordinates define the model origin relative to the model's upper left corner, that is, relative to the location of element [0][0] of the image that defines the model.

When you create a new Correlation, the model origin is set to the center of the model window. However, the user may modify this position by typing in a new X and Y positions into the ModelOrgX and ModelOrgY Properties or by simply clicking on the model origin (the crosshair shown in the middle of the model window) and moving it to the position desired.

The user can also modify the model origin automatically by setting the ModelOrgAutoCenter property to True. If the ModelOrgAutoCenter property is set to True then the model origin is automatically set to the center of the model window.

NOTE

)

If the ModelOrgAutoCenter property is set to True, the ModelOrgX property cannot be used to reposition the model origin.

See Also

Anatomy of a Vision Object, Correlation Object, Geometric Object, ModelOrgAutoCenter Property, ModelOrgY Property, Object Tab

80 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ModelOrgY Property

Applies To

Vision Objects: Correlation, Geometric

Description

A model has a fixed reference point by which we describe its location in an image. This point is referred to as the model's Origin. The ModelOrgY property contains the Y coordinate value of the model's origin.

Usage

VGet Sequence.Object.ModelOrgY, var

VSet Sequence.Object.ModelOrgY, 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 Integer variable that will contain the value of the property.

value Integer expression for the new value of the property.

Values

Basically, the ModelOrgY property can be set between 1-255. However, it should be noted that the ModelOrgY defines the Y coordinate of the model origin with respect to the model's upper left corner.

Default: The model origin is placed in the center of the model window when a new object is created.

Remarks

The model origin may lie anywhere within the model's bounds. The origin's coordinates define the model origin relative to the model's upper left corner, that is, relative to the location of element [0][0] of the image that defines the model.

When you create a new Correlation object, the model origin is set to the center of the model window. However, the user may modify this position by typing in a new X and Y positions into the ModelOrgX and ModelOrgY Properties or by simply clicking on the model origin (the crosshair shown in the middle of the model window) and moving it to the position desired.

If the ModelOrgAutoCenter property is set to True, the ModelOrgY property cannot be used to reposition the model origin.

See Also

Anatomy of a Vision Object , Correlation Object, Geometric Object, ModelOrgAutoCenter Property, ModelOrgX Property, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 81

ModelWin Property

Runtime only

Applies To

Vision Objects: Correlation, Geometric

Description

Defines the position and size of the model window for Correlation and Geometric objects.

Usage

VGet Sequence.Object.ModelWin, LeftVar, TopVar, WidthVar, HeightVar

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.

LeftVar Integer variable representing the leftmost position of the model window (in Pixels).

TopVar Integer variable representing the uppermost position of the model window (in Pixels).

WidthVar Integer variable representing the width of the model window (in Pixels).

HeightVar Integer variable representing the height of the model window (in Pixels).

Values

All Values are in Pixels. See the ModelWinTop, ModelWinLeft, ModelWinWidth, and ModelWinHeight Properties for exact value data.

Remarks

The ModelWin property was added to provide easy access to the ModelWinTop, ModelWinLeft, ModelWinWidth and ModelWinHeight Properties from the SPEL allows the setting of all 4 Properties. There are cases where the user may want to define the position and size of the model window dynamically and for that reason the ModelWin property was created.

The ModelWin property can be applied to the Correlation and Geometric objects. Each of these object types have rectangular model windows used to define the position and size of the Model.

See Also

Correlation Object, Geometric Object, ModelWinHeight Property, ModelWinLeft Property, ModelWinTop Property, ModelWinWidth Property, Object Tab

Language. The ModelWin property

82 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ModelWinHeight Property

Applies To

Vision Objects: Correlation, Geometric

Description

Defines the height of the model window used for Correlation and Geometric object models.

Usage

VGet Sequence.Object.ModelWinHeight, 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 Integer variable that will contain the value of the property.

Values

Integer number in pixels from 10 - 255.

Default: 50

Remarks

The model window always fits inside the Search Window.

The Correlation and Geometric objects have rectangular model windows which define the position and size of the model to be taught. The ModelWinHeight property is set automatically when the user drags the upper or lower horizontal sides of the model window.

Keep in mind that larger model windows cause the taught Model to be bigger, which in turn cause the execution time to increase.

The ModelWinHeight property is available from both the Vision Guide window Object tab and from the

SPEL

Language. The easiest way to set the ModelWinHeight is to simply click on the upper or lower

horizontal sides of the model window and then drag them vertically.

It is also possible to set a specific height value for the ModelWinHeight property. Click on the ModelWinHeight property Value Field and simply enter in the value which you would like to set the ModelWinHeight property to. Once the user moves the cursor off the value field, the ModelWinHeight will be adjusted for the associated vision object. Note that the additional height is added to the lower side of the model window. This is because the upper most position of the model window is fixed according to the ModelWinTop property.

See Also

Anatomy of a Vision Object , Correlation Object, Geometric Object, ModelOrgAutoCenter Property, ModelOrgY Property, ModelOrgY Property, ModelWin Property, ModelWinLeft Property, ModelWinTop Property, ModelWinWidth Property, Object Tab

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 83

ModelWinLeft Property

Applies To

Vision Objects: Correlation, Geometric

Description

Defines the left most position of the model window for Correlation and Geometric objects.

Usage

VGet Sequence.Object.ModelWinLeft, 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 Integer variable that will contain the value of the property.

Values

Integer number in pixels from 1 - video width

Remarks

The ModelWinLeft property is available for the Correlation and Geometric objects only since those are the only vision objects which use a Model to define a pattern to search for. The model window always fits inside the Search Window.

The Correlation and Geometric objects have rectangular model windows which define the position and size of the model to be taught. The ModelWinLeft property is set automatically when the user drags the entire model window to a new location or when the leftmost side of the model window is dragged to resize the model window.

The ModelWinLeft property is available from both the Vision Guide window Object Tab and from the

Language. The easiest way to set the ModelWinLeft position is to simply click down on one of the

SPEL sides of the model window and then drag the model window to a new position. You can also click on the leftmost vertical side of the model window at the center of the vertical line where the leftmost window handle is (the small square on the left vertical side of the Model window). You will see the mouse pointer change to a two direction horizontal arrow. Now drag the leftmost vertical side of the model window and you will see the size of the model change. Release the mouse button when you want to set the position.

It is also possible to set a specific value for the ModelWinLeft property. Click on the ModelWinLeft property Value Field in the Object tab and simply enter in the value which you would like to set the ModelWinLeft property to. Once the user moves the cursor off the value field, the leftmost position of the model window will be adjusted for the associated vision object.

See Also

Anatomy of a Vision Object, Correlation Object, Geometric Object, ModelOrgAutoCenter Property, ModelOrgX Property, ModelOrgY Property, ModelWin Property, ModelWinHeight Property, ModelWinTop Property, ModelWinWidth Property, Object Tab

84 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

ModelWinTop Property

Applies To

Vision Objects: Correlation, Geometric

Description

Defines the upper most position of the model window for Correlation and Geometric objects.

Usage

VGet Sequence.Object.ModelWinTop, 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 Integer variable that will contain the value of the property.

Values

Integer number in pixels from 1 - video height

Remarks

The ModelWinTop property is available for the Correlation and Geometric objects only since those are the only vision objects which use a model to define a pattern to search for. The model window always fits inside the Search Window.

The Correlation and Geometric objects have rectangular model windows which define the position and size of the model to be taught. The ModelWinTop property is set automatically when the user drags the entire model window to a new location or when the topmost side of the model window is dragged to resize the model window.

The ModelWinTop property is available from both the Vision Guide window Object tab and from the

Language. The easiest way to set the ModelWinTop position is to simply click on the top or bottom

SPEL horizontal side of the model window and then drag the model window to a new position. You can also click on the uppermost horizontal side of the model window at the center of the vertical line where the uppermost side window handle is (the small square on the upper horizontal side of the Model window). You will see the mouse pointer change to a two direction vertical arrow. Now drag the uppermost horizontal side of the model window and you will see the size of the model change. Release the mouse button when you want to set the position.

It is also possible to set a specific value for the ModelWinTop property. Click on the ModelWinTop property Value Field and simply enter in the value which you would like to set the ModelWinTop property to. Once the user moves the cursor off the value field, the uppermost position of the model window will be adjusted for the associated vision object.

See Also

Vision Guide 5.0 Reference (Ver.5.3) Rev.1 85

ModelWinWidth Property

Applies To

Vision Objects: Correlation, Geometric

Description

Defines the width of a model window.

Usage

VGet Sequence.Object.ModelWinWidth, 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 Integer variable that will contain the value of the property.

Values

Integer number in pixels

Default: 50

Remarks

The model window always fits inside the search window.

The ModelWinWidth property is set automatically when the user drags the entire model window to a new location or when one of the horizontal sides of the model window is dragged to resize the model window.

Keep in mind that larger model windows cause the taught Model to be larger, which in turn may cause the execution time to increase.

The ModelWinWidth property is available from both the Vision Guide window Object tab and from the

Language. The easiest way to set the ModelWinWidth value is to simply click on the left or right

SPEL vertical side of the model window and then drag the model window to a new position. The ModelWinWidth property will be set automatically.

You can also click on the left or right vertical side of the model window at the center of the vertical line where the window handle is (the small square on the upper horizontal side of the Model window). You will see the mouse pointer change to a two direction horizontal arrow. Now drag the side of the model window and you will see the of the model change in width. Release the mouse button when you want to set the position.

It is also possible to set a specific value for the ModelWinWidth property. Click on the ModelWinWidth property Value Field and simply enter in the value which you would like to set the ModelWinWidth property to. Once the user moves the cursor off the value field, the uppermost position of the model window will be adjusted for the associated vision object. Note that the additional width is added to the right side of the model window. This is because the left most position of the model window is fixed according to the ModelWinLeft property.

86 Vision Guide 5.0 Reference (Ver.5.3) Rev.1

Epson Net 5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

FOREWORD

WARRANTY

TRADEMARKS

TRADEMARK NOTIFICATION IN THIS MANUAL

NOTICE

INQUIRIES

SERVICE CENTER

MANUFACTURER & SUPPLIER

SUPPLIERS

SAFETY PRECAUTIONS

TABLE OF CONTENTS

Vision Properties and Results Reference

Overview

Vision Properties and Results Format Description

AbortSeqOnFail Property

Accept Property

AcquireState Result

AllFound Result

Angle Result

AngleAccuracy Property

AngleEnable Property

AngleMaxIncrement Property

AngleObject Property

AngleOffset Property

AngleRange Property

AngleStart Property

Area Result

BackColor Property

CalComplete Result

Calibration Property

Camera Property

CameraGain Property

CameraOffset Property

CameraOrientation Property

CameraX Result

CameraX1 Result

CameraX2 Result

CameraXYU Result

CameraY Result

CameraY1 Result

CameraY2 Result

Caption Property

CenterPntObjResult Property

CenterPntOffsetX Property

CenterPntOffsetY Property

CenterPointObject Property

CenterX Property

CenterY Property

Compactness Result

Confusion Property

Contrast Result

ContrastTarget Property

ContrastVariation Property

CurrentResult Property

DetailLevel Property

EdgeThreshold Property

EdgeType Property

EndPntObjResult Property

EndPointObject Property

EndPointType Property

ExposureTime Property

Extrema Result

Found Result

FoundColor Property

FoundOnEdge Result

Frame Property

Graphics Property

Holes Result

ImageFile Property

ImageSource Property

Iterations Property

Lamp Property

LampDelay Property

Length Result

LineObject1 Property

LineObject2 Property