SICK VSPM-6F2113, VSPM-6F2113S19, VSPM-6F2313, VSPM-6F2313S20, VSPM-6F2413 Reference Manual

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Inspector PIM60 ver 2.0

Vision sensor

REFERENCE MANUAL

WARNING

VSPM-6F2113 (Inspector PIM60), VSPM-6B2113 (Inspector PIM60 Base)

The Inspector is equipped with a LED illumination that must be considered as a lamp system of Risk Group 1 (low risk) according to IEC 62471:2006

Accessible irradiance at distances > 200 mm:

LB<4 x 104W/(m2sr) within 100 s

LH<106W/(m2sr) within 10 s

WARNING: OPTICAL RADIATION DO NOT STARE INTO BEAM

RISK GROUP 1 (LOW RISK) according to IEC 62471:2006

Visible LED light λ = 400-800 nm

VSPM-6F2313 (Inspector PIM60-LUT)

The Inspector is equipped with a LED illumination that must be considered as a lamp system of Risk Group 1 (low risk) according to IEC 62471:2006

Accessible irradiance at distances > 200 mm:

ES< 3 x 10-3W/m2within 104s

< 33 W/m2within 300 s

UVA

LR< 7 x 106W/(m2sr) within 10 s

WARNING: OPTICAL RADIATION DO NOT STARE INTO BEAM

RISK GROUP 1 (LOW RISK) according to IEC 62471:2006

UV LED light λ = 385 nm

VSPM-6F2413 (Inspector PIM60-IR), VSPM-6B2413 (Inspector PIM60-IR Base)

The Inspector is equipped with an LED illumination that must be considered as a lamp system of Risk Group 0 / Free Group (exempt risk) according to IEC 62471:2006

Accessible irradiance at distances > 200 mm:

EIR< 100 W/m2within 103s

LIR< 1.2 x 106W/(m2sr) within 103s

NOTICE: IR EMITTED FROM THIS PRODUCT

RISK GROUP 0 (EXEMPT RISK) according to IEC 62471:2006

IR LED light λ = 850 nm

DISCLAIMER

SICK uses standard IP technology for its products, e.g. IO Link, industrial PCs. The focus here is on providing availability of products and services. SICK always assumes that the integrity and confidentiality of data and rights involved in the use of the above-mentioned products are ensured by customers themselves. In all cases, the appropriate security measures, e.g. network separation, firewalls, antivirus protection, patch management, etc., are always implemented by customers themselves, according to the situation.

©SICK AG 2013-11-28

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Reference Manual

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Inspector PIM60

Introduction 5

1 Introduction ................................................. ......................................... 6

1.1 Interfaces overview . .. .. .. .. .. .. .. .. .. ................................................. 6

1.2 Intended readers ....................................................................... 6

Interfaces 7

2 I/O extension box .................................................................................. 8

2.1 Physical network connection ........................................................ 8

2.2 Configuration of the IP address on the I/O extension box ................. 8

2.2.1 Basic configuration of the IP address ........ .. .. .. .. .. .. .. .. .. .. 9

2.3 Setup of the I/O extension box in the SOPAS Single Device applica-

tion .... .. .. .. .. .. .. .. .. .. .. .................................................................. 9

2.3.1 Enabling the I/O extension box ................................... 10

2.4 Input and output connections .................................................... 10

2.4.1 Special conditions during startup .. ............................. 10

2.4.2 Connection to the I/O extension box lost during opera-

tion ...................... .. .. .. .. .. .. .. .. .. .. .. ............................ 11

2.4.3 Object selection with I/O extension box ....................... 11

2.4.4 Timing issues ........................................ .. .. .. .. .. .. .. .. .. 11

2.4.5 Use of the digital outputs for logic .............................. 11

2.4.6 Change of Modules in the I/O extension box ................ 11

2.5 Troubleshooting ........ .. .. .. .. .. .. .. .. .. .. ........................................... 11

2.5.1 The I/O LED flashes 10 times .................................... 11

2.5.2 No contact with the I/O extension box ......................... 11

2.5.3 High number of unanswered requests to the I/O exten-

sion box . .. .. .. .. .. .. .. .. .. .. ............................................. 12

3 Web interface ............................................. ......................................... 13

3.1 Introduction ....................................................................... .. .. .. 13

3.2 Get results via Web API ...... .. .. .. .. .. .. .. .. .. .. ................................... 13

3.2.1 Live image ........... .. .. .. .. .. .. .. .. .. .. .. .............................. 13

3.2.2 Detailed results .................... .. .. .. .. .. .. .. .. .. .. ............... 13

3.2.3 Synchronize live image with result .............................. 14

3.2.4 Logged images ........................................................ 14

3.2.5 Statistics .. .. .. .. ......................................................... 15

3.3 Control the sensor via Web API ... .. .. .. .. .. .. .. .. ................................ 15

3.3.1 Basic principles ............................................ .. .... .. .. . 15

3.3.2 Command syntax ..................................................... 15

3.3.3 Current reference object ........................................... 16

3.3.4 Backup and restore configuration ............................... 16

3.4 Create custom web pages . .. ...................................................... 17

3.4.1 Example: Display live image .. .. .. ................................. 19

3.5 Handle the Web API ........................ .. .. .. .. .. .. .. .. .. ........................ 21

4 Ethernet Raw ................... ...................................................... ............. 22

4.1 Introduction ....................................................................... .. .. .. 22

4.1.1 Port interval ............................................................ 22

4.2 Get results via Ethernet Raw .. .. .. .. .. .. .. .. .. .................................... 22

4.2.1 TCP versus UDP . .. .. .. .. .............................................. 22

4.2.2 ASCII versus binary ................................................... 22

4.2.3 Attributes .................................... .. .. .. .. .. .. .. .. .. .. .. .. .... 23

4.2.4 Example formatting strings . .. .. ................................... 23

4.3 Control the sensor via Ethernet Raw ........................................... 26

4.3.1 Basic principles ............................................ .. .... .. .. . 26

4.3.2 Command syntax ..................................................... 26

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4.3.3 Select reference object .................................. .. .. .. .. .. . 27

4.3.4 Image triggering ....................................................... 27

4.3.5 Single port solution .................................................. 27

5 EtherNet/IP ............................. ........................................................... 28

5.1 Introduction ....................................................................... .. .. .. 28

5.2 Get results via EtherNet/IP ........................................................ 28

5.2.1 Attributes .................................... .. .. .. .. .. .. .. .. .. .. .. .. .... 28

5.2.2 Example formatting strings . .. .. ................................... 28

5.3 Control the sensor via EtherNet/IP . .. .. .. ...................................... 33

5.3.1 Basic principles ............................................ .. .... .. .. . 34

5.3.2 Command syntax ..................................................... 34

5.3.3 Select reference object .................................. .. .. .. .. .. . 34

5.3.4 Image triggering ....................................................... 35

5.3.5 Input assemblies, result channel . ............................... 35

5.3.6 Assemblies command channel ................................... 36

Appendix 38

A Result output formatting ...................................................................... 39

A.1 XML based formatting ............................................................... 39

A.2 XML formatting ........................................................................ 39

A.3 Container specific tags ............................................................ . 40

A.3.1 General tags . ........................................................... 48

A.3.2 Attributes . .. .. .. .. .. .. .. .. ............................................... 49

B Command channel ............................................................................... 52

B.1 Command syntax . .. .................................................................. 52

B.1.1 Commands ID numbers for EtherNet/IP ...................... 53

B.2 Command channel index handling .. ............................................ 54

B.2.1 Introduction ....................... .. .. .. .. .. .. .. .. .. .. .. ................ 54

B.2.2 Blob indexing ........................................................... 54

B.2.3 Polygon indexing . .. .. .. .. .. .. .. .. .. .. ................................. 54

B.2.4 Tools indexing .......................................................... 54

B.3 Command descriptions .. .. .. .. .. .. .. ............................................... 54

B.4 Error codes ... .. .. .. .. .. .. ............................................................... 72

B.5 Version information . ................................................................. 75

B.6 Command examples .. .. .. .. .. .. .. .. .. .. .. ........................................... 75

B.6.1 Command examples Ethernet Raw .. .. .. .. ..................... 75

C Restore configuration over Web API ......................................... ............. 77

C.1 Restore configuration ................................. .. .. .. .. .. .. .. .. .............. 77

C.2 Create session cookie .............................................. .. .. .. .. .. .. .. .. . 77

C.3 Login ................................................................................. .. .. . 77

C.4 Prepare restore mode ............................................................... 78

C.5 Transfer restore file to device ................................................ .. .. . 78

C.6 Device restart ........ .. .. .. .. .. .. .. .. .. .. .............................................. 78

Index ............................................................................................ .. .. .. .. .. .. .. .. 79

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Introduction

Reference Manual

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Introduction

The Reference Manual is a complement to the Operating Instructions for Inspector PIM60 and covers the functionality of all product variants.

The Reference Manual contains detailed information about the interfaces including syntax and available functionality. It focuses on Inspector PIM60 specific topics and does not describe the basic technology behind each interface.

The details of the result output formatting and the contents and syntax of the command channel are shared by several interfaces. They are described in an appendix valid for all relevant interfaces.

For instructions on configuring the interfaces, refer to the Operating Instructions.

1.1 Interfaces overview

The Reference Manual contains detailed information for the following interfaces:

• I/O Extension Box is used to increase the number of available input and output connections

• Web API interface is intended for integration with external HMI implementations, and for

customized web pages on the Inspector

• Ethernet Raw interface is intended for integration with external PLC equipment

• EtherNet/IP interface is intended for integration with external PLC equipment following the

EtherNet/IP communication standard

1.2 Intended readers

The intended readers of the Reference Manual are users working with integration between the Inspector PIM60 and other equipment, for example PLC programmers and customized human machineiInterface (HMI) developers.

The readers are assumed to have knowledge about the Inspector PIM60 product and features as described in the Operating Instructions for Inspector PIM60. The readers are also assumed to have knowledge about the basic functionality of the technology of the interfaces used for the integration.

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Interfaces

I/O extension box

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I/O extension box

The Inspector PIM60 can be connected to an I/O extension box that increases the number of digital inputs and outputs. The I/O Extension box is available as an accessory from SICK. This section covers how the I/O extension box is connected to the Inspector, and how it is configured.

The following basic steps are required to use the I/O extension box with the Inspector. Details about the steps are found in the subsequent sections.

1. Connect the I/O extension box to the network.

2. Configure the IP address of the I/O extension box to match the settings of the network, and the Inspector.

3. Enter the IP address of the I/O extension box in the SOPAS Single Device application.

4. Activate the inputs and/or outputs on the I/O extension box depending on the application.

Note

The SOPAS Single Device application should be closed or set to offline when the power to the I/O box is disconnected. The I/O extension box needs to be restarted if the IP address is changed or if the connections to the inputs and outputs on the box are changed.

2.1 Physical network connection

To minimize network latency, it is recommended that the I/O extension box is connected directly to the Inspector. The I/O box has a network switch so that a PC running SOPAS Single Device can be connected via the I/O box.

InspectorI/O Extension box

PC with SOPAS

Single Device

Figure 2.1 Physical network connection

2.2 Configuration of the IP address on the I/O extension box

This section briefly describes how to configure the I/O extension box for operation with the Inspector. For details, please refer to the user manual delivered with the I/O extension box.

The IP address of the I/O extension box must be compatible with the addresses of the Inspector and of the PC. For details of how to set and view the IP address of the Inspector, please refer to the Operating Instructions for Inspector PIM60.

The following is an example of how the IP addresses can be configured for the Inspector, the I/O box and the PC.

PCI/O Extension BoxInspector PIM60

192.168.1.30192.168.1.3192.168.1.110

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I/O extension box

2.2.1 Basic configuration of the IP address

The address selection switch on the I/O extension box configures the host part of the IP address, that is, the last of the four parts of the IP address. By default, the first three parts of the address (also known as the network address) are set to 192.168.1. If the switch is set to a value other than 0 (all switches set to Off) or 255 (all switches set to On), the I/O extension box will use the host part of the IP address assigned by the switch.

Figure 2.2 Example

The setting above configures the I/O extension box to have a host ID of 3 corresponding to the binary value “00000011” where switch 1 is bit 0 (LSB) and switch 8 is bit 7 (MSB). The I/O box will then have an IP address of 192.168.1.3.

Advanced configuration of the IP address

If the network part of the IP address must be changed from the default 192.168.1 for the I/O extension box, the internal web server of the I/O extension box can be used. For details please refer to the manual delivered with the I/O extension box.

Interfaces

2.3 Setup of the I/O extension box in the SOPAS Single Device application

The communication with the I/O extension box is configured using the Interfacesand I/O Settings dialog from the InspectorPIM60 menu. Check the Digital I/O and I/O extension boxes in the Inter- faces tab. The I/O extension box is disabled if EtherNet/IP is selected in the same tab.

Figure 2.3 I/O Extension Box setup

Communication mode

It is possible to adjust the way that the Inspector is communicating with the I/O extension box. The settings are made in the I/O extension box setup tab in the Interfaces and I/O Settings dialog from InspectorPIM60 menu. There are three modes available:

• Robust mode. This is the default communication mode, and it is the recommended one if

the Inspector is connected to the SOPAS Single Device application during operation.

• Fast mode. This mode allows the Inspector to operate at a higher frame rate but there is

a risk that some data in the communication with the I/O extension box is lost if there is high load on the network. This mode shall not be used if the Inspector is connected to the SOPAS Single Device application during operation.

• User mode. This is the advanced communication mode where it is possible to configure

the number of retries that the Inspector performs, and the timeout for each retry. The timeout is the time (in milliseconds) that the Inspector is waiting for a reply from the I/O extension box for a request to set outputs or read inputs.

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IP configuration

To be able to connect to the I/O extension box, the IP address of the I/O extension box must be specified in the SOPAS Single Device application.

To specify the IP address of the I/O extension box:

1. Open the Interfaces and I/O Settings dialog from the InspectorPIM60 menu. Enter the selected IP address of the I/O extension box setup tab in the four fields separated with dots.

2. Click Apply to store the settings.

Figure 2.4 Set up mode and IP address

Verify connection

It is possible to verify that the connection to the I/O extension box can be established by clicking the Verify connection button. The SOPAS Single Device application will then try to connect to the I/O extension box, and a message will be displayed informing if the I/O extension box was found.

Note

It is possible to configure the Inspector for use with the I/O extension box even when the I/O extension box is not available. As soon as the Inspector detects the I/O extension box on the network, it will connect to it and start using it as configured.

2.3.1 Enabling the I/O extension box

The use of the inputs and outputs on the I/O extension box is enabled on the Digital I/O tab of the Interface and I/O Settings dialog from the InspectorPIM60 menu.

2.4 Input and output connections

When delivered, the I/O extension box contains 4 digital inputs and 8 digital outputs. The digital outputs can be expanded to 16, and the digital inputs of the Inspector PIM60 can be extended to 5.

Please refer to the manual delivered with the I/O extension box for details on how to connect the power supply to the box, and where to find the digital inputs and outputs.

2.4.1 Special conditions during startup

The following applies if the Inspector is configured to use the inputs of the I/O extension box for object selection:

If the I/O extension box is not available when the Inspector starts up, the Inspector will use the last reference object selected in the SOPASSingle Device application before saving to flash.

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I/O extension box

Interfaces

Once the I/O extension box is available, the Inspector will read the inputs of the box, and select the corresponding reference object.

2.4.2 Connection to the I/O extension box lost during operation

If the connection to the I/O extension box is lost during operation, the last status of the inputs on the box will be used until the connection is re-established.

2.4.3 Object selection with I/O extension box

The status of the inputs on the I/O extension box is checked in the end of each inspection cycle. If the Inspector is configured to use external image trig, the status of the external inputs will only be checked when an image trig signal has been received.

2.4.4 Timing issues

The digital outputs on the I/O extension box shall be read at minimum delay time as displayed in the SOPAS Single Device application.

2.4.5 Use of the digital outputs for logic

The digital outputs on the I/O extension box are not guaranteed to be jitter-free. It is not recommended to use these outputs for direct control of other devices. The I/O extension box shall be connected to a PLC for process control.

2.4.6 Change of Modules in the I/O extension box

The Inspector PIM60 supports I/O extension box configurations with up to 16 digital outputs and 5 digital inputs (The standard configuration of the I/O extension box contains 8 digital outputs and 4 digital inputs.). The configuration of an I/O extension box can be changed by adding/removing I/O modules to/from the I/O extension box. I/O modules are available as an accessory from SICK. For details about Accessories Ordering information see the Operating Instructions for Inspector PIM60.

Perform the following steps to connect and use more I/O modules:

1. Close the SOPAS Single Device application.

2. Disconnect the power from the I/O extension box.

3. Connect the additional I/O modules (inputs and/or outputs) to the I/O extension box. Please refer to the manual delivered with the I/O extension box for details.

4. Re-connect the power to the I/O extension box.

5. Re-start the SOPAS Single Device application.

The additional digital outputs are now be available in the SOPAS Single Device application.

2.5 Troubleshooting

2.5.1 The I/O LED flashes 10 times

If the power to the I/O extension box has been disconnected for a longer period of time, the internal clock in the box will be reset. The I/O LED on the box will then flash 10 times in red. This is not a serious error, and the I/O extension box can still be used together with the Inspector without any problems.

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2.5.2 No contact with the I/O extension box

Ensure that the network card on the PC has the same network address, for instance

192.168.1, as the I/O extension box. The host part of the IP address (that is the last number

in the IP address) must not be the same as for the I/O extension box or the Inspector.

There are two tools available in Windows to check the network connection and the IP settings:

• Ping. Open the command prompt, and type ping followed by the IP address of the I/O exten-

sion box. If the I/O extension box is available the following text will be displayed: Reply from x.x.x.x (where x.x.x.x is the IP address of the I/O extension box). If the I/O extension box

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could not be found an error message is displayed, for instance Requesttimed out or Destination host unreachable. Example: ping 192.168.1.3

• Ipconfig. Open the command prompt and type ipconfig. The current status for the network

cards on the PC will then be displayed. Ensure that the network settings are corresponding to the setting for the I/O extension box. The current IP address for the Inspector can be viewed by selecting Device Info from the InspectorPIM60 menu.

The web browser on the PC must be configured not to use a proxy when communicating with the web server in the I/O extension box.

2.5.3 High number of unanswered requests to the I/O extension box

The advanced communication mode, User mode, can be used to fine tune the communication with the I/O extension box. It is recommended to try to increase the timeout as a first step, and if this does not work, try to increase the number of retries. Increasing the number of retries will reduce the inspection speed.

If the problem persists even if the timeout and the number of retries have been increased, verify that the network topology does not block the use of UDP packets.

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Inspector PIM

Web interface

Interfaces

Web interface

3.1 Introduction

The Inspector PIM60's web interface can be used in two different ways:

• Users can use a web browser to open web pages served by the Inspector's built-in web

server. The Inspector PIM60 is delivered with a set of web pages for handling the Inspector, but you can also create custom web pages that can be accessed through the Inspector's builtin web server. When you create custom web pages, all functions available through the Web API can be used.

• Custom applications running on separate systems can use the Web API to directly retrieve

images and results, and retrieve and set parameters on the Inspector.

Details on how to manage and access the web pages served by the Inspector is described in the Operating Instructions for Inspector PIM60.

Note

All URLs on the Inspector are case sensitive. For example, trying to use /LiveImage.jpg to retrieve the live image will not work.

3.2 Get results via Web API

3.2.1 Live image

The live image can be retrieved through the Web API by a live image request using the URL:

http://<IP-address>/LiveImage.jpg

The response to the request is a data buffer containing a JPEG image.

If the image is not available, an empty image is returned with a smaller size than a normal image.

Note

The live image is not available when SOPAS is connected to the Inspector PIM60.

Live image response can be much slower when activating the Send to FTP feature.

Example URLs

Request a live image without overlay graphics:

http://192.168.1.110/LiveImage.jpg

The response to the request is a JPEG image.

Request a live image with overlay graphics:

http://192.168.1.110/LiveImage.jpg?ShowOverlay

Request a live image with simplified overlay graphics:

http://192.168.1.110/LiveImage.jpg?SimplifiedOverlay

3.2.2 Detailed results

The result string, containing the results from the last analyzed image, can be retrieved through the Web API by a request using the URL:

http://<IP-address>/CmdChannel?gRES

The response is a string that has the following syntax:

rgRES <errorCode> <resultString>

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The result string is the string that is output over Ethernet, and which is defined in the Ethernet Results Output dialog.

For example, if the current configuration has an object locator and an edge pixel counter, and Ethernet Results Output uses the default example formatting string, the Inspector would return the following string:

rgRES 0 194 Image_number: 9639 Object_locator. Located: 1 Score: 99.00 Scale: 1.00 Position_(X,Y): (237.78,202.05) Rotation: 20.05

------------------------Edge_pixel_counter_1 Decision: 1 Pixels: 724

The result is not synchronized with the live image. This means that in some situations, if you retrieve a live image and after that a result string, that string may not contain the result for the retrieved image, but for an image captured and analyzed later. See Section 3.2.3, “Syn- chronize live image with result” (page 14) for a solution.

3.2.3 Synchronize live image with result

To synchronize the live image with the result, you need to assign an id to the image. The id can be up to 16 characters long and can consist of numbers, letters, and special characters.

http://<IP-address>/LiveImage.jpg?id=<ID>

The result for the live image assigned to the <ID> can be listed using the following syntax:

http://<IP-address>/ImageResult?id=<ID>

Note

The image might not update if this method is used due to caching, see Section 3.4.1, “Example: Display live image” (page 19) for more information.

Example URLs

Request a live image without overlay graphics and assign an id to the image:

http://192.168.1.110/LiveImage.jpg?id=ID_ABC123

Request a live image with overlay graphics and assign an id to the image:

http://192.168.1.110/LiveImage.jpg?ShowOverlay&id=ID_ABC123

Request a live image with simplified overlay graphics and assign an id to the image:

http://192.168.1.110/LiveImage.jpg?SimplifiedOverlay&id=ID_ABC123

3.2.4 Logged images

Logged images can be retrieved using the URL:

http://<IP-address>/LogImage.jpg?00

where the argument "00" is the image number. The image number is two digits in the range [00, 29]. The device keeps writing to the log and therefore the log first has to be locked to be able to retrieve an image. This is done by using the URL http://<IP-address>/LockLog

The response to the request is a JPEG image. An empty image with a smaller size than a normal image is returned if no log image is available for a certain position.

To start logging images again the log has to be unlocked first and this is done by using the URL http://<IP-address>/LockLog?Unlock

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Web interface

Interfaces

Example URLs

http://192.168.1.110/LockLog

http://192.168.1.110/LockLog?Unlock

Retrieve a logged image without overlay graphics:

http://192.168.1.110/LogImage.jpg?00

Retrieve a logged image with overlay graphics:

http://192.168.1.110/LogImage.jpg?00&ShowOverlay

Retrieve a logged image with simplified overlay graphics:

http://192.168.1.110/LogImage.jpg?00&SimplifiedOverlay

3.2.5 Statistics

To retrieve statistics using the command channel, execute the following command:

gSTAT

Statistics can also be retrieved using the URL:

http://<IP-address>/CmdChannel?gSTAT

The response is rgSTAT 0 followed by an XML formatted string. To read the response in an web browser, change the view in the web browser to reflect the source code.

Note

The statistic response is only for the active reference object.

3.3 Control the sensor via Web API

The Web API supports using the command channel for reading and updating parts of the device configuration.

The Web API also supports the functionality to do a backup of the device configuration to a file and to restore the configuration again. This is a convenient way to handle configurations without installing and using SOPAS Single Device.

3.3.1 Basic principles

The command channel has a set of basic principles:

• Only one command at a time can be executed.

• Inspector PIM60 responds to each command with a response that includes the result of

the command as well as error codes.

• A specific task to control the Inspector PIM60 includes the command together with its

parameters, see list of command types and parameters in Appendix B, “Command chan- nel” (page 52).

• Writing a parameter can typically only be done when the device is in Edit mode. Reading

a parameter can be done in both Edit and Run mode.

• It is possible to block configuration changes by deselecting Allow changes via Web Server in

the Web Ser ver tab in the dialog Interfaces and I/O Settings in InspectorPIM60 menu.

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3.3.2 Command syntax

The Web API command channel has the following syntax:

http://<IP-address>/CmdChannel?<command>_<identifier>_<argument 1>_<argument 2>..._<argument N>

The ACK message has the following syntax:

The command is sent as an ASCII string. The combination of a command with its parameters will either change the device configuration or fetch information from the device. For more

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command examples see Section B.1, “Command syntax” (page 52) and Section B.6, “Command examples” (page 75).

Note

The command syntax differs from other interfaces where the initial part http://<IP-ad-

dress>/CmdChannel? is added and all space characters (" ") are replaced by an underscore

character ("_"). The ACK messages still contain spaces.

Example URL

The successful execution of the following command

http://192.168.1.110/CmdChannel?sINT_1_1

will perform the command (to select reference object with index 1) and then return the following string:

rsINT 1 0

while a failed command may return:

rsINT 1 8101 Ref bank index is not used.

3.3.3 Current reference object

The reference image of the current reference object can be retrieved using the URL:

http://<IP-address>/ActiveReferenceImage.jpg

The response to the request is a JPEG image.

The reference image of any reference object in the Inspector can be retrieved using the URL:

http://<IP-address>/getRefObject?0

where the argument "0" is the index of the reference object. The object index that corresponds to each reference object can be found in the Reference object list in the Main view.

The response to the request is a JPEG image. An empty image with a smaller size than a normal image is returned if no reference object is available for a certain position.

Example URL

http://192.168.1.110/ActiveReferenceImage.jpg

http://192.168.1.110/getRefObject?1

3.3.4 Backup and restore configuration

It is possible to backup and restore the device configuration through the Web API. This is the same functionality also available through the standard web pages of the Web Server interface.

The backup data contains the device name and reference objects including corresponding inspection and interface settings.

Note

The backup and restore functionality of the Web Server and the Web API corresponds to the Export Sopas Parameter backup and Import Sopas Parameter backup in the InspectorPIM60 menu.

The backup data used by the Web API is saved as .sbp files, which can be imported to and exported from SOPAS Single Device. The Web API can not use .sdv files.

Backup configuration

The URL to export a configuration is http://<IP-address>/backup_config?config1

Example URL:

http://192.168.1.110/backup_config?config1

The result of the request is an .spb file containing the device configuration. This file can be stored in the file system of the receiving unit and used later in the restore procedure.

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The Web Server standard web pages requires a login to perform a backup. A login is not required when doing a backup through the Web API.

Restore configuration

The restore operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file.

The operation is a multiple step procedure that requires a login. The details of the procedure is described in Appendix C, “Restore configuration over Web API” (page 77).

The operation may take several minutes and the Inspector PIM60 is automatically restarted after the configuration has been transferred to the Inspector PIM60.

Warning

During the restore operation the device is set in a special restore mode only expecting restore operation requests. Operations and requests via other interfaces like field buses, SOPAS Single Device, or other web browsers shall then be avoided since they may interfere with the restore operation.

3.4 Create custom web pages

When creating customized web pages to be stored on and served by the Inspector, you use the Web API to display images, retrieve results and settings, and change parameters in the Inspector.

The functions that use the command channel (retrieving results, and getting and setting parameters) returns the result in text strings, which you need to parse in order to extract the information that you are interested in. To make this easier, the Inspector PIM60 provides a JavaScript that you can use in your web pages, and that helps parsing the results.

You use the functions by including the script file inspector.js in your page, and then create an Inspector object in your own script.

Note

The inspector.js script uses JQuery, so you need to also include the provided jquery.js script. For more information on JQuery, see www.jquery.com.

<html>

<head>

<title>Custom page</title> <script type="text/javascript" src="/jquery.js"></script> <script type="text/javascript" src="/inspector.js"></script>

var inspector = new Inspector();

... //--> </script>

...

The Inspector object has methods that correspond to the commands that can be sent over the command channel. The available methods are listed in Table 3.1, “Methods in inspector.js” (page 19). When using these methods, you pass the same arguments as when using the "raw" command channel commands, as described in Appendix B, “Command chan- nel” (page 52).

The Inspector object returns the (parsed) command response through a callback function. To use the response, you define a function that takes a single argument – the response object – and pass that function as an argument to the Inspector's method. In the function you can

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then check whether the command succeeded, and retrieve the information you are interested in.

For example, to select the first reference object in the current configuration (with index 0), you would call:

// First, define a callback function that handles the result function setRefObjResponse(response) {

if (response.httpStatus != 200 || response.errorCode != 0) {

alert(response.errorMessage);

}

};

// Then, call the inspector object's setInt function // with the arguments: // identifier = 1 for "Set reference object" // arg1 = 0, for reference object with index 0 function setRefObj() {

inspector.setInt(1, 0, setRefObjResponse );

};

Tip

As an experienced JavaScript developer, you would probably define your callback function as an anonymous function directly in the call to the inspector methods:

inspector.setInt(1, 0, function(response) {

if (response.httpStatus != 200 || response.errorCode != 0) {

alert(response.errorMessage);

}

});

The content of the response object depends on the function that you called, as well as the outcome of the command. The following attributes are common for all methods:

type The response type, which is basically the same as the command type.

See Table B.3, “Command ID numbers - for EtherNet/IP” (page 54).

errorCode If non-zero, the command failed for some reason. See Section B.4, “Error

codes” (page 72).

errorMessage A text message that describes the error. Exists only if the command failed.

httpStatus The HTTP status code. If this is not set to 200, the HTTP request failed

and the Inspector didn't return any result at all.

The following table lists the attributes that are specific to the called method:

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Table 3.1 Methods in inspector.js

Interfaces

Method

mand

gINTgetInt(identifier, arg1, ..., argn, callback)

sINTsetInt(identifier, arg1, ..., argn, callback)

gSTRgetString(identifier, arg1, ..., argn, callback)

Response attributesCorresponding com-

protocolVersiongVERgetVersion(callback)

modegMODgetMode(callback)

values[0]sMODsetMode(mode, callback)

identifier

values[0 ... n]

identifier

values[0 ... n]

identifier

value

identifieraACTperformAction(identifier, args, callback)

-TRIGtrig(callback)

resultStringgRESgetResult(callback)

-/LockLoglockLog(callback)

-/LockLog?UnlockunlockLog(callback)

The result string returned by the getResult() method is the same string that is output over Ethernet, and which is defined in the Ethernet Results Output dialog.

Note

Do not make another call to the Inspector before the current call has returned a response.

If you do, the current command will be interrupted and will not return any response at all, making it difficult to figure out whether or not the command was performed on the Inspector.

Normally, this is not a problem, but if you are using timed triggers, you should make sure that the triggered functions don't interrupt any commands that may currently be performed on the Inspector.

3.4.1 Example: Display live image

To display the current live image, simply include the image from /LiveImage.jpg on your web page:

... <image src="/LiveImage.jpg"/> ..

This image will not update automatically, so you could add some JavaScript that makes the live image refresh with a certain interval.

... <script type="text/javascript">

//<!--

function refreshLiveImage() {

var image = document.getElementById("liveImage"); image.src = "/LiveImage.jpg?ShowOverlay" + (new Date()).getTime() );

// The (new Date()...) is a trick to make the browser // retrieve the image from the Inspector and not from cache

setTimeout(refreshLiveImage, 500);

};

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// Initiate the image and refresh when page is loaded window.onload = function(){

refreshLiveImage(); }; //-->

</script>

... </head> <body>

Alternatively, you can use the live image component that is used on the Inspector's default Live image page, which has automatic refresh, setting for refresh interval, and magnifier.

Figure 3.1 Inspector's default live image component

To use the default live image component, include the userliveimage.js script in your page, and call the sickLiveImage() function as in the following example:

<head>

<title>Live Image</title>

//<!-$(document).ready(function () {

$("#liveImage").sickLiveImage({

width: 640, height: 480, nocache: true, minInterval: 500, refreshInterval: 1000, magnifier: true, imgUrl: "/LiveImage.jpg", refreshText: "Refresh interval"

}); }); //-->

</script> </head> <body>

</html>

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More examples can be found on the installation CD, in the folder hmi_web_example inside the documentation folder. A Custom Web Toolkit can be found on the support pages (visionsupport.sick.com) which provides a framework that simplifies the process of making an HMI as well as additional templates and examples..

3.5 Handle the Web API

The Web Server and Web API interfaces can be activated or deactivated. When activated, it is possible to select port number and to allow command channel changes. The same settings apply both to the Web Server and to the Web API. The Web interfaces are configured in the Interfaces and I/O settings dialog in the InspectorPIM60 menu.

The Web API is based on standard HTTP request and responses. Recommended request timeout time is 3 seconds to allow for images to be transferred properly.

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Ethernet Raw

4.1 Introduction

To set up the connection and output results for Inspector PIM60 using Ethernet Raw see Operating Instructions for Inspector PIM60.

4.1.1 Port interval

The default interval for the ports used by the communication channels is 2114-2116. This interval can be changed, e.g. if the controlling device does not support the default interval. The interval is controlled by the field Start port in the Ethernet Raw tab of the Interface and I/O settings dialog.

The ports are assigned according to the following:

• Ethernet Result Output = start port (default 2114)

• Command channel = start port + 1

• Dedicated image trig = start port + 2

4.2 Get results via Ethernet Raw

The following settings are configured in the Ethernet Result Output dialog under InspectorPIM60 menu.

4.2.1 TCP versus UDP

The basic difference between these protocols, for the Ethernet result output function, is which side initiates the connection to receive/send the data.

UDP:TCP:

PC/PLC initiates the connection Inspector sends results to the spe-

Inspector sends results to the PC/PLC

PC/PLC acknowledges that results are received (built into the TCP protocol)

Note

For TCP the default port number that the Inspector listens to is 2114.

cified IP address and port, without knowing if it has been received

4.2.2 ASCII versus binary

The Inspector supports the possibility to choose whether the configured output is to be sent in ASCII format or in a binary format. The parameters that should be transferred in binary format are also defined in the XML based formatting, but some tags are not supported in the binary format.

If such a parameter is added to the formatting it will be ignored by the Inspector. In binary mode all added text and text formatting, for example <SPACE/>, are ignored. Only the values

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of the parameters describing the results of inspected images or device information will be sent. For details on which tags can be used in binary output see the tables in chapter Appendix A, “Result output formatting” (page 39).

4.2.3 Attributes

Attributes are used to control the formatting and identification of inspections. Some of them can be controlled directly in the Ethernet Result Output dialog in the section Message settings. All available attributes are listed in the table in section XML Formatting in Section A.3.2, “Attrib- utes” (page 49).

Min number of digits Specifies the minimum number of digits (including decimal

point) to include in the result. If the value to be sent out has fewer digits, the result is padded with leading zeros. The default setting is 0 which means the number of digits that will be sent will differ depending on how many digits are needed. The maximum number of digits is 9. Note: This attribute is only applicable for ASCII

Number of decimals Specifies the number of digits to include after the decimal

point for values with decimals. The value will be rounded to the specified number of decimals. Default value is 2. The maximum number of decimals is 9. Note: This attribute is only applicable for ASCII

Degrees/Radians Specifies the unit for the rotation of the object locator, angle

for blobs, angle for edges, and angle measurements.

Little/Big Endian This specifies the order of the bytes transferred from the

device on Ethernet. When using Little endian the least significant byte is transferred first and for Big endian the most significant byte is transferred first. See the 2-byte example in tables below. Note: Only applicable when using binary format.

Most significant

byte

Least significant

byte

0111000010000100Value to be sent

from device:

First transferred byteTransfer order

Second transferred

byte

1000010001110000Little endian

0111000010000100Big endian

Pixels/Millimeters Specifies whether position coordinates and distance meas-

urements should be expressed in pixels or millimeters. Note: The device must be calibrated to be able to use millimeters as unit of measurement.

4.2.4 Example formatting strings

The auto-generated example string will vary depending on the configuration in the selected reference object. The intention with the example string is to give an idea of the available tags and to be a good starting point for creating a suitable format.

Below follow some short descriptions of example strings for different configurations. For more information about the XML formatting see Appendix A, “Result output formatting” (page 39).

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Example string for configuration with only an Object locator

<MESSAGE_SIZE/><NEWLINE/>

Image_number:<SPACE/><IMAGE_NUMBER/><NEWLINE/>

Object_locator.<NEWLINE/>

<OBJECT_LOC>

Located:<SPACE/><DECISION/><NEWLINE/>

Score:<SPACE/><SCORE/><NEWLINE/>

Scale:<SPACE/><SCALE/><NEWLINE/>

Position_(X,Y):<SPACE/>(<X/>,<Y/>)<NEWLINE/>

Rotation:<SPACE/><ROTATION/><NEWLINE/>

</OBJECT_LOC>

Size of the message, number of characters (ASCII) or bytes (binary)

Explanatory text and analyzed images number

Explanatory text

Start of container for object locator

Explanatory text and value for locator decision; 0=not found, 1=found

Explanatory text and locator score value, in percent how well of the object is found in the object locator due to match settings Explanatory text and locator scale value, factor of analyzed live image compared to taught reference object Explanatory text and x and y position of the reference point. This can be outside the image and therefore negative. Shown in "pixels" or "mm" Explanatory text and locator rotation, in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog End of container for object locator

Result of validating output string with only an Object locator

The result of validating the example formatting output string with output format ASCII can be as follows:

97 Image_number: 14471 Object_locator. Located: 1 Score: 96.00 Scale: 1.00 Position_(X,Y): (291.52,238.55) Rotation: 0.22

The result of validating the example formatting output string for only an object locator with output format binary will be as follows:

Binary output OK. Number of bytes: 27

Part of example string for configuration with a Blob

Blob_tool.<NEWLINE/>

Found_blobs:<SPACE/><FOUND_BLOBS/><NEWLINE/>

-------------------------<NEWLINE/>

Blob_information:<NEWLINE/>

Position_(X,Y):<SPACE/>(<X/>,<SPACE/><Y/>)<NEWLINE/>

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Area:<SPACE/><AREA/><NEWLINE/>

Angle:<SPACE/><ANGLE/><NEWLINE/>

Structure:<SPACE/><EDGE_PIXELS/><NEWLINE/>

Touches_ROI_border:<SPACE/><EDGE_FLAG/><NEWLINE/>

</BLOB>

Explanatory text

Start of container for the blob tool named "Blob 1" and instruction to fetch the first (index="0") blob in accordance with the Sort by criteria Explanatory text and number of found blobs in analyzed image

Separator

Explanatory text

Explanatory text and information of blob with index="0" concerning position and center of gravity (x and y position), in "pixels" or "mm" Explanatory text and blob (index="0") area, in "pixels"

Explanatory text and blob (index="0") angle value, in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog Explanatory text and blob (index="0") structure value, number of edge pixels inside the blob Explanatory text and blob (index="0") edge value, 0=blob fully within ROI, 1= blob touches ROI border End of container for blob tool

Interfaces

Result of validating output string with a Blob

The result of validating the example formatting output string with output format ASCII can be as follows:

Blob_tool. Found_blobs: 16

------------------------Blob_information: Position_(X,Y): (177.00, 156.89) Area: 75 Angle: 154.33 Structure: 0 Touches_ROI_border: 0

The result of validating the example formatting output string for a blob with output format binary will be as follows:

Binary output OK. Number of bytes: 28

Part of example string for configuration with a Polygon

Polygon1<POLYGON name="Polygon1"><NEWLINE/>

Corners:<SPACE/><NUM_CORNERS/><NEWLINE/>

</CORNERS>

</POLYGON>

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Explanatory text and start of polygon container tag for the polygon tool named "Polygon 1" Explanatory text and number of polygon corners

Start of container tag for polygon corners with instruction to loop over all polygon corners, explanatory text, and corner position End of container for polygon corners

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End of container for polygon

Result of validating output string with a Polygon

The result of validating the example formatting output string with output format ASCII will be as follows:

Polygon_1 Corners: 4 (X,Y): (329.15,235.70) (X,Y): (371.31,235.60) (X,Y): (372.58,314.97) (X,Y): (329.82,315.22)

The result of validating the example formatting output string for a polygon with output format binary will be as follows:

Binary output OK. Number of bytes: 39

Example of a JSON formatted string

It is possible to get an example string in JSON1format. This is typically used in conjugation with web based HMIs for easier result extraction.

{"MESSAGE": { "IMAGE_NUMBER":"<IMAGE_NUMBER/>",<SPACE/> "Pixel_counter_1": {<PIXEL_COUNTER name="Pixel counter 1"> "DECISION":"<DECISION/>",<SPACE/> "PIXELS":"<PIXELS/>" </PIXEL_COUNTER> }}}

{"MESSAGE":{"IMAGE_NUMBER":"2975780", "Pixel_counter_1":{"DECISION":"1", "PIXELS":"5433"}}}

4.3 Control the sensor via Ethernet Raw

The Inspector has a command channel accessible via the Ethernet Raw interface. The command channel makes it possible to read and write a defined set of configuration parameters, and to trigger image acquisition, via UDP or TCP. This section describes how to setup image triggering and command channel settings in SOPAS Single Device, as well as the syntax of the command channel.

4.3.1 Basic principles

The command channel has a set of basic principles:

• Only one command at a time can be executed.

• Each command is followed by a return message (ACK) that includes result of the command as well as error codes.

• A specific task to control the Inspector PIM60 includes the command together with its parameters, see list of command types and parameters in Appendix B, “Command chan- nel” (page 52)).

• Writing a parameter can typically only be done when the device is in Edit mode. Reading a parameter can be done in both Edit and Run mode.

• It is possible to block configuration changes by deselecting the setting Allow changes via Ethernet Raw in the EthernetRaw tab in the dialog Interfaces and I/O Settings in the InspectorPIM60 menu.

4.3.2 Command syntax

The commands have the following syntax:

JSON (JavaScript Object Notation) in accordance with RFC 4627

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The ACK message has the following syntax:

where <STX> and <ETX> are the START OF TEXT and END OF TEXT characters (ASCII codes 2 and 3 respectively).

The command is sent as an ASCII string. The combination of a command with its parameters will either change the device's configuration or fetch information from the device. For more command examples see Section B.6, “Command examples” (page 75) and Section B.1, “Command syntax” (page 52).

4.3.3 Select reference object

To enable reference object selection via Ethernet Raw do the following:

1. Choose Interface and I/O Settings from the InspectorPIM60 menu.

2. In the Interface tab choose Ethernet and Ethernet Raw in the listbox.

To select reference object via the command channel, use the command sINT 1 <object

index>. The object index that corresponds to each reference object is shown in the Reference

objects list in the Main view.

4.3.4 Image triggering

It is possible to trigger image acquisition via Ethernet. The communication runs on UDP or TCP port 2116 (configurable). In order to use this function the triggering has to be enabled in SOPAS Single Device. In the InspectorPIM60 menu and Interfaces and I/O settings dialog check the Ethernet box and in the list Ethernet Raw in the Interfaces tab. For the selected reference object, choose Triggered by Ethernet in the Image settings tab.

4.3.5 Single port solution

In real-time applications, the Inspector is controlled using three ports. However, it is possible to use only the command port (default 2115) to control the sensor. The single port solution is only recommended for applications where the cycle time is significantly larger than the image analysis time. One reason for this is that the image acquisition has a lower priority on the command port. Another reason is that the Ethernet Result string must be retrieved from the sensor, therefore image trig and result handling cannot be performed in parallel when using the single port solution.

This is how the Inspector is controlled by using only the command port:

• The image acquisition is performed by the TRIG command (with lower priority).

• The Ethernet Result Output string is retrieved explicitly by the controlling device, e.g. a PLC. This is done by the command gRES. The sensor does not send the result automatically on this port.

• All other commands on the command channel are available as in the standard three port solution.

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EtherNet/IP

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EtherNet/IP

5.1 Introduction

The Inspector PIM60 can be controlled and results retrieved using the EtherNet/IP™ standard, see http://www.odva.org/.

To be able to use EtherNet/IP, the EtherNet/IP option has to be enabled and the connection and output result setup has to be made, see the Operating Instructions for Inspector PIM60.

5.2 Get results via EtherNet/IP

The following settings are configured in the Ethernet Result Output dialog in the InspectorPIM60 menu.

5.2.1 Attributes

Attributes are used to control the formatting and identification of inspection results. Some of them can be controlled directly in the Ethernet Result Output dialog in the section Message settings. All available attributes are listed in the table in section XML Formatting in Section A.3.2, “Attributes” (page 49).

Degrees/Radians Choose unit for the rotation for object locator, angle for blobs,

angle for edges, and angle measurements.

Pixels/Millimeters Choose if position coordinates and distance measurements

should be sent in pixel or millimeter unit. Note: The device must be calibrated for it to be possible to use the “mm” attribute. An error message is given in the output string if the device is not calibrated and mm is chosen.

5.2.2 Example formatting strings

Below follow some short descriptions of example strings for different configurations. For more information about the XML formatting see Appendix A, “Result output formatting” (page 39).

Example string for configuration with only an Object locator

<IMAGE_NUMBER dataType="DINT" pos="0"/>

<OBJECT_LOC>

</OBJECT_LOC>

Analyzed image’s number

Start of container for object locator

Decisions reports whether the object was found (=1) or not found (=0)

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Score expressed in percent how well the taught object is matched against the live image

Scale is the factor of analyzed live image compared to taught reference object

Position (x) of the reference point of the object locator

Position (y) of the reference point of the object locator

Rotation of the object locator, in degrees or radians depending on the configured value in the Ethernet Result Output dialog End of container for object locator

Attribute dataType Specifies the data type to use for this result. When using Ether-

Net/IP the attribute dataType specifies the dataType section in the selected assembly. The attribute can be SINT, INT, DINT or REAL. For more details about dataType and pos see table in Section A.3.2, “Attributes” (page 49).

Attribute pos Used by EtherNet/IP to determine a position in the dataType

section in the selected assembly. The first position number of the dataType section is 0. The range depends on which assembly is used. For example if assembly 1 and dataType section SINT is selected the range of position is [0, 7].

The combination of dataType and pos determine which parameter the result will be mapped to. For more details about dataType and pos see table in Section A.3.2, “Attributes” (page 49).

Result of validating output string with only an Object locator

The validating in SOPAS Single Device will give the following result:

EtherNet/IP assembly string OK.

Result in PLC with only an Object locator

The table below describes how the Assembly 1's data structure will be populated when using the configuration example above.

Position ref (pos)

from XML configuration

Offset byteData type

(dataType)

Variable from

example above

DECISION0SINT0

1SINT1

2SINT2

3SINT3

4SINT4

5SINT5

6SINT6

7SINT7

8INT0

10INT1

12INT2

14INT3

16INT4

18INT5

20INT6

22INT7

IMAGE_NUMBER24DINT0

28DINT1

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Position ref (pos)

from XML configuration

(dataType)

Offset byteData type

32DINT2

36DINT3

40DINT4

Example string for configuration with only a Blob

<IMAGE_NUMBER dataType="DINT" pos="0"/>

<FOUND_BLOBS dataType="SINT" pos="0"/>

<EDGE_PIXELS dataType="DINT" pos="2"/>

<EDGE_FLAG dataType="SINT" pos="1"/>

</BLOB>

Variable from

example above

SCORE44REAL0

SCALE48REAL1

X52REAL2

Y56REAL3

ROTATION60REAL4

Analyzed image’s number, attributes dataType and pos

Start of container for blob, Index number of the found blob according to current blob sorting order. Index 0 is the first blob. Name refers to the blob tool's name in the Tools tab Number of found blobs

Blob center of gravity (x position), "pixels" or "mm"

Blob center of gravity (y position), "pixels" or "mm"

Blob area in pixels

Angle of the blob, in degrees or radians depending on the configured value in the Ethernet Result Output dialog Structure value (number of edge pixels inside the blob)

Edge flag: 0= the blob is fully within the ROI, 1=the blob touches ROI border

End of container for Blob

Attribute dataType Casts to the specified datatype. When using EtherNet/IP the at-

tribute dataType specifies the dataType section in the selected assembly. The attribute dataType can be SINT, INT, DINT or REAL. For more details about dataType and pos see table in Section A.3.2, “Attributes” (page 49).

Attribute pos Used by EtherNet/IP to determine a position in the dataType

section in the selected assembly. The first position number of the dataType section is 0. The range of the attribute pos depends on which assembly is used. For example if assembly 1 and dataType section SINT is selected the range of position is 8, i.e. [0, 7]. For more details about dataType and pos see table in Section A.3.2, “Attributes” (page 49).

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Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to.

Result of validating output string with only a Blob

The validating in SOPAS Single Device will give the following result:

EtherNet/IP assembly string OK.

Result in PLC with only a Blob

The table below describes how the Assembly 1's data structure will be populated when using the configuration example above.

Position ref (pos)

from XML configuration

(dataType)

Offset byteData type

Variable from

example above

FOUND_BLOBS0SINT0

EDGE_FLAG1SINT1

2SINT2

3SINT3

4SINT4

5SINT5

6SINT6

7SINT7

8INT0

10INT1

12INT2

14INT3

16INT4

18INT5

20INT6

22INT7

IMAGE_NUMBER24DINT0

AREA28DINT1

EDGE_PIXELS32DINT2

36DINT3

40DINT4

X44REAL0

Y48REAL1

ANGLE52REAL2

56REAL3

60REAL4

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Part of default string for configuration with only a Polygon

<IMAGE_NUMBER dataType="DINT" pos="0"/>

<NUM_CORNERS dataType="SINT" pos="0"/>

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</CORNERS>

</POLYGON>

Analyzed image’s number, attributes dataType and pos

Start of container for Polygon, Name refers to the Polygon tool's name in the Tools tab

Number of corners used for this Polygon tool

Number 0 to 15 gives the properties of a single corner. The index of this corner is the order in which the polygon corner was added when the polygon was drawn Polygon corner coordinate (x), "pixels" or "mm"

Polygon corner coordinate (y), "pixels" or "mm"

End of tag for corners

End of container for Polygon

Attribute dataType Casts to the specified datatype. When using EtherNet/IP the at-

Attribute pos Used by EtherNet/IP to determine a position in the dataType

Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to.

Result of validating output string with only a Polygon

The validating in SOPAS Single Device will give the following result:

EtherNet/IP assembly string OK.

If the used assembly is too small the validating will give the following result:

EtherNet/IP assembly string not OK. Out of slots for data type INT

Use a larger assembly to solve this problem . Choose a larger assembly in the dialog Interfaces and I/O settings in the InspectorPIM60 menu and the EtherNet/IP tab.

Result in PLC with only a Polygon

The table below describes how the Assembly 1's data structure will be populated when using the configuration example above.

Position ref (pos)

from XML configuration

Offset byteData type

(dataType)

Variable from

example above

NUM_CORNERS0SINT0

1SINT1

2SINT2

3SINT3

4SINT4

5SINT5

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Position ref (pos)

from XML configuration

(dataType)

Offset byteData type

Variable from

example above

6SINT6

7SINT7

X8INT0

Y10INT1

12INT2

14INT3

16INT4

18INT5

20INT6

22INT7

IMAGE_NUMBER24DINT0

28DINT1

32DINT2

36DINT3

40DINT4

44REAL0

48REAL1

52REAL2

56REAL3

60REAL4

5.3 Control the sensor via EtherNet/IP

The Inspector PIM60 has the following EtherNet/IP characteristics:

• Device type: Communication adapter The Inspector relies on a Scanner device to set up the communication channel. The IP address of the Inspector can be found by choosing Device Info from the InspectorPIM60 menu.

•

Slim command channel4100Output

Command channel result36101Input

Command channel32102Output

• Minimum RPI: > 16 ms. When retrieving inspection results via EtherNet/IP, the time between two inspections should be at least twice the RPI (Requested Packet Interval) specified for the communication channel.

With the shortest possible RPI, the highest recommended inspection rate is therefore approximately 30 Hz.

Assembly no.CommentSize (bytes)Instance no.Assemblies

1Small result channel64103Input

2Medium result channel124105Input

3Large result channel248107Input

4Extra large result channel484109Input

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Interfaces

EtherNet/IP

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The EDS file for the Inspector PIM60 can be found in the Documentation folder on the Inspector CD.

The Inspector PIM60 has two Output assemblies that can be used for controlling the Inspector. To do this the connection has to be set first, see Operating Instructions for Inspector PIM60.

The slim command channel assembly (instance no. 100) is used for controlling the Inspector in the following ways:

• Select reference object

• Image trig

The command channel assembly (instance no. 102) is also used for controlling the Inspector. With this assembly you have access to all functions in the command channel, see Section B.3, “Command descriptions” (page 54).

The two output assemblies are described in detail, see Section 5.3.6, “Assemblies command channel” (page 36).

5.3.1 Basic principles

The command channel has a set of basic principles:

• In order to be able to change the configuration via EtherNet/IP this must be enabled. This

is done In the dialog Interfaces and I/O Settings from the InspectorPIM60 menu. Check Ethernet and EtherNet/IP in the tab Interfaces. In the same dialog and tab EtherNet/IP check Allow changes via EtherNet/IP.

• It is possible to block configuration changes by deselecting the setting Allow changes via EtherNet/IP in the EtherNet/IP tab in the dialog Interfaces and I/O Settings in InspectorPIM60 menu.

• Writing a parameter can typically only be done when the device is in Edit mode. Reading a parameter can be done in both Edit and Run mode.

• The commands is sent with help of output assembly 102 and the result is received with input assembly 101.

• The result for a sent command can be received at the earliest in the next PLC cycle. The PLC program will have to wait for the result for an undefined number of seconds.

• Make sure that the PLC program waits for a response with the same command and ID as the sent command.

5.3.2 Command syntax

To send commands through the command channel use output assembly 102. The command channel has the following syntax:

Replace <command> with the commands id, see Table B.3, “Command ID numbers - for EtherNet/IP” (page 54).

The result of a command, sent over output assembly 102, can be received through input assembly 101. The syntax for ACK message is:

The combination of a command with its parameters will either change the devices configuration or fetch information from the device. For more command examples see Section B.1, “Command syntax” (page 52) and Section B.6, “Command examples” (page 75).

5.3.3 Select reference object

There are two ways to select reference object with EtherNet/IP and command channel.

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Interfaces

The first way to select reference object :

To select the reference object via the slim command channel, change the value of Select

reference object in the slim command channel assembly (instance no. 100). The object

index that corresponds to each reference object can be found in the Reference object list in the Main view.

If the value in Select reference object does not correspond to any reference object, the Inspector will ignore the attempt to switch reference object.

The second way to select reference object:

To select reference object via command channel change to Edit mode, 0 0, change the value to select the reference object, 2 1 <object index> and then change back to Run mode 0

1 in the command channel assembly (instance no. 102). The object index that corresponds

to each reference object can be found in the Reference object list in the Main view.

The time it takes to switch reference object depends on the number of inspections, inspection type, and sizes of the regions in the reference object. Typically it takes in the order of one second to switch reference object. For more information see Operating Instructions for Inspector PIM60.

5.3.4 Image triggering

To enable triggering via EtherNet/IP, do the following:

1. Choose Interfaces and I/O Settings from the InspectorPIM60 menu.

2. In the tab Interface choose Ethernet and EtherNet/IP in the list box.

3. In the Image settings tab choose Trig by EtherNet/IP.

To trigger an image acquisition via EtherNet/IP, specify that the slim command channel (instance no. 100) is to be used here and set the value of Trigger to 1. The image capture is made immediately, without any delays.

The Inspector will capture an image each time the value of Trigger is changed to 1 (i.e. rising edge). To trigger the next image caption, you must first set the value to 0.

When triggering via EtherNet/IP, the time between two image captions should be at least 4 times the RPI. This means that the maximum triggering rate via EtherNet/IP is approximately 15 Hz.

5.3.5 Input assemblies, result channel

There are four input assemblies, each assembly corresponds to respective assembly in the EtherNet/IP tab in the Interfaces andI/O Settings dialog. Each assembly has four different dataType sections, SINT, INT, DINT, and REAL. Each dataType section has a different number of positions, the number of positions depends on the assembly and the dataType selected. Example: The dataType SINT in assembly 1 has 8 positions [0, 7] and the dataType REAL in assembly 4 has 44 positions [0, 43]. The contents of the assembly are defined from the Ethernet Result Output dialog.

Note

On the installation CD there is an excel file with templates for the four result input assemblies (file name: AssemblyMappingPI50andPIM60.xls). These can be used to document the mapping between position in data structure and what is configured in the Ethernet Result Output dialog.

Assembly 1 - small result channel

Instance ID: 103

Size: 64 bytes

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Table 5.1 Input Assembly 1

Assembly 2 - medium result channel

Instance ID: 105

Size: 124 bytes

Table 5.2 Input Assembly 2

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Total sizeOffset (bytes)Number/ sizeDatatype

8 bytes08/ 1 byte eachSINT

16 bytes88/ 2 bytes eachINT

20 bytes245/ 4 bytes eachDINT

20 bytes445/ 4 bytes eachREAL

Total sizeOffset (bytes)Number/ sizeDatatype

12 bytes012/ 1 byte eachSINT

24 bytes1212/ 2 bytes eachINT

44 bytes3611/ 4 bytes eachDINT

44 bytes8011/ 4 bytes eachREAL

Assembly 3 - large result channel

Instance ID: 107

Size: 248 bytes

Table 5.3 Input Assembly 3

Assembly 4 - extra large result channel

Instance ID: 109

Size: 484 bytes

Table 5.4 Input Assembly 4

Total sizeOffset (bytes)Number/ sizeDatatype

24 bytes024/ 1 byte eachSINT

48 bytes2424/ 2 bytes eachINT

88 bytes7222/ 4 bytes eachDINT

88 bytes16022/ 4 bytes eachREAL

Total sizeOffset (bytes)Number/ sizeDatatype

44 bytes044/ 1 byte eachSINT

88 bytes4444/ 2 bytes eachINT

176 bytes13244/ 4 bytes eachDINT

176 bytes30844/ 4 bytes eachREAL

5.3.6 Assemblies command channel

The value that corresponds to each reference object can be found in the Reference object list in the Main view.

Slim command channel

The Output assembly contains two parameters that are used for selecting reference object and trigger inspections.

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EtherNet/IP

Instance ID: 100

Size: 4 bytes

Table 5.5 Slim Command channel

2SINTReserved

3SINTReserved

Command channel

Instance ID: 102

Size: 32 bytes

Table 5.6 102 output, Command channel

Offset (bytes)TypeData

0DINTCommand

4DINTIdentifier

8DINTArgument 1

12DINTArgument 2

16DINTArgument 3

20DINTArgument 4

24DINTArgument 5

28DINTArgument 6

Interfaces

ValuesOffset (bytes)TypeData

0-31: Selected reference object0SINTSelect reference object

1: Trigger inspection.1SINTTrigger

Set to 0 before triggering next inspection.

Command channel result

Instance ID: 101

Size: 36 bytes

Table 5.7 101 input Command channel result

Offset (bytes)TypeData

0DINTCommand

4DINTIdentifier

8DINTError code

12DINTReturnvalue 1

16DINTReturnvalue 2

20DINTReturnvalue 3

24DINTReturnvalue 4

28DINTReturnvalue 5

32DINTReturnvalue 6

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Appendix

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Result output formatting

Appendix

Result output formatting

A.1 XML based formatting

The formatting of the result string is defined by a formatting string written in XML. It is possible to mix XML tags and free text in the formatting string. The text parts will appear as is in the result string, whereas the XML tags will be replaced by the appropriate values. All white spaces in the formatting strings are ignored. In order to include whitespace in the result string use the tags <SPACE/>, <TAB/> and <NEWLINE/>.

The tags are either container tags or value tags. The container tags do not generate any text on their own. It is the value tags inside the container tags that generate the text. The following container tags are valid in the Inspector PIM60:

BLOB

EDGE_PIXEL_COUNTER

CORNERS

ExplanationContainer tag

Used to present values concerning the Object locatorOBJECT_LOC

Used to present values for a found blob in a blob ROI. The index points out the found blob in accordance with the blob sorting order. If no index is given this is the same as index = 0.

Used to present values concerning inspections.PIXEL_COUNTER, PATTERN,

Used to present values concerning a defined PolygonPOLYGON

Container tag within the <POLYGON> tag for presenting values concerning the polygon corners. See example:

</CORNERS>

</POLYGON>

The XML based formatting string is entered in the Formatting string for Ethernet Output part of the Ethernet Result Output dialog. To get a default string for the current chosen reference object click Create default formatting string. Click Validate output string to validate the formatting string. The output that will be sent over Ethernet or errors are reported in the Currentoutput string part of the Ethernet Result Output dialog.

Note

When using binary transfer, the Validate output string button will only show how many bytes that will be sent for the current analyzed image and whether the formatting was correct or not.

The maximum size of the XML buffer is 7900 ASCII characters. This means it will not be possible to e.g. paste an XML string into to the input field if it's too large. For a larger configuration it might not be possible to configure as much output information as wanted due to this limitation.

A.2 XML formatting

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The content of the Ethernet output is configured using an XML-based formatting string. The available tags can be categorized into two groups:

• container tags: <OBJECT_LOC>, <POLYGON>, <BLOB>, ...

• value tags: <X/>, <PIXELS/>, <NEWLINE/>, <TIME/>,...

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The value tags are replaced with a value whereas the container tags are used to group value tags. The container tags do not generate any text on their own. It is the value tags inside the container tags that generate the text.

Attribute value must always be enclosed in quotes.

There are three integer tags (<UINT1/>, <UINT2/>, <UINT3/>) for which the values can be changed (in both Edit and Run mode) using the Command channel.

The <BLOB> container tag contains special functionality for presenting values for a certain blob. The index value specifies which blob ROI:s result to present. The index order is the order specified by the Sort by property configured on the Tools tab. The texts and value tags within the <BLOB> tag will be repeated once for each found blob. If only the properties of a single blob are wanted, this can be controlled with the index attribute. See Section A.3, “Container specific tags” (page 40).

A.3 Container specific tags

All tags are listed in the table below. For each container tag, the available value tags are listed. The binary column states the used data type when using binary output format. Some parts of the formatting string, such as characters and ASCII tags, are only applicable for the ASCII format and will be ignored when using binary format, this is also stated in the binary column.

Note

The Binary column in the tables below describes how the data should be interpreted when received from the device.

Table A.1 Container output string tags

CommentBinaryRangeAttributeValue tagContainer tag

REALcoordUnitXOBJECT_

LOC

X position of the reference point. Note that this can be outside the image and therefore negative. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REALcoordUnitY

Y position of the reference point. Note that this can be outside the image and therefore negative. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

unitROTATION

REAL[-180,

180]

In degrees or radians depending on the configured value in the Ethernet Result output dialog.

REAL[0.8, 1.2]SCALE

Scale factor of analyzed live image compared to taught reference object.

REAL[0, 100]SCORE

Score view in percent how well of the object is found in the object locator due to match setting

0=not found, 1=foundUSINT{0, 1}DECISION

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PIXEL_

COUNTER

Appendix

CommentBinaryRangeAttributeValue tagContainer tag

any stringnameEDGE_

Name attribute required if more than one Edge Pixel Counter exist

UDINTPIXELS

Number of found edge pixels, expressed in pixels of the inspection region area. The No. of edge pixels interval in the Tools tab is specified as number of pixels within the inspection region. If the located object is scaled, the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object.

USINT{0, 1, 2}DECISION

0=fail, 1=pass, 2=Outside image

any stringnamePIXEL_

Name attribute required if more than one Pixel Counter exist

UDINTPIXELS

Number of found pixels, expressed in pixels of the inspection region area. The No. of

pixels in range interval in the Tools tab is specified as num-

ber of pixels within the inspection region. If the located object is scaled, the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object.

USINT{0, 1, 2}DECISION

0=not found, 1=found, 2=Outside image

any stringnamePATTERN

Name attribute required if more than one Pattern inspection exists

REALcoordUnitX

REALcoordUnitY

Y position of the reference point. Note that this can be outside the image and therefore negative. In “pixels” or “mm” depending on attribute “coordUnit” or configured value

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CORNERS

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CommentBinaryRangeAttributeValue tagContainer tag

in the Ethernet Result output dialog.

Pattern matching score.REAL[0, 100]SCORE

USINT{0, 1, 2}DECISION

0=not found, 1=found, 2=Outside image

any stringnamePOLYGON

Name attribute required if more than one Polygon exists

USINT[2, 16]NUM_

Number of corners used for this polygon tool.

PIXELS

OUTSIDE

USINT{0, 1, 2}DECISION

0=not found, 1=defect, 2 = pass

Polygon matching score.REAL[0, 100]SCORE

UDINTNUM_

Number of defect pixels inside crack detection region in polygon. Undefined for single edge tool.

USINT{0,1}CORNER_

0=polygon completely inside image, 1=one or more polygon corner(s) are outside image. Cannot be used for single edge tool.

REALcoordUnitDEFECT_X

Coordinate of the first found pixel that was within the defect thresholds. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

Return -1 if defect detection is not active or no defect found. Undefined for single edge tool.

REALcoordUnitDEFECT_Y

Coordinate of the first found pixel that was within the defect thresholds. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

Return -1 if defect detection is not actived or no defect found. Undefined for single edge tool.

cornersCORNERS

{0, 1, ...,15, all}

"All"biterates over all polygon corners. Number 0 to 15 gives the properties of a single corner. The index of this corner is the order in which the polygon corner was added when the polygon was drawn.

REALcoordUnitX

REAL

Polygon corner coordinate. In “pixels” or “mm” depending on attribute “coordUnit” or con-

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Appendix

CommentBinaryRangeAttributeValue tagContainer tag

figured value in the Ethernet Result output dialog.

For a polygon with two corners (single edge) the estimated corner positions are the intersection between the found edge and the left and right borders of the search region. The search region is defined by the user drawn edge and the position search parameter. See also Operating Instructions for Inspector PIM60 about Single edge tool.

REALcoordUnitY

REAL

Polygon corner coordinate. “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

BLOBS

THRESHOLD_

LOW

THRESHOLD_

any stringnameBLOB

Name attribute required if more than one Blob tool exists. The name refers to the Blob tool's name in the tool tab

[0, 15]index

Index of found blob according to current blob sorting order. Index 0 is the first blob

REALcoordUnitX

Blob center of gravity (x position). “pixels” or “mm” depending on attribute “coordUnit”

REALcoordUnitY

Blob center of gravity (y position). “pixels” or “mm” depending on attribute “coordUnit”

Number of found blobs.USINTFOUND_

USINTLIVE_

The lower threshold of the Blob tool's intensity after applying ambient light compensation.

USINTLIVE_

The upper threshold of the Blob tool's intensity after apply-

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HIGH

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CommentBinaryRangeAttributeValue tagContainer tag

ing ambient light compensation.

REAL[0, 180]unitANGLE

In degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

UDINTAREA

Blob area (in pixels). In “pixels” or “mm2” depending on attribute “coordUnit” or configured value in the Ethernet Result out- put dialog.

USINT{0, 1}EDGE_FLAG

0 = blob fully within ROI, 1 = blob touches ROI border

UDINTEDGE_PIXELS

Structure calculation value (number of edge pixels inside the found blob)

0=not found, 1=foundUSINT{0, 1}DECISION

any stringnameEDGE_LOCAT-

Name attribute required if more than one Edge tool exist

REALcoordUnitX

X position of the reference point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REALcoordUnitY

Y position of the reference point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

Edge matching score.REAL[0, 100]SCORE

REAL[0, 180]unitANGLE

In degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

USINT{0, 1, 2}DECISION

0=not found, 1=found, 2=Outside image

any stringnameCIRCLE_LOCAT-

Name attribute required if more than one Circle exist

REALcoordUnitX

X position of the reference point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REALcoordUnitY

Y position of the reference point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

Circle matching score.REAL[0, 100]SCORE

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DECISION

TANCE

URE_ANGLE

TURES

11, 12}

any stringnameMEASURE_DIS-

any stringnameMEAS-

any stringnameEDGE_COUNT

Appendix

CommentBinaryRangeAttributeValue tagContainer tag

REALcoordUnitDIAMETER

Circle's diameter in pixels or mm depending on attribute "coordUnit" or configured value in the Ethernet Result output dialog.

USINT{0, 1, 2,

0=not found, 1=pass, 2=Outside image, 11=Failed on score value, 12=Failed on diameter

Name attribute required if more than one Measure distance exists

REALcoordUnitDISTANCE

Measured distance in pixels or mm depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

USINT{0, 1}VALID

Indicates whether the value in the distance tag is a valid measurement or not. 0=Invalid 1=Valid

USINT{0, 1}DECISION

0=fail (measure distance could not be done), 1=pass

Name attribute required if more than one Measure Angle exist

REALcoordUnitX

X position of the intersection point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REALcoordUnitY

Y position of the intersection point. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REAL[0, 180]ANGLE

In degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

USINT{0, 1, 2}VALID

Indicates whether the values in the angle tag are valid measurements or not. 0=Invalid 1=Valid 2=Intersection outside image

0=fail, 1=passUSINT{0, 1}DECISION

Name attribute required if more than one Edge counter exist

Chosen feature/edge index.[0, 63]index

Number of found features.USINT[0, 64]FOUND_FEA-

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MIN_PITCH

MAX_PITCH

MEAN_PITCH

ordUnit/unit

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CommentBinaryRangeAttributeValue tagContainer tag

REALco-

If the chosen Edge counter is rectangular the value shows the pitch “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

If the chosen Edge counter is circular the value is the pitch in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

REALco-

If the chosen Edge counter is rectangular the value shows the pitch “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

If the chosen Edge counter is circular the value is the pitch in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

REALco-

If the chosen Edge counter is rectangular the value shows the pitch “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

If the chosen Edge counter is circular the value is the pitch in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

USINT{0, 1, 2}DECISION

0=Not found, 1=Found, 2=Outside image

REALcoordUnitX

X position for the mid point of the feature/edge, see footnotef. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REALcoordUnitY

Y position for the mid point of the feature/edge, see footnotef. In “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

REAL[0, 180]ANGLE

Only applicable for Feature type Single edge. A positive value is

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Appendix

CommentBinaryRangeAttributeValue tagContainer tag

a clockwise rotation and a negative value is a counter clockwise rotation.

The angle of the single edge in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

AL_ANGLE

REAL[0, 180]INTERN-

Only applicable for Feature type Dark or Bright. The edge's or feature's angle in the search

region.

The angle of the feature in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result out- put dialog.

REALWIDTH

Only applicable for Feature type Dark or Bright.

If the chosen Edge counter is rectangular the value shows the width “pixels” or “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dialog.

If the chosen Edge counter is circular the value is the width in degrees or radians depending on attribute “unit” or configured value in the Ethernet Result output dialog.

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USINT[3, 4]POLARITY

Only applicable for Feature type Single edge. The chosen edge's polarity in the search direction: 3 = dark to bright, 4 = bright to dark

This tag must be used inside the <POLYGON> container

Only available for Ethernet Raw.

For EtherNet/IP the position is represented as an INT value. Use the scale attribute to get more decimals

This tag must be used inside the <BLOB> container. The value are given for each Blob ROI (not for each found

blob)

This tag concerns the whole tool, i.e. not specific to the feature/edge chosen by the index

Red arrow points out the midpoint for the Edge count tool

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The angle of the edge relative to the region.

The INTERNAL_ANGLE is the angle of a feature, i.e. the relation of the two edges of the feature.

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Note

When a tool is related to the object locator and the object locator is not found in the live image the presented results for the related tools are undefined.

A.3.1 General tags

Table A.2 Generic output string tags

Value tag

CommentBinaryRangeAttrib-

ute

UINTMESSAGE_SIZE • Binary format: The size of the message

in bytes

• ASCII format: The number of characters in the message

UDINTIMAGE_NUMBER

Analyzed image's number (Resets at power-up or device reset)

USINT[0, 3]IMAGE_DECISION

USINT[0, 31]REF_OBJECT

0=Not located, 1=Detail failed, 2=All passed 3=Not located and detail failed

Reference object index

Used to send single control charactersIGNORED[0, 255]valueASCII

Same as <ASCII value="32"/>IGNOREDSPACE

Same as <ASCII value="9"/>IGNOREDTAB

IGNOREDLAB

Left angular bracket, "<". Useful when generating XML-formatted output.

IGNOREDRAB

Right angular bracket, ">". Useful when generating XML-formatted output.

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Appendix

Value tag

CommentBinaryRangeAttrib-

ute

Same as <ASCII value="10"/>IGNOREDNEWLINE

Same as <ASCII value="13"/>IGNOREDRETURN

UDINT{s, ms}timeUnitTIME

Current time since device boot. Restarts from zero after ~10 years (using seconds) and ~49 days (using milliseconds)

Device serial code.UDINTSERIALCODE

REAL[0, 100]FOCUS

Only valid while the device is in Edit mode. This is the focus value from the Image settings tab

UINTTELE-

GRAM_COUNTER

A counter that increments for each telegram sent over the result channel. Resets at power-up or device reset.

USINT[0, 255]intValueUSINT

If the intValue attribute is not specified the default value will be zero and the tag can be used for padding.

UINT[0, 65535]intValueUINT

If the intValue attribute is not specified the default value will be zero and the tag can be used for padding.

UDINT[0, 232-1]intValueUDINT

If the intValue attribute is not specified the default value will be zero and the tag can be used for padding.

UINT[0, 65535]intValueUINT1

Value can be changed through the command channel.

UINT[0, 65535]UINT2

Value can be changed through the command channel.

UINT[0, 65535]UINT3

Value can be changed through the command channel.

If a tool is fixed in field of view and not relative to the object locator, the Image_decision will report the value 3 in

cases when the object locator does not locate the object and the result of the unrelated tool is failed.

A reference object's index is presented as a white number on a black background on each reference object in the

Reference objects list in the GUI. The first reference object created is assigned index number 0, and each successive reference object's index will be incremented by 1. If a reference object is deleted from the reference object list, the index number assigned to that object will be reused for the next reference object created.

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A.3.2 Attributes

Attributes are used to control the formatting and identification of inspections. The table below describes the formatting attributes for Inspector. Some attributes can also be set, for the whole formatting string, in the Ethernet Result Output dialog in the InspectorPIM60 menu in the section Message settings. The attributes operate in a hierarchical way using inheritance. So if Number of decimals has been set to 3 in the EthernetResult Output dialog, all REAL will be printed with 3 decimals unless they are inside a tag that states otherwise. Some attributes can also be set from the Ethernet Result Output dialog from the InspectorPIM60 menu in SOPAS Single Device, see also Section 4.2.3, “Attributes” (page 23).

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Table A.3 Formatting attributes

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base

intValue

coordUnit

dataType

RangeAttribute

{decimal, octal, hex}

65535], [0, 232-1]

aligned}

DINT, REAL}

fault

value

noneany stringname

0[0, 255], [0,

0[0, 9]digits

pixels{pixels, mm,

AffectsDe-

tools

REAL

Blob, Pattern, Single edge, Circle, Edge counters, and Polygon coordinates

Binary format

YesBlob0[0, 15]index

YesAll values1.0Any REALscale

NoIntegersdecim-

Yes<TIME>s{s, ms}timeUnit

YesIdentification of

No<ASCII>0[0, 255]value

Yes<CORNERS>[0, 15]corners

YesObject locator,

YesAll values{SINT, INT,

NoAll values[0, 43]pos

CommentUsed in

Index of blob according to current blob sorting order. Index 0 is the first blob.

Scales the values before they are printed. Can for example be used to express positions as integers in 1/10 pixel units

Integer value to be sent.Yes<USINT>,

Minimum number of characters.NoIntegers and

Number of decimals.NoREAL2[0, 9]decimals

"All"aiterates over all polygon corners. Number 0 to 15 gives the properties of a single corner. The index of this corner is the order in which the polygon corner was added when the polygon was drawn.

Gives result coordinates in pixel, millimeter or robot aligned millimeter format.

Casts to the specified datatype. When using EtherNet/IP the attribute DataType specifies the dataType section in the selected assembly.

Used by EtherNet/IP to determine a position in the dataType section in the selected assembly. The first position number of the dataType section is 0. The range of the attribute pos depends on which assembly is used.

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Result output formatting

Appendix

RangeAttribute

fault

value

unit

Only available for Ethernet Raw.

The device must be calibrated for it to be possible to use the “mm” or "aligned" attribute.

{radians, degrees}

grees

AffectsDe-

Binary

format

YesAnglesde-

Table A.4 Sizes of datatypes

EncodingRangeSizeDatatype

[0, 255]1 byteUSINT

[-128, 127]1 byteSINT

[0, 65535]2 bytesUINT

[-32768, 32767]2 bytesINT

[0, 232-1]4 bytesUDINT

[-231, 231-1]4 bytesDINT

Represented as IEEE 754 binary 324 bytesREAL

See Section 4.2.3, “Attributes” (page 23).

CommentUsed in

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Command channel

The Command Channel is used to read and update a selected set of device parameters.

This section describes the Command Channel from a generic point of view. The Command Channel is available via several of the device interfaces: Ethernet Raw, EtherNet/IP, Web API. There are differences depending on the possibilities each interface provides. The differences are described in the chapters about each interface.

It is possible to block changes via the command channel individually for each interface using a setting in the interface configuration, as described in the Operating Instructions for Inspector PIM60. This makes it possible to allow changes via a PLC oriented interface while blocking changes via the Web API.

B.1 Command syntax

The tables below describe the different command types as well as ACK messages and their syntax. The basic principle is that there are three major types of commands (sINT, gINT, and aACT) and some special commands.

Table B.1 Command syntax

gVER

[argN]

gRES

ExplanationCommand format

Get protocol version that is supported by the addressed device

Set device mode (0 = Run, 1 = Edit)sMOD [mode]

Get the current device mode from the devicegMOD

Set “integer” parameter in the devicesINT [identifier] [arg1] [arg2] … [argN]

Get “integer” parameter from the devicegINT [identifier] [arg1] [arg2] … [argN]

Get "string" parameter from devicegSTR [identifier] [arg1] [arg2]

Action commandsaACT [identifier] [arg1] [arg2] …

Trig an image acquisition and analysisTRIG

Retrieve the latest available Ethernet Result Output string

Retrieve the latest statistics from the devicegSTAT

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Table B.2 Command response

rgVER [errorCode] [protocolVersion]

rsMOD [errorCode] [errorMessage]

rgMOD [errorCode] [mode] [errorMessage]

rsINT [identifier] [errorCode] [errorMessage]

rgINT [identifier] [errorCode] [ret1] [ret2] ...[retN] [errorMessage]

raACT [identifier] [errorCode] [errorMessage]

rTRIG [errorCode] [errorMessage]

rgSTR [identifier] [errorCode] [errorMessage/nameString]

rgRES [errorCode] [errorMessage/resultString]

rgSTAT [statistics in XML format]

Appendix

ExplanationACK message

Response to protocol version including the version that is supported by the device

Response to set mode (Run/Edit) including error code and error message

Response to fetch current mode (Run/Edit) including the mode, error code, and error message

Response to set integer parameter and action commands including error code and error message

Response to fetch integer parameter including parameter value, error code and error message

Response to the action command including error code and error message

Response to the trig command including error code and error message

Response to the get string command. If errorCode is 0 (No error) the errorMessage is instead the actual response string

Response to the get latest available Ethernet Result Output string. If errorCode is 0 (No error) the errorMessage is instead the actual Ethernet Result Output string

Response to get the latest statistics from the device in XML format

If returned errorCode is 0 no errorMessage will be shown. For explanation of errorCode and errorMessage see Section B.4, “Error codes” (page 72).

The response message is a receipt that the command is valid and is executed on the Inspector. However, the following commands take longer time to execute, and may not have finished executing when you receive the command response:

• All action commands (aACT)

• Select reference object (sINT 1)

• Set mode (sMOD)

When sent over Ethernet Raw, all command responses have a start and end character:

• Start character = STX (This character has the ASCII decimal number 2)

• End character = ETX (This character has the ASCII decimal number 3)

B.1.1 Commands ID numbers for EtherNet/IP

Table with command ID numbers to be used as replacement for the normal command strings for interfaces where strings not are possible or preferred.

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Command channel

Table B.3 Command ID numbers - for EtherNet/IP

IDCommandDescription

0sMODSet mode

1gMODGet mode

2sINTSet integer

3gINTGet integer

6gSTRGet string

7gVERGet version

8aACTAction command

9TRIGTrig device

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B.2 Command channel index handling

B.2.1 Introduction

The index argument in the command descriptions below refers to tool's index when configured in SOPAS Single Device. The index can be found in the Tools tab in SOPAS Single Device. Hold the mouse pointer over the current tool to get the index number. There are different indexes depending on which tool is used.

B.2.2 Blob indexing

The blob index argument in the commands corresponds to the order in which the blobs are listed in the Tools tab in the SOPAS Single Device, starting with 0.

B.2.3 Polygon indexing

The polygon index argument corresponds to the order in which the polygons are listed in the Tools tab in the SOPAS Single Device, starting with 0.

B.2.4 Tools indexing

The index argument corresponds to the order in which the pixel counter, edge pixel counter, pattern, edge tool, edge counter, circle locator, measure distance, and measure angle are listed in the Tools tab in the SOPAS Single Device, starting with 0. The types of the tools (pixel counter, edge pixel counter, pattern, edge tool, edge counter, circle locator, measure distance, or measure angle) do not matter, i.e. if two Pattern tool are listed above a Pixel counter tool, the Pixel counter tool has index 2. If a tool (pixel counter, edge pixel counter, pattern, edge tool, edge counter, circle locator, measure distance, or measure angle) in the beginning of the list is deleted, the following tool (pixel counter, edge pixel counter, pattern, edge tool, edge counter, circle locator, measure distance, or measure angle) will be updated with a new index.

B.3 Command descriptions

The way to configure the device through the Ethernet based command channel is based on the set of commands described above with parameters depending on what the user wants to do. See tables below with a complete list of command channel actions and functions.

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Table B.4 Command channel - actions

Appendix

Description

Command

Identifier

Usable in Run mode

Arguments

values

RangeReturn

-No1aACTSave settings in

flash

0=use exposure settings,

object

2aACTRe-teach reference

Yes, only in Run mode.

int autoExp

1=auto adjust

No3aACTPerform calibration

int box-

Size

int calibrationCov-

erage

[0,100]

No4aACTRemove calibration

Yes5aACTApply IP settings

int useDHCP

0=use manual settings, 1=use DHCP

Both in run

6aACTRestart the Inspect-

and edit

mode

No7aACTPerform (calculate)

coordinate align-

ment

In order to run this command the device must be set to Calibration mode (sINT 20 1).

The argument must be given in mm.

Returned value is the calibration target coverage in percent.

After the aACT 5 command has been executed the Inspector need to be restarted (e.g. using aACT 6) before the

new IP settings are in use.

The aACT 6 command will make the device being temporarily disconnected while it is rebooted.

This command can only be used if the 4 control points have been set via the sINT 300 command

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Command channel

Table B.5 Command channel functions - Device settings

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Description

Command

Identifier

in Run

ArgumentsUsable

ues

mode

Yes112sINTSet interface

permission

int interface

int permission

int a, int b, int c, int d

permission

address

mask

int interfaceYes112gINTGet interface

Yes120sINTSet device IP

int a, int b, int c, int d

Yes120gINTGet device IP

Yes121sINTSet device net-

int a, int b, int c, int d

Yes121gINTGet device net-

Yes122sINTSet gateway

int a, int b, int c, int d

Yes122gINTGet gateway

int a, int b, int c, int d

In order for the settings to take effect the aACT 5 command needs to be sent to the device

There should be no dots in the argument

RangeReturn val-

Interface: 0=Ethernet Raw, 1=HTTP, 2=EtherNet/IP

Permission: 1=enable, 0=disable

Interface: 0=Ethernet Raw, 1=HTTP, 2=EtherNet/IP

Address format:

a.b.c.d

Address format: a.b.c.d

Address format:

a.b.c.d

Address format: a.b.c.d

Address format:

a.b.c.d

Address format: a.b.c.d

Table B.6 Command channel functions - general

Iden-

Description

Command

tifier

able in Run mode

sion

-TRIGTrig device

object

figured reference objects

No13sINTChange internal illumin-

ation mode

Mode

tion mode

RangeReturn valuesArgumentsUs-

6=PIM60 1.0int versionYes-gVERGet used protocol ver-

0=Run, 1= Editint modeYes-sMODSet device mode

0=Run, 1= Editint modeYes-gMODGet device mode

-Yes

[0, 31]int objectYes1sINTSelect reference object

[0,31]int objectYes1gINTGet active reference

[0,31]int object-Yes2gINTGet number of con-

0=Off, 1=Onint illum-

0=Off, 1=Onint illumModeYes13gINTGet internal illumina-

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Appendix

Description

mode(free-running, trig)

teger tags in result output (UINT1-3)

tags in result output (UINT1-3)

[microseconds]

mode

meters

Command

Identifier

able in Run mode

No14sINTChange exposure

Yes20gINTGet calibration para-

No21sINTSet external trig delay

Yes21gINTGet external trig delay

No22sINTSet digital output delay

Yes22gINTGet digital output delay

exp*100

int modeNo16sINTSwitch trigger

int modeNo20sINTEnter/leave calibration

int parameter

int type, int delay (milliseconds*10 or ticks)

int outputIndex, int

seconds*10 or ticks)

int outputIndex

int trigModeYes16gINTGet trigger mode

int framePeriodYes19gINTGet frame period time

int parameterResult

int type, int delay (milliseconds*10 or ticks)

RangeReturn valuesArgumentsUs-

[10,10000]int

[10, 10000]int exp*100Yes14gINTGet exposure

[0, 400]int gainNo15sINTChange gain

[0, 400]int gainYes15gINTGet gain

0=free-running, 1=trig

[0, 2],int index,Yes18sINTChange value of in-

[0,65535]int value

[0, 2],int index,Yes18gINTGet value of integer

[0,65535]int value

0=normal mode, 1=calibration mode

0=calibration/normal modec, 1=calibratedd, 2=scalinge, 3=originf, 4=rotationg, 5=mean pixel error, 6=max pixel error

[0=ms, 1=tick], [1,50000] resp [0 ticks, 200000 ticks]

[0,19], [0=ms, 1=tick], [(Min delaytype, int time)*10,50000]delay (milliresp [0 ticks, 200000 ticks]

[0,19], [0=ms, 1=tick], [1,50000] resp [0

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Description

Command

Identifier

able

RangeReturn valuesArgumentsUs-

in Run mode

ticks, 200000 ticks]

[0,19], [0=ms, 1=tick],

ive time

No23sINTSet digital output act-

int outputIndex, int

[1,10000] resp [0type, int time (milliseconds*10

ticks, 200000

ticks] or ticks)

[0,19], [0=ms,

1=tick],

[1,10000] resp [0

ive time

Yes23gINTGet digital output act-

int outputIndex

int type, int time (milliseconds*10 or ticks)

ticks, 200000

ticks]

[0=A, 1=B, 2=C,

3=D]

int x * 100, [-

2147483648,

2147483647]

point

int pointIn-

No300sINTSet alignment control

dex,

int x * 100,

int y * 100

int z * 100

int y * 100, [-

2147483648,

2147483647]

int z * 100, [-

2147483648,

2147483647]

While possible to trig over all interfaces, it is recommended to use only the following for high speed applications:

• Digital I/O (In3)

• Ethernet Raw (port 2116)

• EtherNet/IP (small assembly)

The exposure is expressed in ms multiplied by 100 i.e. 3.8 ms is expressed as 380

The result is 0= normal mode or 1= calibration mode.

The result is 0= not calibrated or 1= calibrated.

The result is expressed in mm/pixel x 10000.

The result is expressed in pixels for x and y.

The result is expressed in degrees.

The delay is expressed in ms multiplied by 10 i.e. 1.5 ms is expressed as 15

In order for the settings to take effect the aACT 7 command needs to be sent to the device

Table B.7 Command channel functions - Object locator

Description

Command

Identifier

Usable in Run

Arguments

mode

No32sINTChange object locator

match threshold

threshold

Yes32gINTGet object locator

match threshold

rotation search mode

Subject to change without notice

RangeReturn

values

[0, 100], percentint

threshold

0=off, 1=onint modeNo33sINTChange object locator

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Appendix

Description

tion search mode

rotation search limit

tion search limit

scale search mode

robustness

bustness

accuracy

curacy

ject locator

Command

Identifier

Usable in Run mode

No38sINTMove and rotate ob-

Arguments

int robNo36sINTChange object locator

int accNo37sINTChange object locator

int x, int y, int angle

values

int robYes36gINTGet object locator ro-

int accYes37gINTGet object locator ac-

RangeReturn

0=off, 1=onint modeYes33gINTGet object locator rota-

[0, 180] degreesint limitNo34sINTChange object locator

[0, 180] degreesint limitYes34gINTGet object locator rota-

0=off, 1=onint modeNo35sINTChange object locator

0=off, 1=onint modeYes35gINTGet object locator

0=High robustness, 1=Normal, 2=High speed

0=High accuracy, 1=Normal, 2=High speed

x, y = pixels, angle = degrees. Arguments are delta values as compared to the current position and angle. These can be negative

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Yes38gINTGet object locator pos-

ition and rotation

Yes39gINTGet object locator

width and height

Table B.8 Command channel functions - Blob

Description

Command

Identifier

able

Arguments

Us-

in Run mode

tensity thresholds

Subject to change without notice

int x, int y, int angle

height

ues

x, y = pixels, angle = degrees. Return values are absolute values for the center of the ROI. These can be negative as compared to the origin

[0-640], [0-480]int w, int

RangeReturn val-

[0, 7],int index,No48sINTChange blob in-

[0, 255], min<=maxint min,

[0, 255], min<=maxint max

Appendix

Command channel

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Description

thresholds

Command

Identifier

Usable in Run mode

Arguments

int min,

int max

ance

RangeReturn val-

ues

[0, 7],-int indexYes48gINTGet blob intensity

[0, 255],int min,

[0, 255]int max

[0, 7],int index,No49sINTChange blob area

[10, 307200] pixels, min<=max,

[10, 307200] pixels, min<=max

[0, 7],-int indexYes49gINTGet blob area

[10, 307200] pixels,int min,

[10, 307200] pixelsint max

[0, 7],int index,No50sINTChange blob angle

[0, 180],int angle,

[0, 90]int angletoler-

thresholds

criteria thresholds

teria thresholds

strength

light compensation mode

compensation mode

search method

int min,

int max

int method

[0, 7],-int indexYes50gINTGet blob angle

[0, 180],int ref,

[0, 90]int tol

[0, 7],int index,No53sINTChange structure

[0, 100000], min<=max,

[0, 100000], min<=max

[0, 7],-int indexYes53gINTGet structure cri-

[0, 100000],int min,

[0, 100000]int max

[0, 7],int index,No54sINTChange blob edge

[0, 100] percentint strength

[0, 7],-int indexYes54gINTGet blob edge

[0, 100] percentint strength

[0, 7],int index,No55sINTChange ambient

0=off, 1=onint mode

[0, 7],-int indexYes55gINTGet ambient light

0=off, 1=onint mode

[0, 7],int index,No56sINTChange blob

0=High quality, 1=Normal, 2=High speed

method

Subject to change without notice

int method

[0, 7],-int indexYes56gINTGet blob search

0=High quality, 1=Normal, 2=High speed

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Appendix

Description

blob locator

tion and rotation

blobs

Command

Identifier

Usable in Run mode

Arguments

int x, int y, int angle

ues

int x, int y, int angle

RangeReturn val-

[0, 7],int index,No58sINTMove and rotate

x, y = pixels, angle = degrees. Arguments are delta values as compared to the current position and angle. These can be negative

[0, 7]-int indexYes58gINTGet blob ROI posi-

x, y = pixels, angle = degrees. Return values are absolute values for the center of the ROI. These can be negative as compared to the origin.

[0, 7]int indexNo59sINTSet number of

[0, 16] min<=maxint min

[0, 16] min<=maxint max

blobs

thresholds in mm

int min*1000,

int max*1000 [10 * pixel size -

int blobYes61gINTGet blob region

width and height

For information about blob indexing see Section B.2.2, “Blob indexing” (page 54)

height

Table B.9 Command channel functions - Polygon

Description

Command

Identifier

Usable

Arguments

values in Run mode

tion search tolerance

int tol

[0, 7]-int indexYes59gINTGet number of

[0, 16] min<=maxint min,

[0, 16] min<=maxint max

[0, 7]-int indexYes60gINTGet blob area

[10 * pixel size 307200 * pixel size], min<=max

307200 * pixel size], min<=max

[0-7], [0-640], [0-480]int w, int

RangeReturn

[0, 7],int index,No64sINTChange polygon posi-

[5, 100] pixels for single edge

[5, 100] pixels for polygon

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Subject to change without notice

int tol

[0, 7],-int indexYes64gINTGet polygon position

[5, 100] pixels for single edge

Appendix

Command channel

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Description

ibility search tolerance

search tolerance

score threshold

threshold

gin

Command

Identifier

Usable in Run mode

Arguments

values

threshold

gin

RangeReturn

[5, 100] pixels for polygon

[0, 7],int index,No65sINTChange polygon flex-

[0, 100] pixelsint tol

[0, 7],-int indexYes65gINTGet polygon flexibility

[0, 100] pixelsint tol

[0, 7],int index,No66sINTChange polygon

[0, 100] pixelsint threshold

[0, 7],-int indexYes66gINTGet polygon score

[0, 100] pixelsint

[0, 7],int index,No67sINTChange polygon mar-

[0, 20] pixelsint margin

[0, 7],-int indexYes67gINTGet polygon margin

[0, 20] pixelsint mar-

fect detection width

detection width

fect intensity range thresholds

intensity range thresholds

defects threshold

fects threshold

fect detection mode

detection mode

int min,

int max

int min,

int max

[0, 7],int index,No68sINTChange polygon de-

[0, 100] pixelsint width

[0, 7],-int indexYes68gINTGet polygon defect

[0, 100] pixelsint width

[0, 7],int index,No69sINTChange polygon de-

[0, 255], min<=max,

[0, 255], min<=max

[0, 7],-int indexYes69gINTGet polygon defect

[0, 255],

[0, 255]

[0, 7],int index,No70sINTChange polygon max

[0, 100] pixelsint max

[0, 7],-int indexYes70gINTGet polygon max de-

[0, 100] pixelsint max

[0, 7],int index,No71sINTChange polygon de-

0=off, 1=onint mode

[0, 7],-int indexYes71gINTGet polygon defect

0=off, 1=onint mode

int x, int y

Subject to change without notice

[0, 7],int index,No72sINTMove polygon

x, y = pixels, Arguments are delta values. These can be

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Appendix

Description

Command

Identifier

Usable

Arguments

values in Run mode

use

int delta-x, int delta-y

For information about polygon indexing see Section B.2.3, “Polygon indexing” (page 54)

RangeReturn

negative as compared to the origin.

----72gINTReserved for future

[0, 7],int index,No73sINTMove polygon corner

[0-15]int corner,

delta-x, delta-y = pixels. Arguments are delta values. These can be negative as compared to the origin.

[0-7],-int indexYes73gINTGet polygon corner

[0-15]-int corner

x, y = pixelsint x, int y

Table B.10 Command channel functions - Pixel counter

Description

Command

Identifier

Usable in Run

Arguments

values

RangeReturn

mode

[0, 63],int index,No80sINTChange pixel counter intensity range thresholds

int min,

int max

[0, 255], min<=max,

[0, 255], min<=max

[0, 63],-int indexYes80gINTGet pixel counter intensity range thresholds

int min,

int max

[0, 255],

[0, 255]

[0, 63],int index,No81sINTChange No. of pixels in range thresholds

int min,

int max

[0, ROI sizeb] pixels ,

min<=max,

[0, ROI sizeb] pixels,

min<=max

[0, 63],-int indexYes81gINTGet No. of pixels in range thresholds

[0, ROI sizeb] pixels,int min,

[0, ROI sizeb] pixelsint max

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

ROI size is the size of the pixel counter ROI in the reference object. Value can be fetched with the command gINT

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Table B.11 Command channel functions - Edge pixel counter

Description

Command

Identifier

Usable in Run

Arguments

ues

RangeReturn val-

mode

[0, 63],int index,No82sINTChange edge pixel

counter edge

[0, 100]int strength

strength

[0, 63],-int indexYes82gINTGet edge pixel

counter edge

[0, 100]int strength

strength

[0, 63],int index,No83sINTChange No. of edge pixels thresholds

int min,

int max

[0, ROI sizeb] pixels,

min<=max

[0, ROI sizeb] pixels,

min<=max

[0, 63],-int indexYes83gINTGet No. of edge pixels thresholds

int 10000*min,

int 10000*max

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

ROI size is the size of the edge pixel counter ROI in the reference object. Value can be fetched with the command

gINT 87

[0, ROI sizeb] pixels,

min<=max

[0, ROI sizeb] pixels,

min<=max

Table B.12 Command channel functions - Pattern

Description

Command

Identifier

Usable in Run

Arguments

mode

tion tolerance

tolerance

score threshold

threshold

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Table B.13 Command channel functions - Edge tool

Description

Command

Identifier

Usable in Run

Arguments

values

mode

edge contrast

RangeReturn

values

[0, 63],int index,No84sINTChange pattern posi-

[0, 4] pixelsint tolerance

[0, 63],-int indexYes84gINTGet pattern position

[0, 4] pixelsint tol

[0, 63],int index,No85sINTChange pattern

[0, 100] percentint threshold

[0, 63],-int indexYes85gINTGet pattern score

[0, 100] percentint

threshold

RangeReturn

[0, 63],int index,No150sINTChange edge tool

[0, 100]int contrast

contrast

Subject to change without notice

[0, 63],-int indexYes150gINTGet edge tool edge

[0, 100]

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Appendix

Description

line fit criteria

fit criteria

polarity

ity

score threshold

Command

Identifier

Usable in Run mode

Arguments

int criterion

int polarity

values

int contrast

int criterion

RangeReturn

[0, 63],int index,No151sINTChange edge tool

[0, 2] (0 = best fit, 1 = first, 2 = last)

[0, 63],-int indexYes151gINTGet edge tool line

[0, 2] (0 = best fit, 1 = first, 2 = last)

[0, 63],int index,No152sINTChange edge tool

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

[0, 63],-int indexYes152gINTGet edge tool polar-

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

[0, 63],int index,No153sINTChange edge tool

[0, 100]int threshold

threshold

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Table B.14 Command channel functions - Find maximum

Description

Command

Identifier

Usable in Run

Arguments

values

mode

um edge contrast

edge contrast

trast

um criteria

criteria

int criterion

[0, 63],-int indexYes153gINTGet edge tool score

[0, 100]int

RangeReturn

[0, 63],int index,No220sINTChange find maxim-

[0, 100]int contrast

[0, 63],-int indexYes220gINTGet find maximum

[0, 100]int con-

[0, 63],int index,No221sINTChange find maxim-

[0, 2] (0 = first, 1 = last)

[0, 63],-int indexYes221gINTGet find maximum

[0, 2] (0 = first, 1 = last)

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um polarity

Subject to change without notice

int polarity

[0, 63],int index,No222sINTChange find maxim-

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

Appendix

Command channel

Reference Manual

Inspector PIM

Description

Command

Identifier

Usable in Run

Arguments

values

mode

polarity

int criterion

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Table B.15 Command channel functions - Circle

Description

Command

Identifier

Usable

Arguments

ues in Run mode

edge contrast

contrast

meter thresholds (without search enabled)

int max

int unit

RangeReturn

[0, 63],-int indexYes222gINTGet find maximum

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

RangeReturn val-

[0, 63],int index,No160sINTChange circle

[0, 100]int contrast

[0, 63],-int indexYes160gINTGet circle edge

[0, 100]int contrast

[0, 63],int index,No161sINTChange circle dia-

[1, max]int min

[5, circle within FOV]

[0, 1] (0 = pixels, 1 = millimeters)

meter thresholds (with search en- abled)

er thresholds

fit criteria

criteria

int min

int max

int unit

int criterion

int min

int max

int criterion

[0, 63],int index,No161sINTChange circle dia-

[shortest search region side/3, max]

[min, shortest search region side]

[0, 1] (0 = pixels, 1 = millimeters)

[0, 63],-int index,Yes161gINTGet circle diamet-

[0, 1] (0 = pixels, 1 = millimeters)

Min threshold in the unit specified,

Max threshold in the unit specified

[0, 63],int index,No162sINTChange circle line

[0, 2] (0 = strongest, 1 = first, 2 = last)

[0, 63],-int indexYes162gINTGet circle line fit

[0, 2] (0 = strongest, 1 = first, 2 = last)

larity

Subject to change without notice

[0, 63],int index,No163sINTChange circle po-

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Command channel

Appendix

Description

bustness

ness

score threshold

Command

Identifier

Usable in Run mode

Arguments

int polarity

int robustness

ues

int criterion

RangeReturn val-

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

[0, 63],-int indexYes163gINTGet circle polarity

[0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright)

[0, 63],int index,No164sINTChange circle ro-

[0, 4] (0 = high robustness to 4 = high speed)

[0, 63],-int indexYes164gINTGet circle robust-

[0, 4] (0 = high robustness to 4 = high speed)

[0, 63],int index,No165sINTChange circle

[0, 100]int threshold

threshold

quality

meter offset compensation

er offset compensation

meter tolerance thresholds

int quality

int offset*1000

int unit

int min*1000

int max*1000

int unit

threshold

int quality

int offset*1000

[0, 63],-int indexYes165gINTGet circle score

[0, 100]int

[0, 63],int index,No166sINTChange circle

[0, 6] (0 = tolerant to 6 = exact)

[0, 63],-int indexYes166gINTGet circle quality

[0, 6] (0 = tolerant to 6 = exact)

[0, 63],int index,No167sINTChange circle dia-

[-1000000,1000000]

[0, 1] (0 = pixels, 1 = millimeters)

[0, 63],-int index,Yes167gINTGet circle diamet-

[0, 1] (0 = pixels, 1 = millimeters)

[0, 63],int index,No169sINTChange circle dia-

[0, 640000] min<=max

[0, 640000]

[0, 1] (0 = pixels, 1 = millimeters)

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er tolerance

int unit

thresholds

Subject to change without notice

int min*1000

[0, 63],-int index,Yes169gINTGet circle diamet-

[0, 1] (0 = pixels, 1 = millimeters)

[0, 640000] min<=max

Appendix

Command channel

Reference Manual

Inspector PIM

Description

Command

Identifier

Usable

Arguments

ues

RangeReturn val-

in Run mode

int

[0, 640000]

max*1000

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

When creating the circle without search, the max diameter that can be set is the diameter that keeps the circle within the configured FOV. E.g. if using the full resolution FOV and placing the circle in the center of the image, the max value without search can be set to 480 pixels.

The table below lists the move commands for the Pixel counter, Edge pixel counter, Pattern, Edge, and Circle tools.

Table B.16 Command channel functions - Common commands for Pixel counter, Edge

pixel counter, Pattern, Edge, and Circle tools

Description

Command

Identifier

Usable in Run

Arguments

values

RangeReturn

mode

[0, 63],

x, y = pixels, angle = degrees. Arguments are delta

inspection

No86sINTMove and rotate

int index,

int x, int y, int angle

values. These can be negative as compared to the origin.

int indexYes86gINTGet inspection po-

sition and rotation

int x, int y, int angle

int indexYes87gINTGet number of

pixels in ROI, (Val-

int pixels

id for Pixel Counter and Edge Pixel Counter)

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Table B.17 Command channel functions - Distance

Description

Command

Identifier

Usable in Run

Arguments

ues

mode

measurement thresholds

int min*1000

int max*1000

int unit

[0, 63],

x, y = pixels, angle = degrees. Return values are absolute values for the center of the ROI. These can be negative as compared to the origin.

[0, 63],

Number of pixels in the reference object's ROI

RangeReturn val-

[0, 63],int index,No170sINTChange distance

[0, VGA image diagonal]

[0, 1] (0 = pixels, 1 = millimeters)

min ≤ max

Subject to change without notice

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Command channel

Appendix

Description

Command

Identifier

Usable in Run

Arguments

ues

mode

measurement thresholds

int unit

int min*1000

int max*1000 [0, VGA image diagon-

offset compensation

int offset*1000

int unit

set compensation

int unit

int offset*1000

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Table B.18 Command channel functions - Angle

Description

Command

Identifier

Usable in Run

Arguments

ues

mode

measurement thresholds

int min*1000

int max*1000

RangeReturn val-

[0, 63],-int index,Yes170gINTGet distance

[0, 1] (0 = pixels, 1 = millimeters)

[0, VGA image diagonal]

al]

[0, 63],int index,No173sINTChange distance

[-1000000,1000000]

[0, 1] (0 = pixels, 1 = millimeters)

[0, 63],-int index,Yes173gINTGet distance off-

[0, 1] (0 = pixels, 1 = millimeters)

RangeReturn val-

[0, 63],int index,No180sINTChange angle

[0, 100]

[0,180000], min ≤ max

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urement thresholds

int min*1000

int max*1000

set compensation

compensation

set*1000

int offset*1000

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

Subject to change without notice

[0, 63],-int indexYes180gINTGet angle meas-

[0, 100]

[0,180000], min ≤ max

[0, 63],int index,No181sINTChange angle off-

[-1000000,1000000]int off-

[0, 63]-int indexYes181gINTGet angle offset

Appendix

Command channel

Table B.19 Command channel functions - Edge counter

Description

counter edge contrast

edge contrast

counter edge quality

edge quality

counter feature width

Command

Identifier

Usable in Run mode

Arguments

int min*10

int max*10

int unit

ues

Reference Manual

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RangeReturn val-

[0, 63],int index,No190sINTChange Edge

[0, 100]int contrast

[0, 63],-int indexYes190gINTGet Edge counter

[0, 100]int contrast

[0, 63],int index,No191sINTChange Edge

[0, 6]int robustness

[0, 63],-int indexYes191gINTGet Edge counter

[0, 6]int quality

[0, 63],int index,No192sINTChange Edge

[0, VGA image diagonal]

[0, 1] (0 = pixels, 1 = millimeters)

min ≤ max

feature width

counter feature type

feature type

min max features

max features

int unit

int type

int min*10

int max*10

int type

[0, 63],-int index,Yes192gINTGet Edge counter

[0, 1] (0 = pixels, 1 = millimeters)

[0, VGA image diagonal]

[0, 63],int index,No193sINTChange Edge

(0 = bright, 1 = dark, 2 = single edge)

[0, 63],-int indexYes193gINTGet Edge counter

(0 = bright, 1 = dark, 2 = single edge)

[0, 63],int index,No194sINTChange edge count

[0, 63]int min

[0, 63]int max

min ≤ max

[0, 63],-int indexYes194gINTGet edge count min

[0, 64]int min

[0, 64]int max

search method robustness

Subject to change without notice

[0, 63],int index,No195sINTChange edge count

[0, 4]int robustness

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Command channel

Appendix

Description

search method robustness

pitch threshold

Command

Identifier

Usable in Run mode

Arguments

int min*1000

int max*1000

int unit

RangeReturn val-

ues

[0, 63],-int indexYes195gINTGet edge count

[0, 4]int robust-

ness

[0, 63],int index,No197sINTChange edge count

[0, VGA image diagonal]

[0, 1] (0 = pixels, 1 = millimeters)

min ≤ max

[0, 63],-int index,Yes197gINTGet edge count

int min*1000

int

[0, 1] (0 = pixels, 1 = millimeters)

[0, VGA image diagonal]

max*1000 [0, VGA image diagon-

al]

single edge polarity

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

"0" is the only valid value for circular.

int polarity

int polarityint polarity

Table B.20 Command channel functions - Get names

Description

Command

Identifier

in Run

ArgumentsUsable

mode

Yes1gSTRGet name of

device

Yes2gSTRGet name of refer-

ence object

ject

Yes3gSTRGet name of Object

Locator

ject

[0, 63],int index,No199sINTChange edge count

[0, 2] (0=any, 1=bright to dark, 2=dark to bright)

[0, 63],-int index,Yes199gINTGet edge count

[0, 2] (0=any, 1=bright to dark, 2=dark to bright)

RangeReturn val-

ues

[0,31]-int referenceOb-

string name

[0,31]-int referenceOb-

string name

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Yes4gSTRGet name of Pixel

counter

ject

int index

Subject to change without notice

[0, 31],-int referenceOb-

string name

[0, 63]-

Appendix

Command channel

Reference Manual

Inspector PIM

Description

pixel counter

tern

gon

tool

Command

Identifier

in Run mode

Yes5gSTRGet name of Edge

Yes6gSTRGet name of Pat-

Yes7gSTRGet name of Blob

Yes8gSTRGet name of Poly-

Yes9gSTRGet name of edge

Yes10gSTRGet name of circle

ArgumentsUsable

ject

int index

ject

int index

ject

int index

ject

int index

ject

int index

ject

int index

RangeReturn val-

ues

[0, 31],-int referenceOb-

string name

[0, 63]-

[0, 31],-int referenceOb-

string name

[0, 63]-

[0, 31],-int referenceOb-

string name

[0, 7]-

[0, 31],-int referenceOb-

string name

[0, 7]-

[0, 31],-int referenceOb-

string name

[0, 63]-

[0, 31],-int referenceOb-

string name

[0, 63]-

Yes11gSTRGet name of

Measure distance

ject

int index

string name

Yes12gSTRGet name of

Measure angle

ject

int index

string name

Yes13gSTRGet Edge counter

name

ject

int index

string name

Yes14gSTRGet all tool names (except the Object Locator)

ject

int format

string list of names

For information about tools indexing see Section B.2.4, “Tools indexing” (page 54)

For information about blob indexing see Section B.2.2, “Blob indexing” (page 54)

For information about polygon indexing see Section B.2.3, “Polygon indexing” (page 54)

CSV (Comma separated values) in accordance with RFC 4180

JSON (JavaScript Object Notation) in accordance with RFC 4627

[0, 31],-int referenceOb-

[0, 63]-

[0, 31],-int referenceOb-

[0, 63]-

[0, 31],-int referenceOb-

[0, 4]-

[0, 31],-int referenceOb-

[0, 1] (0=CSV format, 1=JSON format)

B.4 Error codes

The tables below list error codes that may result from commands or configuration of the device. The error codes are valid for EtherNet/IP, Ethernet Raw, and Web Server. Both error code and an explaining text are shown when using Ethernet Raw for configuring the device

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Command channel

Appendix

through the command channel. When using EtherNet/IP for configuring the device through the command channel will only view the error code.

Table B.21 Error codes - Command errors

DescriptionError code

No error0

Index out of bounds, for example trying to use an image bank above 328000

Incorrect number of arguments, too many or too few arguments are supplied8001

8002

A parameter value is out of bounds, for example it was not in the allowed range as described in the command list

Command with no valid identifier, for example sINT 2008003

An invalid mode was supplied sMOD, for example sMOD 28004

The device is performing an operation and cannot accept new command8005

Set commands are disabled for this interface8006

This command is only available for GET8007

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Subject to change without notice

Appendix

Command channel

Table B.22 Error codes - Configuration errors

DescriptionError code

No error0

Operation is not allowed in current mode8100

The reference bank is not used on the device8101

8102

Operation is not allowed, for example trying sINT 20 0 when not in calibration mode

Reference Manual

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8103

8113

8115

Calibration mode is not enabled when trying to perform calibration or trying to remove non-existent calibration

No object locator is available in current reference bank8104

No blob tool with this index exists8105

Polygon defect detection is not enabled8106

No polygon with supplied index exists8107

No pixel counter with supplied index exists8108

No edge pixel counter with supplied index exists8109

No pattern inspection with supplied index exists8110

The move or rotation caused the ROI to appear outside of the FOV8111

Trig is not activated8112

The specified IP address was invalid, or an invalid combination of addresses was used

The specified network mask was invalid8113

The specified gateway address was invalid8113

The combination of IP settings was invalid8113

Calibration failed8114

Interface not available. Only interfaces that exist in the product can be enabled/disabled

No edge tool with supplied index exists8116

No angle tool with supplied index exists8117

No circle with supplied index exists8118

No distance tool with supplied index exists8119

The specified tool does not have a region (it is a measurement)8120

The tool type of the specified tool does not support this command8121

No tool with supplied index exists8122

No edge count tool with supplied index exists8123

Search region is not enabled8124

Width or height is invalid8125

No tools in configuration8126

Invalid unit specified8127

Alignment to specified control points failed8128

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Command channel

Appendix

B.5 Version information

The command channel is continually extended with new commands. The intention is to always keep the command set backwards compatible with earlier versions. This table lists the available versions and the updates between each version.

Table B.23 Command channel versions

CommentsReleased inVersion

First official versionPIM60 1.06

B.6 Command examples

B.6.1 Command examples Ethernet Raw

Note that the ACK messages in the below tables don't include the start and end character that is included in all ACK messages. See Section B.1, “Command syntax” (page 52) for more information on start and end character.

Table B.24 Commands Ethernet Raw - general examples

200-255 for polygon 2

polygon 2

ject

second reference object

ACK messageCommandDescription

rsMOD 0sMOD 0Switch to Run mode

rsMOD 0sMOD 1Switch to Edit mode

rgMOD 0 1gMODGet device mode

rsINT 16 0sINT 16 0Set trigger mode to free-running

rsINT 16 0sINT 16 1Set trigger mode to triggered

gINT 16Get trigger mode

gINT 69 2Get defect intensity thresholds for

gSTR 2 1Get name of second reference ob-

gSTR 8 1 1Get name of second polygon in

rgINT 16 0 0 – if free-running

rgINT 16 0 1 – if triggered by Ethernet

rsINT 69 0sINT 69 2 200 255Set defect intensity thresholds to

rgINT 69 0 200 255 – if OK

rgINT 69 8107 polygon does not exist – if not OK

rgSTR 2 0 Object 2 - if OK

rgSTR 2 8000 Ref bank index is not used. - if not OK

rgSTR 8 0 Polygon 2 - if OK

rgSTR 8 8107 No polygon with this index exists. - if not OK

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Appendix

Command channel

Reference Manual

Inspector PIM

Table B.25 Commands Ethernet Raw - device settings and actions examples

Set device IP address

Apply IP settings

sINT 120 192 168 1 110

aACT 5 0

ACK messageCommand(s)Description

rsINT 120 0

raACT 5 0

Set device netmask

Apply IP settings

Set device gateway (optional)

Apply IP settings

Enter calibration mode

Perform calibration

The below examples can also be done by sending the set device IP address, set device netmask and set device

gateway in a sequence and then send the aACT 5 command to activate all these settings

The aACT 5 command will make the device being temporarily disconnected while the new settings are applied.

After this command the new IP address will have to be used in order to connect to the device

Returned value is the calibration target coverage in percent

sINT 121 255 255 255 0

aACT 5 0

sINT 122 192 168 1 1

aACT 5 0

sINT 20 1

aACT 3 6

rsINT 121 0

raACT 5 0

rsINT 122 0

raACT 5 0

rsINT 20 0

raACT 3 0 75

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Restore configuration over Web API

Appendix

Restore configuration over Web API

The restore configuration operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file. The operation is a multiple step procedure with the following steps:

1. Create session cookie

2. Login

3. Prepare restore mode

4. Transfer restore file to device

5. Device restart

The restore operation will remove the previous configuration and replace it with a new configuration. The IP address and the chessboard calibration will not be updated by the restore operation. It is not possible to use the device for other purposes during the restore operation. The operation may take several minutes to perform and the time is partly depending on the size of the backup file.

C.1 Restore configuration

1. Create session cookie

2. Login

3. Prepare restore mode

4. Transfer restore file to device

5. Device restart

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C.2 Create session cookie

A session cookie is used to handle operations requiring login with user name and password. The session cookie is created before performing the login operation and the cookie must then be supplied in the login operation and for all following operations.

Operations

CREATE COOKIE

C.3 Login

A login with the user name "Maintenance" is required to change information on the device. The password is the password stored on the device. Default password is "Inspector".

Operations

CREATE SOCKET

CONNECT TO SOCKET(<IP address>, port = 80)

SEND HTTP POST REQUEST (to="/HandleConfig", data = "sopas_username=Maintenance&sopas_password=<login_password>")

Subject to change without notice

Appendix

Restore configuration over Web API

Reference Manual

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CLOSE SOCKET

URL template (replace items in "<>")

POST /HandleConfig HTTP/1.1\r\nHost: <IP address>\r\nConnection: KeepAlive\r\nCookie: <Session cookie>\r\n\r\nsopas_username=Maintenance&sopas_password=<login_password>

C.4 Prepare restore mode

This operation will terminate normal device operation and set the device to focus on receiving the backup file contents.

After the completion of this step, the device is in transfer file mode. All other interaction with the device except the transfer file requests may interfere with the transfer file operation and should be avoided.

Operations

CREATE SOCKET

CONNECT TO SOCKET(<IP address>, port = 80)

SEND HTTP GET REQUEST (to="/SelectRestore?prepare_on")

CLOSE SOCKET

URL template (replace items in "<>")

GET /SelectRestore?prepare_on HTTP/1.1\r\nHost: <IP address>\r\nConnection: Keep-alive\r\nCookie: <Session cookie>\r\n\r\n

C.5 Transfer restore file to device

During the transfer phase the contents of the backup file is transferred to the device.

Operations

CREATE SOCKET

CONNECT TO SOCKET(<IP address>, port = 80)

SEND HTTP POST REQUEST (to="/RestoreConfig", data=<full path to backup file>)

CLOSE SOCKET

URL template (replace items in "<>")

POST /RestoreConfig HTTP/1.1\r\nContent-Length: <File size>\r\nHost: <IP address>\r\nCookie: <Session cookie>\r\nConnection: Keep-Alive\r\nContentType: multipart/form-data; boundary=cd07053eab074616b9c4703b70584d7dwH!aE1l@?dP/K:Pd-cd07053eab074616b9c4703b70584d7d\r\nContent-Disposition: form-data; name="datafile"; filename="<full path to backup file>"\r\nContent-Type: text/plain; charset=utf-8\r\n\r\nFormatVersion=RAW01.00 <Data and more data>

C.6 Device restart

When the transfer is completed, the parameters on the device are updated and the configuration is stored permanently on the flash file system. The device is then restarted.

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Index

Activate and deactivate web interfaces, 21 Assemblies command channel, output, 36 Assemblies result channel, input, 35 Attributes

Ethernet Raw, 23 EtherNet/IP, 28 Result output formatting, 49

Backup configuration, 16 Basic principles

Ethernet Raw, 26 EtherNet/IP, 34 Web interface, 15

Command channel, 52

Command types, 52 Error codes, 72 EtherNet/IP, 53 Examples, 75 Functions, 54

Version information, 75 Command channel, slim, 36 Command syntax

Ethernet Raw, 26

EtherNet/IP, 34

Web interface, 15 Container specific tags, 40 Control the sensor

Ethernet Raw, 26

EtherNet/IP, 33

Web interface, 15 Coordinates via Ethernet

Attributes, 23

Validate output string, 39

XML based formatting, 39

XML formatting, 39 Current reference object, 16 Custom web pages, 17

Display live image, 19

Digital inputs and outputs, 8

Error codes, Command channels, 72 Ethernet Raw, 22

ASCII versus binary, 22

Basic principles, 26

Command syntax, 26

Control the sensor via Ethernet Raw, 26

Image trig, 27 Port interval, 22 Reference object, 27 Single port solution, 27 TCP versus UDP, 22

EtherNet/IP, 28

Basic principles, 34 Command syntax, 34 Control the sensor via EtherNet/IP, 33 Image trig, 35 Input assemblies result channel, 35 Output assemblies command channel, 36 Reference object, 34

Formatting strings, 23, 28

Ethernet Raw, 23 EtherNet/IP, 28

I/O extension box, 8

Configure the IP address, 8 Input and output connections, 10 Physical network connection, 8 Setup the I/O extension box, 9 Troubleshooting, 11

Image trig

Ethernet Raw, 27 EtherNet/IP, 35

Port interval

Ethernet Raw, 22

Reference object

Ethernet Raw, 27

EtherNet/IP, 34 Restore configuration, 16, 77 Result in PLC, 29, 31, 32 Result output formatting, 39

Container specific tags, 40

General tags, 48 Results via Ethernet Raw, 22 Results via EtherNet/IP, 28 Results via Web API, 13

Setup the I/O extension box in SOPAS Single Device, 9 Single port solution

Ethernet Raw, 27

Troubleshooting

I/O extension box, 11

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Subject to change without notice

Validate output string, 39 Version information, command channels, 75

Web API

Restore configuration, 77

Web interface, 13

Basic principles, 15 Command syntax, 15 Control the sensor via Web API, 15 Custom web pages, 17 Live image, 13 Logged image, 14 Results, 13

XML based formatting, 39 XML formatting, 39

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Subject to change without notice

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Avda. Vía Láctea, 4, local 32 San Fernando de Henares 28830 Madrid Tel: 910 562 969

SICK VSPM-6F2113, VSPM-6F2113S19, VSPM-6F2313, VSPM-6F2313S20, VSPM-6F2413 Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1.1 Interfaces overview

1.2 Intended readers

2.1 Physical network connection

2.2 Configuration of the IP address on the I/O extension box

2.2.1 Basic configuration of the IP address

2.3 Setup of the I/O extension box in the SOPAS Single Device application

2.3.1 Enabling the I/O extension box

2.4 Input and output connections

2.4.1 Special conditions during startup

2.4.2 Connection to the I/O extension box lost during operation

2.4.3 Object selection with I/O extension box

2.4.4 Timing issues

2.4.5 Use of the digital outputs for logic

2.4.6 Change of Modules in the I/O extension box

2.5 Troubleshooting

2.5.1 The I/O LED flashes 10 times

2.5.2 No contact with the I/O extension box

2.5.3 High number of unanswered requests to the I/O extension box

3.1 Introduction

3.2 Get results via Web API

3.2.1 Live image

3.2.2 Detailed results

3.2.3 Synchronize live image with result

3.2.4 Logged images

3.2.5 Statistics

3.3 Control the sensor via Web API

3.3.1 Basic principles

3.3.2 Command syntax

3.3.3 Current reference object

3.3.4 Backup and restore configuration

3.4 Create custom web pages

3.4.1 Example: Display live image

3.5 Handle the Web API

4.1 Introduction

4.1.1 Port interval

4.2 Get results via Ethernet Raw

4.2.1 TCP versus UDP

4.2.2 ASCII versus binary

4.2.3 Attributes

4.2.4 Example formatting strings

4.3 Control the sensor via Ethernet Raw

4.3.1 Basic principles

4.3.2 Command syntax

4.3.3 Select reference object

4.3.4 Image triggering

4.3.5 Single port solution

5.1 Introduction

5.2 Get results via EtherNet/IP

5.2.1 Attributes

5.2.2 Example formatting strings

5.3 Control the sensor via EtherNet/IP

5.3.1 Basic principles

5.3.2 Command syntax

5.3.3 Select reference object

5.3.4 Image triggering

5.3.5 Input assemblies, result channel

5.3.6 Assemblies command channel

Index