SICK IVC-2D Reference Manual

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A p p l i c a t i o n P r o g r a m m i n g

I V C - 2 D

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Summary of Contents for SICK IVC-2D

Page 1 A p p l i c a t i o n P r o g r a m m i n g I V C - 2 D...
Page 2 German versions of the Operating Instructions and Reference manual are available on the CD. Eine deutsche Version der Bedienungsanleitung und des Referenzhandbuchs finden Sie auf der beigelegten CD. © SICK AG 2013-09-09 All rights reserved Subject to change without prior notice.
Page 3: Table Of Contents
Region of Interest (ROI)..........................62 ROI Rectangle ............................62 ROI Rotated Rectangle...........................63 ROI Circle..............................65 ROI Ellipse ..............................66 ROI Perimeter ............................67 ROI Union..............................68 ROI Intersection ............................69 ROI Difference ............................70 Filter ..................................71 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 4 Check Circular Surface........................134 Check Circular Shape ..........................135 Calculation ...............................136 Mathematical Operation........................136 Mathematical Expression........................137 In Range..............................138 Polar to Cartesian Coordinates......................139 Fit Circle ..............................140 Fit Ellipse..............................141 Sort ................................142 Update Statistics ...........................143 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 5 Write Ethernet Bytes Formatted .....................188 Write Ethernet String..........................190 Communication Setup.........................191 Communication Read/Write......................192 Send to FTP.............................193 Get from FTP............................196 Get SNTP Time............................198 4.12 Input/Output ..............................199 Read Input ...............................199 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 6 Connecting to Devices..........................240 Saving to Flash ..............................242 Running IVC Studio............................243 Debugging Step Programs ........................243 IVC Emulator ..............................243 Trouble report ..............................244 Appendix ................................245 Mathematical Expressions........................245 Setting Device Parameters ........................249 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 7: Functional Overview
Saved data blocks, containing for example pattern recognition data to be used by Match tools, so that the pattern does not have to be taught before running a program. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 8: Ivc Studio
When a program (or program step) is executed it is executed in the camera, and the results are sent back to IVC Studio where they are displayed. Program steps Table values Images Result values © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 10: Handling Multiple Products
– a transparent bottle and an opaque jar. For the bottle we can use IVC-2D cameras to inspect both the label on the front and the fill level, but for the jar we need to use an IVC-3D camera to inspect the fill level.
Page 11: Getting Started
IVC Studio are installed and are working properly. How to install the camera and IVC Studio is described in the installation instruction. How to use the Emulator is described in section Using IVC Studio in the IVC-2D Reference Manual.
Page 12 Clicking on one of the categories will display the objects contained in the product. Since the product was just created, all the categories are empty, with the exception of Devices, which displays all available devices. Left pane Right pane © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 13 14. Select the table in the list in the dialog box, and click OK. 15. Finally, save your changes to the product on the PC by choosing File Save Product. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 14: About Writing Programs
Many tools also produce results that are available as output parameters. These parame- ters can be stored in the table or be used directly by other steps in your program. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 15 The preview window may also be used for setting parameters for certain tools. This is further described later on in this chapter. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 16: Adding Program Steps
Execute Step from the IVC Studio menu, or press the F5 key on the keyboard. An image is now retrieved from the camera and stored in image bank 0. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 17: Setting Parameter Values
One important thing when specifying coordinates in images – coordinates are always measured from the top, left corner of the image. X coordinate Y coordinate © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 18 15. Select the ROI rectangle step. A rectangle is shown in the upper preview window. This is the default ROI that is set for a new ROI rectangle. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 19 A preview of the image is displayed in a separate window, which also shows the ROI, the line along which the image is searched (yellow), and the edge that is detected using the current parameter values (red/green). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 20 The row is now highlighted in the table, indicating that the value on the device differs from the value in the database. You may also enter a description for the row, describing what the value is used for. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 21 The angle of the label should now be tested to see whether or not it falls within the valid range of angles, and accept or reject the bottle according to the result. This is done by adding the following steps: © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 22 42. Set the parameter 01=Control expression to the result of the In range step. Do not set the parameter 02=Goto step yet, since we are going to jump to a program step that we have not added to the program. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 23: Testing And Running The Program
Another way is to add some program steps that show the result of the analysis, and run the program. 49. Add a Copy image bank tool after the first Grab step. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 24: Saving The Program
Right-click the device in the list of devices, and choose Start Program from the pop-up menu. The program is downloaded to the device and started. The status of the device is changed from STOP to RUN. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 25: What's Next
If you want to interact with the device, you can write a program that for example communi- cates with other equipment via the RS485 port, or uses the inputs and outputs of the device to communicate with a simple control panel. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 26 Note that calling a program stored in flash will load both a program and a table into the working memory of the device, replacing the previous program and table there. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 27: Using Ivc Studio
The current settings of that device are displayed in the right pane. Change the value of the parameter Image Banks. For IVC-3D, change the value of the parameter Profile Banks. Click Update. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 28 Right-click image bank in the active program window and choose Save Image Bank to Disk from the pop-up menu. See to disk section Handling Images for more information on handling image banks. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 29 Choose Options Update All from the IVC Studio menu bar or To refresh and dis- press Ctrl F5. play information on all devices © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 30: Handling The Emulator
The images must be saved in the raw format (.raw or .img) for IVC-3D and IVC-2D, or bitmap (.bmp) for IVC-2D, in a version of IVC Studio that sup- ports the Emulator. When saving an image, the Grab Setup parameters are stored in the image file and can be read by the Emulator.
Page 31 OK. in an emulated 3D camera Configure a Grab Setup step with the same settings that were used when the images were captured. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 32 Some tools are not emulated by the Emulator. When executed in the Emulator, they return the default values of all parameters. Interactive setups are not available for non-emulated tools. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 33: Handling Products
The new format is not compatible with IVC Studio versions prior to 3.1 SR1. The old format is still supported, and existing files can easily be converted to the new format by using “Save As” in IVC Studio 3.1 SR1 or higher. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 34 Right-click Devices in the left pane and choose Stop Product To stop all devices in a product from the pop-up menu. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 35: Handling Programs
A pop up window displays information such as program name and dates of creation and last change and who made the latest changes to the program. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 37: Handling Tables
To import a table from a device, import the associated program. When writing a table to the flash memory on a device, the descriptions are not saved, and are therefore not included when the table is imported from the device. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 38: Handling Images
Reset All Banks from the pop-up menu. To reset a selected Right-click the image bank in the active program window and choose Reset Bank from the pop-up menu. bank © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 39: Ivc Studio Settings
To delete a program step Click the program step in either the right pane or in the program list in the right pane and choose Delete Step from the pop-up menu. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 41 Right-click the macro in the tree view and choose Export Macro To export a macro from the pop-up menu. Right-click the macro in the tree view and choose Print Macro To print a macro © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 42 A pop up window displays information such as program name and dates of creation and latest change and who made the latest changes to the macro. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 43 To specify arguments Properties from the pop-up menu. Select one of the tabs and results Arguments or Results. Add arguments and results by using the +! button. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 44 By pressing F5 or F8 again, the connection to the camera is restored, and the results from the step will be displayed in the step program view. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 45: Efficient Programming
For graphical feedback, add a ‘Draw ROI‘ step directly after the ROI creation to speed up debugging when you use dynamic ROIs. Dynamic ROIs are ROIs that move around depending on other results in the program. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 46 Avoid dependence on 50 Hz lamps unless shutter times are very long. Mount a band pass filter on the lens if only one color is of interest. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 47: Tools
Reader The reader tools are used for reading barcodes and DataMatrix 2D codes in the images. These tools are only available in the Reader version of IVC-2D. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 48: Image
If the Strobe enable parameter is set true this parame- ter specifies the duration of each strobe flash in micro- seconds. Allowed values are 10–400.000 us. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 49: Start Snapshot
01 = Destination bank The image is placed in the image bank indicated by this parameter sometime after the execution of Start snapshot but before the execution of Grab has completed. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 50: Grab
The file name of the acquired image file. Error Messages Err. = 8605 A 3D image cannot be loaded into a 2D camera. Err. = 8606 The image size is not correct. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 51: Ping-Pong Grab
02 = Destination bank B Indicates the image bank in which an image is placed the (2n+1)th time the tool is executed in the program. Returned Values 01 = Result bank Indicates which bank contains an image ready to work on. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 52: Copy Image Bank
This parameter indicates the image bank number to copy from. 02 = Destination bank This parameter indicates the image bank number where the new copy is placed. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 53: Image Bank Operation
The image bank in which the resulting image is placed. For most bank of the operations the result is affected by any image that is stored in this bank prior to executing this tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 54 Err. = 7704 The region of interest has parts that are outside the source bank. Example Source Destination Min (and) Max (or) Diff (xor) Inv (not) Copy © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 55: Add Text
String type is set to Text and variable. 02 = Character width The number of pixels each letter is wide. 03 = Character height The text strip height in pixels. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 56: Draw Line
The gray scale value or color code that specifies the color of the line. Allowed values are 0 through 255. 06 = Destination bank The image bank in which to overlay the line. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 57: Draw Roi
ROI will be color. False 03 = Destination bank Number of destination bank in which to draw the selected ROI. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 58: Reset Image Banks
The gray scale value or color code that specifies with which color the image banks should be filled. Color values are 0 through 255. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 59: Display
03 = Variable 1 The parameters 03–12 specifies the values to be displayed 04 = Variable 2 in the table … 12 = Variable 10 Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 60: Mirror Image
Image bank in which to display the mirrored image. bank 03=Mirror around The axis around which to mirror: axis Mirror around the Y axis. Vertical Mirror around the X axis. Horizontal Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 61: Rotate Image
The distance in pixels along the y axis to move the rotated image. 10=Interpolation The interpolation method to use when calculating the pixel method values in the destination image. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 62: Region Of Interest (Roi)
Error in ROI means that parts of the ROI are out of the FOV. Reduce size of ROI. Check X and Y origin. Check offset values. Check Width and Height parameters. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 63: Roi Rotated Rectangle
Negative values mean clockwise rotation. means no rotation. Value = 0 12= Destination Number of destination bank (-1= no display of the ROI in the bank preview window). Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 64 ROI leads out of the FOV. Reduce size of ROI. Check offset values. If using rotation point change coordinates of rotation point. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 65: Roi Circle
Error Messages Err. = 148 Error in ROI means that a part of the ROI is out of the FOV. Reduce circle radius. Check offset and center parameters. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 66: Roi Ellipse
Error Messages Err. = 148 Error in ROI means that a part of the ellipse is out of the FOV. Check radius parameters. Check center and offset coordinates. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 67: Roi Perimeter
Err. = 152 Error in ROI from perimeter Check Margin values and make sure that the result will not produce negative results or lead outside of the FOV. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 68: Roi Union
01 = ROI A definition step Reference to program step to select ROI A 02 = ROI B definition step Reference to program step to select ROI B Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 69: Roi Intersection
01 = ROI A definition step Reference to program step to select ROI A 02 = ROI B definition step Reference to program step to select ROI B Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 70: Roi Difference
01 = ROI A definition step Reference to program step to select ROI A 02 = ROI B definition step Reference to program step to select ROI B Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 71: Filter
02 = ROI definition step Step number where the ROI to use was created. 03 = Destination bank Image bank in which to display the dilated image. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 72: Erode
02 = ROI definition step Step number where the ROI to use was created. 03 = Destination bank Image bank in which to display the eroded image. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 73: Filter
Median Smooth the part of the image inside the ROI. 04 = Destination bank The image bank in which to display the filtered image. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 74: Stretch Gray
Same procedure as from a) to b) the histogram between the dashed lines is stretched from gray value 1 to gray value 2. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 75 Err. 162 Error in percentage threshold Check the parameter Pixel percentage. The current setting may have caused the returned values Gray low to be higher than Gray high. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 76: Detail Extraction
04 = Threshold The minimum difference in gray value between a pixel and the background that is allowed to consider the pixel a detail. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 77 Note: If the Operator Type parameter is set to Full region, the Bright + Dark option is not available. Returned Values 01 = Number of Detail Pixels The total number of detail pixels found. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 78: Binarize
02 = Pixel out of range Total number of found pixels outside the lower and the upper threshold. 03 = Low Threshold Low threshold value 04 = High Threshold High threshold value © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 79: Edge
Check if the specified ROI is generated by a 'ROI rectangle' tool. Err. = 108 Error in Find row edge Check if selected row is inside the ROI. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 80: Find Column Edge
Err. = 104 Error: points out of bank Check if the specified ROI is generated by a 'ROI rectangle' tool. Check if the specified column is inside the ROI. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 81: Find Row
For some applications it is useful to combine this tool with the 'Find Column' tool to detect the column as well. In some cases the column and the row could be used to establish the x- and y-coordinates of the found pixel. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 82 Error Messages Err. 107 Error: points out of bank Check that the ROI is generated by the 'ROI rectangle' tool and not by a different ROI tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 83: Find Column
For some applications it is useful to combine this tool with the 'Find Row' tool to detect the row as well. In some cases the column and the row could be used to establish the x- and y-coordinates of the found pixel. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 84 Error Messages Err. 107 Error: points out of bank Check that the ROI is generated by the 'ROI rectangle' tool and not by a different ROI tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 85: Find Line Edge
The red circles correspond to the location of the returned X and Y coordinates. Red circles displayed in this example only. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 86 10 pixels in line direction. This avoids faulty results due to the influence on single pixels. This option is available with evaluation method 2: Detect an absolute change of gray scale values only. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 87 Y coordinate of the first found pixel. Set to 0 if no transitions were found. Error Messages Err. = 10 Error in Parameter 10. Value has to be less than 11. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 88: Find Subpixel Edge
Returned Values 01 = X transition X coordinate of the found edge with subpixel resolution. 02 = Y transition Y coordinate of the found edge with subpixel resolution. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 89: Find Multiple Edges
Figure – Edge finding with evaluation type Relative, which detects a relative change of gray values. Note that the Min edge distance value should be greater than the Scan in- terval value to avoid misplaced results. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 90 08 = Gray high Upper gray value threshold. Available only with evaluation type absolute threshold. Note that this value will be ignored when using evaluation type relative threshold. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 91 Returned Values 01 = Found transitions Total number of found edges. Error Messages Error 135 The line is too short. Error 136 The line is too long. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 92: Find Mean Of Edges
09 = Destination bank Number of the destination bank in which to display source bank, selected pixels and fitted line. Make sure that Destination bank is different from Source bank. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 93 ROI. Blue circles: found pixels which will be considered for the linear fit, red circles: found pixels but ignored and not considered for the linear fit, green circles: fitted mean line. The table below the image shows the result parameters. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 94: Find Circle Edges
A relative change of gray values is detected. Note that the Min edge distance value should be greater than the Scan interval value to avoid misplaced results. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 95 Only available with evaluation type Relative. Note that this value will be ignored when using evaluation type Absolute. Number of pixels that will be skipped if a transition is found. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 96 Returned Values 01 = Error flag Flag = 0 if the function was executed correctly. 02 = Found edges Total number of found transitions. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 97: Measure
Returned Values 01 = X center X coordinate of calculated center of gravity. 02 = Y center Y coordinate of calculated center of gravity. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 98: Area
Total number of found pixels between the lower and upper threshold. 02 = Pixels out of range Total number of found pixels outside the lower and upper threshold. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 99: Single Blob Analysis
03 = Y center Y coordinate of calculated centroid. Example Gray High = 243 Gray Low = 74 Starting point Gray High = 200 Gray Low = 74 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 100: Perimeter
Check thresholds for gray values. Err. = 118 Number of found contour pixels is less then 20. Check thresholds for gray values. Examples input starting point contour starting point © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 101: Mean Intensity
Threshold for lower gray value. Returned Values 01 = Mean intensity Mean gray value of the found pixels 02 = Found pixels Total number of found pixels © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 102: Line Intersection
Y coordinate of cross point Errors Err. 112 No cross point found. Check that selected points for one line are different. Check that lines are not parallel. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 103: Distance And Angle
Angle between the points in degrees ( ). Example Geometrical interpretation of the angle between two points. second point α X-axis first point Figure – Geometrical interpretation of the angel between points. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 104: Blob Finder
If enabled, blobs on the edge of the ROI are ignored. If disabled, edge blobs are included, but only the part of the blob inside the ROI is considered. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 105 The upper threshold used when looking for blobs. ERROR CODES 8200 Too many blob candidates are found. Please adjust the thresholds to limit the number of small blobs. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 106: Blob Analyzer
10 = Compute Perimeter If Enabled, calculates the perimeter length of the blob in pixels. Select Enabled + Visu- alized to vizualize the result. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 107 None. Note that if you use orientation mode None, the bounding box will be defined by the left edge, the top edge, the width and the length of the blob. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 108 The width of the bounding box (along the major xels) axis of the blob). 17 = Bounding Box Length The length of the bounding box (along the minor (pixels) axis of the blob). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 109: Matching
(degrees) performed for. Example: 180 means ±180 degrees, i.e. full rotation. 11 = Max number of The maximum number of shapes that the tool shall search © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 110 A measure of the resemblance of the shape found and the reference shape. The score has an interval of 0 through 100, but it does not represent the similarity in percent. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 111 Search aborted due to timeout. The resulting shape may be less accurate. ERROR CODES 7704 The ROI is partly or completely outside the image. 8828 Error in visualization of the located shape(-s) © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 112: Add Shape Runtime
8800 Initialization of the shape locating algorithm failed. 8838 The ROI Perimeter must have the parameter Filling set to 0=Internal. Otherwise, the ROI will only contain the pixels on the circumference of the perimeter. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 113: Get Shape
No results found from the Shape Locator tool. This can happen if the execution of the Shape Locator tool failed for some reason. 8833 Timeout in the shape locating algorithm © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 114: Transform Image
The ROI specifies what part of the live image that shall be visible in the transformed image. Pixels outside the ROI will be black in the transformed image. Input Parameters 01 = Source bank The image bank where the live image is stored. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 115 No results found from the Shape Locator tool. This can happen if the execution of the Shape Locator tool failed for some reason. 8833 Timeout in the shape locating algorithm © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 116: Transform Roi
02 = Shape locator step The Shape Locator step that was used to find shapes. 03 = Shape index The zero-based index of the shape to retrieve information about. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 117 No results found from the Shape Locator tool. This can happen if the execution of the Shape Locator tool failed for some reason. 8833 Timeout in the shape locating algorithm © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 118: Teach Rotation
The radius of the outer most circle. 05 = Radius B The radius of the inner most circle. 06 = Destination bank The image bank with your resulting teach object. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 119: Match Rotation
The resulting angle of the object in reference to the object of your teach object. 02 = Similarity (%) A measurement of the resemblance of the gray scale information along the circles used. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 120: Teach Pattern
04 = Ref. Point X The X coordinate of the pattern’s reference point. Coordinate 05 = Ref. Point Y The Y coordinate of the pattern’s reference point. Coordinate © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 121 Memory allocation problem 8835 Error in internal ROI handling 8838 ROI type error, please use ROI perimeter with filling “0 – Internal” 9010 General error for pattern inspection algorithm © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 122: Inspect Pattern
They are found by post-processing of the difference image, for example using Detail Extraction, Blob Finder or pixel counting. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 123 High-lighted defects for HMI display or demo purposes. An advanced use of the difference image is to enhance features by suppressing back- ground print, for example increasing robustness of a barcode application. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 124 3x3 smooth filter as pre-processing. Robustness parameter set to robust (Pattern). Accuracy parameter set to high (Shape Locator). No image distortion or noise added. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 125 The trade-off between robustness and speed: Robust, Speed Normal and Fast. 13 = Create Pattern ROI If enabled (true), the found pattern will generate a ROI in © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 126 8980 Pattern found, but partly outside the image bank borders 8981 No matching pattern is found 9015 A pattern is found, but the score is below threshold © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 127 There is no reference pattern stored in the datablock, please re-teach a pattern 9013 The reference pattern is not configured correctly, please re-teach a pattern 9014 Could not allocate memory when generating ROI © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 128: Circular
Resolution for re-sampling the contour in degrees. 10 = Destination bank Image bank in which to show the image with colored contour and calculated centroid of the external area. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 129 Figure – Example of a successfully found external contour. Displayed is the line to find a contour point (yellow line), the found contour (yellow circle) and the center of mass (red cross). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 130: Internal Perimeter
Resolution for re-sampling the contour in degrees. 10 = Destination bank Image bank in which to show the image with colored contour and calculated centroid of the internal area. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 131 Figure – Example of a successfully found internal contour. Displayed is the line to find a contour point (yellow line), the found contour (yellow circle) and the center of gravi- ty (red cross). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 132: Circular Perimeter Roi
= -1 an error occurred. Example Figure – Example of a ROI generated by an external contour with cut outs of three different internal contours. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 133: Circular Analysis
1. 09 = Concentricity Distance between external and internal center of gravity in pixels. 10 = Mean difference radius Distance between internal and external contour. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 134: Check Circular Surface
01 = Error flag Flag = 0 tool terminated correctly. Flag = -1 an error occurred. 02 = Found pixels Total number of detected pixels inside ROI. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 135: Check Circular Shape
02 = X transition X coordinate of the first found defect. 03 = Y transition Y coordinate of the first found defect. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 136: Calculation
0 - 9 Number of decimals in the result 04 = Table index Row in table where the result should be written. Returned Values 01 = Operation result Result © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 137: Mathematical Expression
Result values are sent from the camera to the PC by the tool ‘Display’. Instead of writing an expression in each of the tool’s parameter fields, it can be useful to refer to previous mathematical expression steps that are clearly commented. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 138: In Range
01 = Comparison result Return value = 1 if the Reference value is within the range Return value = 0 if the Reference value is out of the range © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 139: Polar To Cartesian Coordinates
02 = Y coordinate Cartesian coordinate in Y-direction Example Returned Values: Input Parameters: Cartesian coordinates: Center of circle: (X,Y) Angle α and radius (X1,Y1) α X-axes (X,Y) © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 140: Fit Circle
At least two points of the four input points are identical Error 140 At least three points of the four input points are on the same line © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 141: Fit Ellipse
02 = Y center Y coordinate of the ellipse center. 03 = Minor diameter Radius of the minor axes. 04 = Major diameter Radius of the major axes. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 143: Update Statistics
03 = Variable A Value for statistical evaluation. … 12 = Variable J Returned Values 01 = Counter Number of executions since program start or last ’Reset statistics’ tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 144: Reset Statistics
Input Parameters 01 = Step with statistics to Select the update statistics tool in your step program reset which you would like to reset. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 145: Coordinate Alignment
(world coordi- nates). The result from the tool is a transform, which is stored in a data block in the IVC-2D, and can be used later by the 'Get calibrated point' tool to get aligned measurement values.
Page 146: Get Calibrated Point
01 = Calibrated X (mm) Calibrated X coordinate in millimeters 02 = Calibrated Y (mm) Calibrated Y coordinate in millimeters 03 = Calibrated Z (mm) Calibrated Z coordinate in millimeters © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 147: Program
If selected step was deleted during the setup of the program this row is marked red and the previously set value changes to –1. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 148: If Then Goto
Definition: 0 = false. For example = (v2 > v5). 02 = Goto step Step number where the program continues if condition is true. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 149: If Error Goto
Goto step is ig- nored. Returned Values 01 = Last step with error Step number which evoked the last error. 02 = Last error code Error code of last error. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 150: If In Range Goto
Returned Values 01 = Comparison result 1 if condition in Goto if is true. 0 if condition in Goto if is false. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 151: If All In Range Goto
Returned Values 01 = Comparison result all values are in range. at least one value is out of range. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 153: Else
Step 3 Program step Step tool: Else 01 = IF step : 02 = END step: Step 5 Program step Step tool: End 01 = Start step : © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 154: For
Stop value = 10 Increment = 4 Start value = 10 Loop index = 10, 7, 4, 1, -2, -5, -8 Stop value = -10 Increment = -3 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 155: While
= (v2 > v5). 02 = END step Step number that refer to the corresponding function ‘End’. Note that no other step numbers are allowed. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 156: Subroutine Start
01 = Calling step Step number which called the subroutine Example Step number Step tool Execution order Goto step 15 Subroutine Start Intermediate steps Intermediate steps End step © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 157: End
The End tool must follow the following tools: While Subroutine Input Parameters 01 = Start step Step number that refer to the corresponding ‘If‘, ‘While‘, ‘For‘, or ‘Subroutine‘ tool. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 158: Run Flash Program
04=Number of elements The number of table rows to be loaded from the table saved with the step program and into the active table. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 159: Program Protection
IVC Studio. If you try to copy this program from one device to another, it will refuse to run on the other device. Returned Values None. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 160: System
44FFFFFF hexadecimal). When maximum value is reached the value will be wrapped. Input Parameters None Returned Values µ 01 = System time System time in microseconds ( © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 161: Wait
Note that the displayed Time of execution has no meaning in this step. Please ignore this value. Input Parameters 01 = Wait time (ms) Desired time delay in milliseconds. Maximum time delay = 9999 ms. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 162: Read From Table
01 = Table index Index number of the table in which to select a value. Returned Values 01 = Value Returns the read value from the table. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 163: Write To Table
Input Parameters 01 = Value Value to be written in the table. 02 = Table index Index in table where the value should be written. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 164: Fill Table
Index number of the table with the last row of the array. 04 = Fill interval Number of skipped rows between each value. 1 means all cells in the array are filled with the value. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 165: Load Data Block From Flash
The number of the data block in working memory into which to load the data. Returned Values None Error Messages Err=2 A timeout occurred. Err=159 Failed to read file from flash. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 166: Save Data Block To Flash
Clear Unused Memory option on the Flash menu in the Device list. Err. = 8961 The automatic defragmentation failed. The camera may need to be restarted to restore the flash. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 167: Load Image From Flash
Err. = 7304 The file could not be found. Err. = 7306 The size of the image bank to be loaded from file does not match current FOV settings. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 168: Save Image To Flash
Valid values: 1–100. Highest quality of the image (no jpeg compression) Low image quality and short execution time (maxi- mum jpeg compression). Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 169 Clear Unused Memory option on the Flash menu in the Device list. Err. = 8961 The automatic defragmentation failed. The camera may need to be restarted to restore the flash. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 170: Write Table To Flash
Clear Unused Memory option on the Flash menu in the Device list. Err. = 8961 The automatic defragmentation failed. The camera may need to be restarted to restore the flash. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 171: Read Table From Flash
Returned Values 01 = Result 0 – Everything is ok. 1 – The file does not exist. 2 – The file could not be read and interpreted. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 172: Web Status Page
03 = Description A Description for variable A that will be included on the web page (only strings). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 173 ;xxx.yyy.zzz.* Other browsers usually work similarly. If you still have problems, contact your network technician. For example, if your camera has IP address 10.162.8.100, the following should be added in the exceptions list: ;10.162.8.* © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 174: Communication
02 = Parity Select parity: None Even 03 = Data bit Select how many data bits: 04 = Stop bit Select number of stop bits: Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 175: Read Rs485 Values
Check if a ‘Setup RS485’ tool was executed before using this tool. Check Timeout in ms. Check if the number of Expected values is equal to Received bytes. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 176: Write Rs485 Values
Figure – Example for sending values from table via RS485. Input Parameters: Table index: 21 and Number of values: 3.That means beginning at table index 21 three successive values will be send. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 177: Read Rs485 String
Number of received bytes. 02 = Received string Received string. Error Messages Err. 407 Serial protocol Check if a 'Setup RS485' tool was executed before using this tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 178: Write Rs485 String
Check if a 'Setup RS485' tool was executed in the step program before using this tool. Err. 8006 The string to send is too long (more than 4095 charac- ters) © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 179: Enable Ethernet
False Disable transmission of result values and images from the device to PC via Ethernet port. Enable transmission of result values and images from True the device to PC via Ethernet port. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 180: Open Ethernet Raw
For an outgoing connection to be established successfully, the device to which to connect must be waiting for an incoming connection. If the device is an IVC-2D or IVC-3D camera, this means that the camera must have executed an 'Open Ethernet Raw' tool with the Transport Protocol parameter set to Incoming TCP.
Page 181 For UDP, if this parameter is 0 the camera will not be able to send data on this connection. Returned Values None. Error Messages Err. = 8002 No connection possible to the associated address. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 182: Close Ethernet Raw
Returned Values None. Error Messages Err. = 1 The program step referred to by the parameter Open step does not contain an 'Open Ethernet raw' tool. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 183: Read Ethernet Bytes
Err. = 8001 Connection is broken. Err. = 8002 Not possible to connect to the specified device. Err. = 8004 The specified connection is for sending data only. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 184: Read Ethernet Bytes Formatted
01=Received bytes The total number of bytes that have been received. Error Messages Err. = 1 The program step referred to by Open step is not an 'Open Ethernet Raw' step. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 185 Precision error. The number of bytes is not valid for the speci- fied data type. Err. = 8974 Buffer too long. The total number of bytes exceeds the size of the Ethernet buffer (currently 4096 bytes). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 186: Read Ethernet String
Err. = 8001 Connection is broken. Err. = 8002 Not possible to connect to the specified device. Err. = 8004 The specified connection is for sending data only. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 187: Write Ethernet Bytes
The specified connection is for receiving data only. Err. = 7601 Some of the table entries that should be sent had an in- compatible type (only numeric values are allowed). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 188: Write Ethernet Bytes Formatted
The total number of bytes that was sent. Error Messages Err. = 1 The program step referred to by 01=Open step is not an 'Open Ethernet Raw' step. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 189 Precision error. The number of bytes is not valid for the specified data type. Err. = 8974 Buffer too long. The total number of bytes to send exceeds the size of the Ethernet buffer (currently 4096 bytes). © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 190: Write Ethernet String
The specified connection is for receiving data only. Err. =8006 The string to send is too long (more than 4095 characters when using TCP, more than 1472 characters when using UDP) © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 191: Communication Setup
Setup button. See “Communication Setup” on page 223 for more information on the interactive setup. Returned Values None. Error Messages Err. = 8101 There is a syntax error in the definition of the assembly. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 192: Communication Read/Write
DINT: -2 147 483 648 … 2 147 483 647 Err. = 8104 The value to write was a string when expecting a value, or a value when expecting a string. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 193: Send To Ftp
The first row in the file speci- fies the number of data rows, and each of the following rows con- tain datatype and actual data. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 194 The ID of the data block to transmit. Set to -1 if not used. 10=Source bank The index of the image bank to transmit. Set to -1 if not used. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 195 The FTP server did not understand or could not handle the Quote command. Err=8909 At least one of the data types (datablock, image or table) must be specified. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 196: Get From Ftp
This behavior is controlled by the parameter Save Mode. Note: For IVC-2D grayscale bitmaps (*.bmp) and raw images (*.raw or *.img) are suppor- ted by the tool, and for IVC-3D only raw (*.raw or *.img) images are supported.
Page 197 Memory option on the Flash menu in the Device list. Err. = 8961 The automatic defragmentation failed. The camera may need to be restarted to restore the flash. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 198: Get Sntp Time
Could not connect to the SNTP server. Check IP address. Check firewall settings, SNTP uses UDP on port 123. Err=8000 The SNTP server did not respond within the specified timeout. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 199: Input/Output
03 = Wait for The input signal to wait for. High Returned Values 01 = Signal value Actual status on selected pin. 0 = Low 1 = High © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 200: Set Output
Green * Color is valid for cable type DOL-1208- ** Color is valid for cable type STL-1208- 02 = Signal value Status : High Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 201: Set All Outputs
Yellow Out 2 RS485 connector, pin 3 Green * Color is valid for cable type DOL-1208- ** Color is valid for cable type STL-1208- Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 202: Set Timed Output
Pulse on Pulse off High Fixed on Fixed off Since this tool runs as independent task it does not affect the execution time of the pro- gram steps. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 203 Specifies how to set the output signal when Type is set to Delay from trigger or Delayed. Can be set to High or Low. Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 204: Set Led
This tool sets the color of the LED with the label “function” on the device, or turns it off. Input Parameters 01 = Set LED Select one of the four options: Green on Red on Yellow on Returned Values None © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 205: Reader
Horizontal reads the barcode from both from left to right and from right to left. Similarly, Verti- cal reads the barcode in both directions: up and down. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 206 For Pharmacode barcodes, the percentage of the rea- dings that were sucessful. 04=Edge has defects Flag = 1 if there was any dark areas found in the edge around the barcode © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 207: 2D Code
03 = Error flag Indicates whether or not any error occurred when reading the 2D code. 0 = String was decoded successfully. 1 = No string was read. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 209: Interactive Setups
If a search ROI rectangle is specified, only shapes with all edges inside the ROI are returned. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 210 If a table index is specified, information about all shapes will be stored in the table starting at the specified index. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 211 The Live button executes the Shape Locator tool and grabs new images continuously. The result is displayed in the Interactive setup window. The continuous execution is stopped by clicking the button once again. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 212: Add/Edit Shape Interactive Setup
Note that only edges within the Teach ROI are included in the reference shape. The refer- ence shape must not be too small. In order to get a stable matching result, it is recom- © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 213 In the emulator, the next image in the specified image folder will be fetched to the source bank, and if a camera is used a new image is grabbed. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 214: Locating Shapes (Tips And Tricks)
Also select an Edge strength value where the extracted edges stay more or less constant when the Edge strength value is varied around the selected value. This ensures that the same edges will be extracted even if the illumination changes. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 215 Mask away edges that may vary between images. Enable scale search. Adjust the two trade-off parameters towards robustness and accuracy. Increase the max number of shapes. Reduce any clutter in the image. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 216 Shape Locator Transform Image The image is moved and rotated so that the located shape is placed in the same position as it was in the reference image. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 217 The reference shape is created during runtime by specify- ing a source image and the ROI specified previously. Shape Locator Get Shape, Transform Image or Transform ROI © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 218: Find Line Edge
A third option to set the threshold is to move a horizontal line with the left mouse button in the plot of the gray © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 219 The maximum number of shown and stored coordina- tes depends on the selected value in the input field Max number of transitions. Figure – Screenshot of the result table © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 220: Coordinate Alignment
The result from the tool is a transform, which is used later by the 'Get calibrated point' tool to get calibrated or aligned measurement values. The transform is stored in a data block in the IVC-2D’s working memory. To avoid having to re-align after restarting the camera, the result can be saved to the camera‘s flash memory by using a 'Save data block to flash' tool.
Page 221 • Click Create to calculate the transform and save it in a data block in the IVC-2D’s working memory. When the transform is calculated, the estimated transform error is displayed in the window. Note the number of the data block in which the transform is created. This number is used later when referring to the transform in the 'Get calibrated point' tool.
Page 222 The points can be exported to a CSV file by clicking the button Save Calibration Points. The file will have the following format: <return> <return> … <return> © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 223: Communication Setup
'Communication Read/Write' tool is executed. The Interactive Setup for this tool is not available when using the Emulator. Figure – The Communication Setup dialog box © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 224 In a similar manner, the IVC device will try to convert between floating point values and integers, and between strings in the working memory (max 4096 characters), and SSTRING:s (61 characters) and LSTRINGS (497 characters) in the buffer. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 225 To use the OPC protocol for reading and writing data on an IVC device, the OPC server from SICK must be running on a PC in the network. The OPC server is included with the installation of IVC Studio, and the setup file is stored in the folder OPC Server in the installation folder for IVC Studio.
Page 227 Export mapping as text Saves the settings made in this interactive setup to a text file. Rounding/truncation Specifies whether the IVC device should, if necessary, round handling or truncate the value before writing the value to the buffer. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 228: 2D Code
If the symbol size is not specified (set to Any size), the tool uses a symbol size of 10x10 cells for placing the scan lines. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 229 Mirrored codes Specifies whether the tool should try to decode normal codes, mirrored codes, or both. When selecting Search both, each 2D code will be decoded © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 230 Specifies what additional graphics to add to the image in the destination bank: Do not add any additional graphics. None Draw the outline of the 2D code. Code outline © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 231 Indicated if the 2D code is scaled unevenly. Unused error correction Indicates the extent to which damages in the symbol has eroded the reading safety margin provided by the error correction. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 232: Detail Extraction Setup
The visual representation of the result image in the interactive setup window is of good help when searching for suitable radius and threshold values. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 233 The stretching does not preserve the aspect ratio of the image. It is only when showing the image in its original size that one pixel on the screen represents one pixel of the image. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 234: Binarize Setup
The stretching does not preserve the aspect ratio of the image. It is only when showing the image in its original size that one pixel on the screen represents one pixel of the image. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 235: Blob Finder Setup
This function makes the Blob Finder step suit- able as a pre-processing step to other tools. You can create a binary image where only © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 236 Click the Display Result button to display a visual representation of the results: • Pixels within the threshold range are white. • Pixels within the specified area range are red. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 237 If the maximum number of blobs in the table is set to 5, then the list will contain 5 blobs as well. However, all blobs are still stored internally. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 239 The stretching does not preserve the aspect ratio of the image. It is only when showing the image in its original size that one pixel on the screen represents one pixel of the image. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 240: Troubleshooting
IVC camera. If it is not possible to solve the problem using the information in this section, please con- tact technical support in your SICK sales subsidiary. Ask your SICK sales representative for guidance if needed. When reporting a trouble, please write a trouble report as described at the end of this section.
Page 241 In3 high. The normal function of In3 remains, i.e. setting it high at power-up by-passes the starting of program in flash position 0. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 242: Saving To Flash
This means that the tools may take substantially longer to exe- cute in some situations. In general, it is not recommended to use these tools in the normal © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 243: Running Ivc Studio
IVC Studio Solution Contact your IT department for a solution how to configure your VPN client or firewall in a safe way. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 244: Trouble Report
The log file from IVC Studio can be found in the folder (on XP) <My Documents\SICKIVP\SmartCameras\IVC Studio x.x\> • Camera images, both normal and troublesome if possible • Camera step program © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 245: Appendix
Greater than > Sin(x) Sine, x is the angle in radians Cos(x) Cosine, x is the angle in radians Tan(x) Tangent, x is the angle in radians © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 246 Bitwise shift right << Parenthesis, used for giving priority to operands Dot. Separates the integer part of a number from the fractional part Separator, for example Max(5,7) = 7 © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 247 Returns the local time and date as a string, timeZone is the timestr(timeZone, format) local offset from UTC time in hours. Three formats are possible: Format value Example 2008-10-02 14:27:42 02.10.2008 14:27:42 10/02/2008 02:27:42 PM © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 249: B Setting Device Parameters
The default value is 0.0.0.0. In the event that this parameter is not necessary, it should be set to 0.0.0.0 or an empty string. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 250 If the flag is zero the camera gets the IP that was last assigned to it. The last as- signed address is stored in the device.ini file. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 251 2D or 3D images, depending on the type of device. If there is not sufficient mem- ory in the device, the previous value is restored. © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 252 The following addresses are not allowed by the device 0.0.0.0 No address 127.0.0.1 Loopback address 255.255.255.255 Broadcast address 224.x.x.x – This range holds multicast addresses 239.x.x.x © SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved...
Page 253 Avda. Vía Láctea, 4, local 32 Parc. 119-C, P.I. Las Quemadas Parque Empresarial "Torneo" San Fernando de Henares 14014 Córdoba 28830 Madrid 41015 Sevilla Tel: 957 326 200 Tel: 954 186 840 Tel: 910 562 969 info@fluitronic.es © SICK AG All rights reserved www.sick.com 2013-09-09...

SICK IVC-2D Reference Manual

1 Functional Overview

2 Getting Started

3 Using IVC Studio

4 Tools

5 Interactive Setups

6 Troubleshooting

Appendix

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Summary of Contents for SICK IVC-2D