SICK Inspector PIM60 Reference Manual
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SICK Inspector PIM60 Reference Manual

Vision sensor
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REFERENCE MANUAL
Inspector PIM60 ver 2.0
Vision sensor

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Summary of Contents for SICK Inspector PIM60

  • Page 1 REFERENCE MANUAL Inspector PIM60 ver 2.0 Vision sensor...
  • Page 2 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 avail- ability 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.

  • Page 3: Table Of Contents

    Example formatting strings ........23 Control the sensor via Ethernet Raw ........... 26 4.3.1 Basic principles ............26 4.3.2 Command syntax ............. 26 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 4 Login ..................77 Prepare restore mode ............... 78 Transfer restore file to device ............. 78 Device restart ................78 Index ......................79 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 5: Introduction

    Introduction...

  • Page 6: Introduction

    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.

  • Page 7: Interfaces

    Interfaces...

  • Page 8: I/O Extension Box

    Inspector PIM 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.

  • Page 9: Basic Configuration Of The Ip Address

    (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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 10: Enabling The I/O Extension Box

    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.

  • Page 11: Connection To The I/O Extension Box Lost During Operation

    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.

  • Page 12: High Number Of Unanswered Requests To The I/O Extension Box

    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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 13: Web Interface

    • 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 built- in web server.

  • Page 14: Synchronize Live Image With Result

    To start logging images again the log has to be unlocked first and this is done by using the http://<IP-address>/LockLog?Unlock 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 15: Statistics

    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.

  • Page 16: Current Reference Object

    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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 17: Create Custom Web Pages

    To make this easier, the Inspector PIM60 provides a JavaScript that you can use in your web pages, and that helps parsing the results.
  • Page 18 Inspector didn't return any result at all. The following table lists the attributes that are specific to the called method: 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 19: Example: Display Live Image

    // The (new Date()...) is a trick to make the browser // retrieve the image from the Inspector and not from cache setTimeout(refreshLiveImage, 500); 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 20 480, nocache: true, minInterval: 500, refreshInterval: 1000, magnifier: true, imgUrl: "/LiveImage.jpg", refreshText: "Refresh interval" //--> </script> </head> <body> <div id="liveImage"></div> </body> </html> 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 21: Handle The Web Api

    A Custom Web Toolkit can be found on the support pages (vis- documentation ionsupport.sick.com) which provides a framework that simplifies the process of making an HMI as well as additional templates and examples.. 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.

  • Page 22: Ethernet Raw

    Reference Manual Inspector PIM Ethernet Raw 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.

  • Page 23: Attributes

    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). 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 24 Binary output OK. Number of bytes: 27 Part of example string for configuration with a Blob Blob_tool.<NEWLINE/> <BLOB index="0" name="Blob 1"> Found_blobs:<SPACE/><FOUND_BLOBS/><NEWLINE/> -------------------------<NEWLINE/> Blob_information:<NEWLINE/> Position_(X,Y):<SPACE/>(<X/>,<SPACE/><Y/>)<NEWLINE/> 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 25 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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 26: Control The Sensor Via Ethernet Raw

    • 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 27: Select Reference Object

    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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 28: Ethernet/Ip

    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. Get results via EtherNet/IP The following settings are configured in the Ethernet Result Output dialog in the InspectorPIM60 menu.
  • Page 29 Offset byte Variable from from XML configuration (dataType) example above SINT DECISION SINT SINT SINT SINT SINT SINT SINT DINT IMAGE_NUMBER DINT 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 30 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). 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 31 REAL Part of default string for configuration with only a Polygon <IMAGE_NUMBER dataType="DINT" pos="0"/> <POLYGON name="Polygon 1"> <NUM_CORNERS dataType="SINT" pos="0"/> <CORNERS corners="0"> 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 32 Position ref (pos) Data type Offset byte Variable from from XML configuration (dataType) example above SINT NUM_CORNERS SINT SINT SINT SINT SINT 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 33: Control The Sensor Via Ethernet/Ip

    RPI (Requested Packet Interval) specified for the communication channel. With the shortest possible RPI, the highest recommended inspection rate is therefore ap- proximately 30 Hz. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 34: Basic Principles

    Reference Manual Inspector PIM The EDS file for the Inspector PIM60 can be found in the Documentation folder on the Inspector 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.

  • Page 35: Image Triggering

    Ethernet Result Output dialog. Assembly 1 - small result channel Instance ID: Size: 64 bytes 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 36: Assemblies Command Channel

    Main view. Slim command channel The Output assembly contains two parameters that are used for selecting reference object and trigger inspections. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 37 DINT Error code DINT Returnvalue 1 DINT Returnvalue 2 DINT Returnvalue 3 DINT Returnvalue 4 DINT Returnvalue 5 DINT Returnvalue 6 DINT 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 38: Appendix

    Appendix...

  • Page 39: Result Output Formatting

    • container tags: <OBJECT_LOC>, <POLYGON>, <BLOB>, ... • value tags: <X/>, <PIXELS/>, <NEWLINE/>, <TIME/>,... 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 40: Container Specific Tags

    Score view in percent how well of the object is found in the object locator due to match setting DECISION {0, 1} USINT 0=not found, 1=found 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 41 Note that this can be outside the image and there- fore negative. In “pixels” or “mm” depending on attribute “coordUnit” or configured value 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 42 REAL REAL Polygon corner coordinate. In “pixels” or “mm” depending on attribute “coordUnit” or con- 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 43 The lower threshold of the Blob tool's intensity after applying THRESHOLD_ ambient light compensation. LIVE_ USINT The upper threshold of the Blob tool's intensity after apply- THRESHOLD_ 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 44 In “pixels” or “mm” de- pending on attribute “co- ordUnit” or configured value in the Ethernet Result output dialog. SCORE [0, 100] REAL Circle matching score. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 45 Name attribute required if more than one Edge counter exist index [0, 63] Chosen feature/edge index. FOUND_FEA- [0, 64] USINT Number of found features. TURES 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 46 Ethernet Result output dialog. Only applicable for Feature type ANGLE [0, 180] REAL Single edge. A positive value is 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 47 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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 48: General Tags

    Same as <ASCII value="9"/> IGNORED Left angular bracket, "<". Useful when generating XML-formatted output. IGNORED Right angular bracket, ">". Useful when generating XML-formatted output. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 49: Attributes

    Ethernet Result Output dialog from the InspectorPIM60 menu in SOPAS Single Device, see also Section 4.2.3, “Attributes” (page 23). 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 50 The first position num- ber of the dataType section is 0. The range of the attribute pos depends on which assembly is used. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 51 4 bytes [0, 2 DINT 4 bytes REAL 4 bytes Represented as IEEE 754 binary 32 See Section 4.2.3, “Attributes” (page 23). 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 52: Command Channel

    Trig an image acquisition and analysis gRES Retrieve the latest available Ethernet Result Output string gSTAT Retrieve the latest statistics from the device 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 53: 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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 54: Command Channel Index Handling

    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. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 55 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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 56 Change internal illumin- sINT int illum- 0=Off, 1=On ation mode Mode Get internal illumina- gINT int illumMode 0=Off, 1=On tion mode 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 57 200000 ticks] Get digital output delay gINT int outputIn- int type, int delay [0,19], [0=ms, (milliseconds*10 1=tick], or ticks) [1,50000] resp [0 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 58 Get object locator gINT [0, 100], percent match threshold threshold Change object locator sINT int mode 0=off, 1=on rotation search mode 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 59 Change blob in- sINT int index, [0, 7], tensity thresholds int min, [0, 255], min<=max int max [0, 255], min<=max 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 60 0=High quality, 1=Nor- mal, 2=High speed Get blob search gINT int index [0, 7], method int method 0=High quality, 1=Nor- mal, 2=High speed 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 61 [5, 100] pixels for polygon Get polygon position gINT int index [0, 7], search tolerance int tol [5, 100] pixels for single edge 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 62 [0, 7], int x, int y x, y = pixels, Argu- ments are delta val- ues. These can be 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 63 ROI size is the size of the pixel counter ROI in the reference object. Value can be fetched with the command gINT 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 64 [0, 63], edge contrast int contrast [0, 100] Get edge tool edge gINT int index [0, 63], contrast [0, 100] 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 65 [0, 63], um polarity int polarity [0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright) 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 66 [0, 2] (0 = strongest, 1 = first, 2 = last) Change circle po- sINT int index, [0, 63], larity 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 67 [0, 63], er tolerance int unit [0, 1] (0 = pixels, 1 = thresholds millimeters) min*1000 [0, 640000] min<=max 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 68 [0, VGA image diagon- thresholds int max*1000 [0, VGA image diagon- int unit [0, 1] (0 = pixels, 1 = millimeters) min ≤ max 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 69 Get angle offset gINT int index [0, 63] compensation int off- set*1000 For information about tools indexing see Section B.2.4, “Tools indexing” (page 54) 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 70 [0, 64] int max [0, 64] Change edge count sINT int index, [0, 63], search method ro- int robustness [0, 4] bustness 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 71 [0,31] Locator ject string name Get name of Pixel gSTR int referenceOb- [0, 31], counter ject [0, 63] int index string name 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 72: Error Codes

    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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 73 The device is performing an operation and cannot accept new command 8006 Set commands are disabled for this interface 8007 This command is only available for GET 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 74 8125 Width or height is invalid 8126 No tools in configuration 8127 Invalid unit specified 8128 Alignment to specified control points failed 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 75: Version Information

    8 0 Polygon 2 - if OK second reference object rgSTR 8 8107 No polygon with this index exists. - if not OK 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 76 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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 77: Restore Configuration Over Web Api

    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=Main- tenance&sopas_password=<login_password>") 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 78: Prepare Restore Mode

    When the transfer is completed, the parameters on the device are updated and the configur- ation is stored permanently on the flash file system. The device is then restarted. 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...

  • Page 79: Index

    ASCII versus binary, 22 Troubleshooting Basic principles, 26 I/O extension box, 11 Command syntax, 26 Control the sensor via Ethernet Raw, 26 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 80 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 8015726/2013-11 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved Subject to change without notice...
  • Page 82 Avda. Vía Láctea, 4, local 32 Parc. 119-C, P.I. Las Quemadas San Fernando de Henares Parque Empresarial "Torneo" 14014 Córdoba 28830 Madrid 41015 Sevilla Tel: 957 326 200 Tel: 954 186 840 Tel: 910 562 969 info@fluitronic.es SICK AG | Waldkirch | Germany | www.sick.com...

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