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O P E R A T I N G I N S T R U C T I O N S TriSpector1000 3D Vision...
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This document is an original document of SICK AG. 2011/65/EU O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Description of the user interface............. 7.2.1 Menus..................7.2.2 Image handling controls............8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Logging images to a microSD memory card......7.8.8 Selecting jobs via digital inputs..........7.8.9 Fieldbuses................O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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TriSpector1000 EtherNet/IP Compatibility......12.6 TriSpector1000 Result Output Function Block........8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Modify the Function Block to fit your output......12.6.6 Troubleshooting............... 100 12.6.7 Function block differences............102 O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
… indicates a potentially harmful situation, which may lead to material damage if not prevented. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Other publications related to the device described here. ■ Publications dealing with accessories. ■ O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Additional signs are not included in the delivery. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Accessories, such as brackets and connecting cables, are only supplied if ordered sep‐ arately. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
CAD files from the TriSpector1000 device page at www.sick.com/TriSpector1000. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Gigabit Ethernet (Gig E) Link: LED on Activity: LED blink 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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No light Result invalid or neutral Laser Green Laser on O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
For a specification of supported microSD memory cards, see "System requirements", page O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
(21.26 x 7.87) TriSpector1060 (25.98) Figure 5: Field of view diagrams 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
All circuits connected to the TriSpector1000 must be designed as SELV circuits ■ (SELV = Safety Extra Low Voltage). O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
The connection requires two encoder channels (A/A¯ and B/B¯) to keep track of ■ movement and direction. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Signal GETH_L1+ GETH_L1- GETH_L2+ GETH_L3+ GETH_L3- GETH_L2- GETH_L4+ GETH_L4- O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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24 V - I/O 7, Configurable Reserved RS-232 Rx RS-232 Tx 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
✓ A product icon appears in the project pane. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Controls for image view, image recording (red), and Force trigger SOPAS ET functions panel 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
As an alternative to the buttons, you can use a mouse with a scroll wheel, as described below. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Figure 14: Reflectance (Hybrid) view mode 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Applied color range Resulting image O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
The Interfaces workflow step contains settings for connections to external interfaces. See"Interfaces workflow step", page 50 for more information. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Motion Forward scanning direction Figure 20: Encoder pulse counter-modes 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
For an example of how to use tools for image analysis, see "Application example: Count‐ ing chocolates", page O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Height range Set upper and lower bounds of the region of interest on the Z-axis. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Remove all blobs that touch the region of interest or image border. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Edge side Position line approximation on top or below of edge. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Select the Score checkbox to use the score value as a Pass/Fail-condition. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Masks Mask a part of the image to exclude it from the search. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Select the Coverage checkbox to use the cover‐ age percentage as a Pass/Fail-condition. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Feature B Second referenced plane tool for measuring angle O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Leave some extra space between the object and the region borders. See figure 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Figure 32: Result 'OK' Figure 33: Result 'Not OK' O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Not OK Result not OK. Result OK. Invalid Result invalid. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
The +Func list contains supported functions and operators. ■ 7.7.4.1 Condition examples O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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The element() function accesses a specified element in the array. Note that the first ele‐ ment in the array has index 0. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
The +Func list contains supported functions and operators. ■ Figure 36: Example of result string O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Logical or not(x) BOOL Logical not of a boolean x 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Calculate the arctangent of x in radians. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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Any string precedes a certain string. Equal to regular expression ".*" 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
"Setting up a TriSpector1000 to communicate via EtherNet/IP", ■ page O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
If the error message 'Webserver not enabled' appears in the web browser, it means that the Webserver checkbox in SOPAS is not selected. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Three parameters related to the image logging are available for the Conditions and Ether‐ net output string sections in the Result workflow step: O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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Figure 38: Example of a result output string which contains the available memory on the microSD card (in bytes) 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Starting the emulator when starting SOPAS ET (without PC application running). ■ O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
Next image, steps to the next image and pauses. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
In the SOPAS ET functions panel, on the Device menu, click Import... ✓ The Import window opens. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Click Load application defaults on the Functions menu. Click Save permanently on the Parameter menu. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Following correct disassembly, pass on any disassembled components for reuse. Separate the recyclable materials by type and place them in recycling containers. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Gigabit Ethernet (TCP/IP), serial (RS-232), con‐ figurable digital I/O Digital inputs 3 x, non-isolated 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Input current High: < 3.0 mA Low: < 0.1 mA O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
1008: 0.049 mm/px 1030: 0.215 mm/px 1060: 0.43 mm/px 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Accessories and where applicable mounting information can be found online at: • www.sick.com/TriSpector1000 O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
The EU declaration of conformity for the TriSpector1000 series vision sensor can be found online on the device webpages at: www.sick.com 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Printed copies of the license texts are also available on request. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Set the distance between tance profile acquisitions, in mm. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Returns the input message. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
CutOffDirection enum NotSet, Above, Below CutOffPlaneTool PlaneRef 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Data type Value range HeightTolerance realrange KernelSize 2, 6 O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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Value range AngleTolerance realrange 0, 180 FeatureA PlaneRef FeatureB PlaneRef 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Enable the Output string checkbox in the Ethernet section, and choose to act as Server on default port 2114. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
IP Address can be modified through its tile as indicated. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
The TriSpector1000 connects to the programmable controller over EtherNet/IP. This connection is configured using the ‘Generic Ethernet Module’ profile. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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Bit description for the entire Input Data Format for the TriSpec‐ tor1000. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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The heartbeat will toggle between High (1) and Low (0) in a fixed interval. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
Use the filters in the ‘Select Module Type’ window to find the ‘Generic Ethernet Module’. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Configuration After the TriSpector1000 is configured, its data will appear as shown. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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In the ‘I/O Configuration’ if a device is selected and ‘Right Clicked’ a menu will pro‐ vide access to the device’s properties. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
TriSpector1000 is configured using SOPAS to receive its trigger by way of a command. In the Image workflow step, configure the ‘Image trigger’ as shown. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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The results will appear within the ‘Result string’ in the Input Tag Database. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
TriSpector1000 there will need to be two commands and for each command there will need to be two UDTs created in the programmable controller. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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TriSpector1000 by way of the ‘Command channel string’. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
Online information on Rockwell Automation Programmable Logic Controllers, network interfaces, and software can be found at www.rockwellautomation.com. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
S7 PLC to get the result output data. The TCP communication must be established by using the Siemens function block “TCON”. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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TCON FB to make the settings and generate the data block. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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SCL-File -> Generate blocks from source. 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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After successful generation, the blocks are created in the “Program blocks” and in the “PLC data types” folder in the TIA project tree. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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TCP Connection ID getting from the TCON Function Block 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Use the variable created as the Data input parameter to the function block. Now you should have two networks looking like in the image below. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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DB_Trispector_Data. The structure is updated each time when the inspector sends new data (Done flag). 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
We will use this “new” string in the following examples to show how to modify your UDT and FB. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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DB_Trispector_Data. Right mouse click on data block DB_Trispector_Data -> Compile -> Soft‐ ware (only changes). 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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#i := #i + 1; //********************************************************** //3: Int of unknown size O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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#i := #i + 1; END_WHILE; #Data."Point5.Y" := STRING_TO_REAL(#s_temp); #s_temp := ''; 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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//********************************************************** Now compile and have a look at the inspection result. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK Subject to change without notice...
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Right mouse click on the data block FB_Trispector_Test_DB -> Compile -> Software (only changes). 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
If none of the problems above, have a look at the monitored values in FB_Trispec‐ tor_Test_DB, the Errorcode might tell you what the problem is. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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Please use the help system of the TIA portal to interpret the error code 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
It is not the firmware version of the PLC but the firmware version of the TRCV FB as could be seen in image below. O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 8021808/12ID/2019-01 | SICK...
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APPENDIX 8021808/12ID/2019-01 | SICK O P E R A T I N G I N S T R U C T I O N S | TriSpector1000 Subject to change without notice...
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Phone +36 1 371 2680 Phone +386 591 78849 E-Mail ertekesites@sick.hu E-Mail office@sick.si India South Africa Phone +91-22-6119 8900 Phone +27 (0)11 472 3733 Further locations at www.sick.com E-Mail info@sick-india.com E-Mail info@sickautomation.co.za SICK AG | Waldkirch | Germany | www.sick.com...
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