Page 1 Compact Vision System Manual Electronics Manual Compact Vision System SBO...-Q Manual 548319 en 1602e [8059655]...
Page 3 ........548319 E (Festo AG & Co. KG, D‐73726 Esslingen, Germany, 2011) Internet: http://www.festo.com E-mail: service_international@festo.com...
Page 4 Contents and general safety instructions ® ® ® ® HARAX , Harting RJ Industrial , CoDeSys , MODBUS ® ® ® ® EtherNet/IP , RSLogix , ABB and KUKA are registered trademarks of the respective trademark owners in certain countries. Festo P.BE-SBO-Q-EN en 1602e...
Page 5: Table Of Contents
3.2.3 Connecting the CAN interface ......3-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 6 ......... 4-112 Festo P.BE-SBO-Q-EN en 1602e...
Page 7 ............Festo P.BE-SBO-Q-EN en 1602e...
Page 8: Intended Use
National and local safety regulations must also be observed. The device is intended for use in an industrial environment. If it is used in residential buildings, interference suppression measures may need to be taken. Festo P.BE-SBO-Q-EN en 1602e...
Page 9: Range Of Application And Certification
EU directives relevant to the product can be found in the declaration of conformity. Certain product configurations have been certified by Underwriters Laboratories Inc. (UL) for the USA and Canada. These configurations are marked as follows: UL Recognized Component Mark for Canada and the United States Festo P.BE-SBO-Q-EN en 1602e...
Page 10: Safety Instructions
Clean the lens/protective glass in case of dirt or other deposits: – using a blower brush or clean, non-lubricated com pressed air – using a soft, moist cloth and a non-abrasive cleaning agent VIII Festo P.BE-SBO-Q-EN en 1602e...
Page 11: Service
• location, screening it from the heat emitted by other devices and light sources. Service Please consult your local Festo repair service if you have any technical problems. Target group This manual is intended exclusively for technicians trained in control and automation technology who have experience in installing and commissioning electronic systems.
Page 12: Important User Instructions
... means that failure to observe the instruction may result in damage to property. The following pictogram denotes passages in the text which describe activities involving electrostatically sensitive devices: Electrostatically sensitive devices: Incorrect handling can result in damage to components. Festo P.BE-SBO-Q-EN en 1602e...
Page 13 Recommendations, tips and references to other sources of information Accessories: Specifications about necessary or useful accessories for the Festo product. Environment: Information on the environmentally friendly use of Festo products. Text designations Bullet points indicate activities that may be carried out in • any order.
Page 14: About This Manual
Help for CheckKon CheckKon functional description and P.SW-KON operating instructions Help system Help for CheckOpti CheckOpti functional description and P.SW-OPTI operating instructions Manual SBO-DeviceManager Help SBO-DeviceManager functional description and operating instructions Tab. 0/2: Compact Vision System documentation Festo P.BE-SBO-Q-EN en 1602e...
Page 15: Product-Specific Terms And Abbreviations
CoDeSys provided by Festo CoDeSys = Controller Development System CoDeSys provided by Festo permits the configuration, commission ing and programming of various Festo components and devices. Condition-controlled Recognition of a signal (e.g. input) reacts to a logic 1 or logic 0.
Page 16 EasyIP Protocol for the simple exchange of operands between Festo controllers (e.g. FEC Standard, PS1, etc.). EasyIP controllers are normally both client and server. But there can also be controllers without server function, such as diagnostic devices or visualisation computers, that participate in EasyIP.
Page 17 Communication standard via TCP/IP in automation technology. Digital output. O module Output module. PLC/IPC Programmable logic controller/industrial PC Rising edge Transition from logic 0 to logic 1 (rising). SBO-DeviceManager Software package for adjusting the network properties and firm ware. Festo P.BE-SBO-Q-EN en 1602e...
Page 18 A Target Support Package contains all of the configuration and expansion files that are needed to make a specific controller (here target system = target) available for the programming environment “CoDeSys provided by Festo”. Extensible Markup Language XML is a markup language for presenting hierarchically structured data in the form of text data.
Page 19: System Overview
System overview Chapter 1 System overview Festo P.BE-SBO-Q-EN en 1602e...
Page 20 ..........1-18 Festo P.BE-SBO-Q-EN en 1602e...
Page 21: Design Of The Sbo Compact Vision System
SBO-DeviceManager. Configuration, commissioning and operation of the integrated CoDeSys PLC run-time system is performed using the soft ware package “CoDeSys provided by Festo”. User-specific firmware versions can be installed on the device for special applications. Festo P.BE-SBO-Q-EN en 1602e...
Page 22 I/Os or a PC. Further information can be found in chapter 3.2.2 on page 3-14. Compact Vision System (pictured: SBOC) PC with software packages Fig. 1/1: Direct networking with the PC Hub/switch Compact Vision System (pictured: SBOC) PC with software packages Fig. 1/2: Camera network Festo P.BE-SBO-Q-EN en 1602e...
Page 23: Variants
Sensor type Monochrome Colour Option Without fieldbus interface Firmware incl. firmware add-in “SBO...-Q Tools Add-In” with the following tools: – Data matrix code reader – Barcode reader – Optical character recognition (OCR). Tab. 1/1: Type codes Festo P.BE-SBO-Q-EN en 1602e...
Page 24 – Protection classes IP65 and IP67 compact design SBOI-Q-R3C-WB – Like SBOI-Q-R3B-WB, but CMOS sensor in colour All listed variants are also available with firmware add-in “SBO...-Q Tools Add-In”. The type designation of these variants includes the extension “S1”. Tab. 1/2: Variants of the SBOI-Q Compact Vision System Festo P.BE-SBO-Q-EN en 1602e...
Page 25 Lenses with CS-Mount thread only possible without protective lens barrel; lenses with C-Mount thread only possible with protective lens barrel or intermediate ring (è chapter 1.5). Entocentric, telecentric or hypercentric lenses can also be used Tab. 1/3: Variants of the SBOC-Q Compact Vision System Festo P.BE-SBO-Q-EN en 1602e...
Page 26: Mode Of Operation
PC or a PLC. Additional I/O possibilities are available via the CAN interface (not SBO...-Q-... -WB). Commissioning Commissioning and operation are performed using the relevant software packages (è chapter 1.3). Festo P.BE-SBO-Q-EN en 1602e...
Page 27: Display And Connecting Elements
1.2.2 Display and connecting elements Integrated lens and LED lighting behind protective glass Status LEDs CAN interface (not SBO...-Q-...-WB) Ethernet interface Operating voltage supply and digital I/Os Focus adjustment Fig. 1/3: Display and connecting elements in SBOI-Q Festo P.BE-SBO-Q-EN en 1602e...
Page 28 1. System overview Adapter for protective barrel Protective barrel Lens (accessories) Status LEDs CAN interface (not SBO...-Q-...-WB) Ethernet interface Operating voltage supply and digital I/Os Fig. 1/4: Display and connecting elements in SBOC-Q 1-10 Festo P.BE-SBO-Q-EN en 1602e...
Page 29 è Tab. 3/7 – For using the device as a CANopen master or I/O expansion (CPI modules) in combination with the PLC run-time system “CoDeSys embedded”. (Not SBO...-Q-...-WB) Tab. 1/4: Compact Vision System connections 1-11 Festo P.BE-SBO-Q-EN en 1602e...
Page 30: Software Packages
CheckOpti permits creation of check programs. SBO-DeviceManager provides the following functions: – Changing the network settings of the device (IP address, gateway, password, etc.). – Transfer of firmware to the device. – Transfer of software add-ins to the device. 1-12 Festo P.BE-SBO-Q-EN en 1602e...
Page 31: Accessories
Cables and plug connectors for continuous use in an industrial environment are available from dealers, e.g. HARTING Electronics GmbH & Co. KG (product series Harax M12 or Harting RJ Industrial) or from Franz Binder GmbH + Co. electrical components KG (series 825). 1-13 Festo P.BE-SBO-Q-EN en 1602e...
Page 32: Selecting A Lens For Type Sboc
A spacer ring (5 mm) is required for C-Mount lenses without protective lens barrel and without adapter for fastening the protective barrel. Screw an SBOL-C-5 adapter into the device to ensure the • correct support dimension (è chapter 1.4). 1-14 Festo P.BE-SBO-Q-EN en 1602e...
Page 33 : Focal length B : Image or sensor size The horizontal size, B, of the sensor is: – for SBO...-Q-R1... 6.61 mm – for SBO...-Q-R2... 8.60 mm – for SBO...-Q-R3... 4.51 mm Tab. 1/6: Calculation formula 1-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 34 100 mm wide at a working distance of 400 mm in SBO...-Q-R1. 400 mm __ . _______ B - B 6.61 mm - 6.61 mm = 99.15 mm 25 mm The following diagrams (è Fig. 1/5) can be used to make rough estimates. 1-16 Festo P.BE-SBO-Q-EN en 1602e...
Page 35 1. System overview SBO...-Q-R1 SBO...-Q-R2 SBO...-Q-R3 Focal length 35 mm Focal length 12 mm Focal length 25 mm Fig. 1/5: Working distances g [mm] and object size G [mm] for typical fixed focal lengths 1-17 Festo P.BE-SBO-Q-EN en 1602e...
Page 36: Selecting Lighting
What light source is suitable for your application depends mainly on the characteristics of the check parts/the characteristics to be checked. A light source is suitable if it emphasises the relevant check part characteristic with maximum contrast. 1-18 Festo P.BE-SBO-Q-EN en 1602e...
Page 37 – Indentations on press-shaped Reflecting light from shiny surfaces is pieces reinforced, dark diffuse light is – Defects on the floor of deep-drawn dispersed. This increases the contrast pieces between dark and light surfaces. Tab. 1/7: Light sources 1-19 Festo P.BE-SBO-Q-EN en 1602e...
Page 38 1. System overview Note Preferably use a back light if the type of recognition • allows this. This allows mostly very reliable images and results – even with interference from outside light. 1-20 Festo P.BE-SBO-Q-EN en 1602e...
Page 39: Mounting
Mounting Chapter 2 Mounting Festo P.BE-SBO-Q-EN en 1602e...
Page 40 Mounting/removing the lens and shield tube on type SBOC ..2.1.5 Removing the protective foil on type SBOI ....Festo P.BE-SBO-Q-EN en 1602e...
Page 41: Mounting
Note Use shielding – e.g. a light-blocking, black housing – • to protect against uncontrollable extraneous light (e.g. ceiling lights, windows, etc.). Uncontrollable extraneous light affects the images created and thus the results. Festo P.BE-SBO-Q-EN en 1602e...
Page 42: Mounting The Compact Vision System
Adapter kit for mounting with screw-on adapter plate, e.g. adapter plate HMSV-11 (not contained in the adapter kit) SBOA-HMSV-41 Adapter kit The adapter has an internal thread G 1/4" for fastening to commercially available photo/video tripods. Tab. 2/1: Adapter kits for mounting Festo P.BE-SBO-Q-EN en 1602e...
Page 43: Dimensions Of Sbo Compact Vision Systems
2. Mounting 2.1.2 Dimensions of SBO Compact Vision Systems Principal axis Fig. 2/1: SBOI dimensions Principal axis Fig. 2/2: SBOC dimensions with protective barrel Festo P.BE-SBO-Q-EN en 1602e...
Page 44: Mounting With Adapter Kit Type Sboa-Hmsv-39
Proceed with mounting as follows: Position the Compact Vision System so that the field of • view is unobstructed and the LEDs on the rear of the housing can be seen. Tighten the mounting screws uniformly. • Festo P.BE-SBO-Q-EN en 1602e...
Page 45: Mounting/Removing The Lens And Shield Tube On Type Sboc
4. Screw the lens hand-tight into the support ring. Mounting the shield tube 5. Check that the seal is seated correctly on the shield tube. 6. Pull the shield tube over the lens. 7. Screw the shield tube clockwise hand-tight into the support ring. Festo P.BE-SBO-Q-EN en 1602e...
Page 46: Removing The Protective Foil On Type Sboi
Remove this protective foil carefully before starting with • commissioning. Note Make sure that the protective glass is not exposed to • any mechanical stress. Scratches and grooves affect image quality and thus also the quality of the check. Festo P.BE-SBO-Q-EN en 1602e...
Page 47: Installation
Installation Chapter 3 Installation Festo P.BE-SBO-Q-EN en 1602e...
Page 48 3.2.3 Connecting the CAN interface ......3-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 49: General Instructions On Installation
Cables with high levels of interference can cause electro magnetic disturbances. Do not place controller cables in the vicinity of cables • with high levels of interference If necessary, use separ ate wiring channels, separate cable bundles or separate cables. Festo P.BE-SBO-Q-EN en 1602e...
Page 50 Check your EMERGENCY STOP concept to ascertain the • measures necessary for putting your machine/system in a safe state in the event of an EMERGENCY STOP (e.g. switching off the operating voltage for the valves and output modules, switching off the compressed air). Festo P.BE-SBO-Q-EN en 1602e...
Page 51: Selecting A Power Supply Unit
Simple 24 V transformers with rectifier and filter capacitor achieve output voltages of 28 V or more at low loads. Correct operation can only be guaranteed if the permitted operating voltage range is not exceeded (è Technical data in appendix A.4). Festo P.BE-SBO-Q-EN en 1602e...
Page 52: Electrical Connections
Make sure that the max. permitted operating voltage • range is not exceeded (è Technical data, chapter A.4). Protect the operating voltage supply for the Compact • Vision System externally. For this, use a fast-acting 2 A micro fuse. Festo P.BE-SBO-Q-EN en 1602e...
Page 53 3. Installation Note Use only one of the following original cables from Festo • for connecting the operating voltage supply and the inputs/outputs. The following table shows the original cables which should be used for connecting the operating voltage supply and...
Page 54 Operating voltage connection and I/Os at the 8-pin M12 plug “24 V DC” The function and functional behaviour of the I/Os can be con figured in CheckKon via system parameters. The functional behaviour of the I/Os in the different evaluation modes must be differentiated (è chapter 4.9 ff.). Festo P.BE-SBO-Q-EN en 1602e...
Page 55 A fast-acting 2 A micro fuse. – The total current of all outputs must not exceed 1.5 A. – The cable screening must be connected with low impedance to the earth potential. Festo P.BE-SBO-Q-EN en 1602e...
Page 56 3. Installation + 24 V I0: Trigger signal O0: Ready for operation O1: Good part O2: Reject part External fuses Cable shield Fig. 3/2: Example configuration of system parameters with the standard values. 3-10 Festo P.BE-SBO-Q-EN en 1602e...
Page 57: Connecting The Ethernet Interface
• For commissioning Compact Vision Systems you must create a connection between your PC and the Compact Vision Systems via Ethernet. For connection to a network or a PC you will require the following cables: 3-11 Festo P.BE-SBO-Q-EN en 1602e...
Page 58 PC must be met (è chapter 4.5). The network characteristics of the device can be adjusted using the SBO-DeviceManager (è chapter 4.5). For data exchange via EasyIP, Telnet or other protocols, relev ant system parameters must be selected (è chapter 4.10.7). 3-12 Festo P.BE-SBO-Q-EN en 1602e...
Page 59 10BaseT/100BaseTX for 100 Mbit networks. Note Use a screened plug connector which will guarantee • continuous contact between the screening/shield and the Compact Vision System. Connect the screening of the Ethernet cable with low • impedance to earth potential. 3-13 Festo P.BE-SBO-Q-EN en 1602e...
Page 60 (è Tab. 3/5). Original cable SBOA-K30E-M12S Crossover cable Cable coupling Fig. 3/3: Direct connection with the PC (pictured: SBOC) 3-14 Festo P.BE-SBO-Q-EN en 1602e...
Page 61: Connecting The Can Interface
The functional principle of the CAN interface depends on the system parameters set for the device. For the CAN interface to be used, it must be configured appropriately. The protocol to be used is also defined here (è chapter 4.10.4 and 4.10.5). 3-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 62 3. Installation 3-16 Festo P.BE-SBO-Q-EN en 1602e...
Page 63: Commissioning
Commissioning Chapter 4 Commissioning Festo P.BE-SBO-Q-EN en 1602e...
Page 64 ......... 4-112 Festo P.BE-SBO-Q-EN en 1602e...
Page 65: Notes On Commissioning
• package (è CheckOpti Help). The commissioning steps are normally performed in the order shown in the next chapter. To optimise the system, it may be necessary to repeat steps that have already been carried out. Festo P.BE-SBO-Q-EN en 1602e...
Page 66: Installing The Software Packages
Note The software packages CheckOpti, CheckKon and SBO-DeviceManager can be downloaded free of charge from the Internet. Please consult your local Festo service if you have any questions. The software packages are installed on your PC with an installation program.
Page 67: Network Settings On The Pc
Select the LAN connection you want to use to connect to • the device, and display its characteristics. Fig. 4/1: Network and data transmission connections In the “Characteristics of LAN Connection” window, check • in particular the characteristics of the “Internet Protocol (TCP/IP)” entry. Festo P.BE-SBO-Q-EN en 1602e...
Page 68 Vision System must be chosen on the basis of one another: Select different IP addresses that have not yet been • assigned to other network participants (è Tab. 4/1). Choose an identical address range via the subnetwork • mask (è Tab. 4/1). Festo P.BE-SBO-Q-EN en 1602e...
Page 69 You can find additional information on this in chapter 4.5 and appendix A.2. Note The following address is set on the Compact Vision System when it leaves the factory: 192.168.2.10 Note Restart the PC if network settings have been changed. Festo P.BE-SBO-Q-EN en 1602e...
Page 70: Firewall Settings On The Pc
Give the firewall permanent permission for the program to • communicate via the network. Setting the firewall at a later stage (manually) is normally also possible. Information on this can be found in the description / Firewall Help. Fig. 4/3: Windows firewall Festo P.BE-SBO-Q-EN en 1602e...
Page 71 Data exchange with PC software 10001 Data exchange with PC software 10002 Device search with PC software (multicast) 44818 EtherNet/IP Standard setting for the Compact Vision System Tab. 4/2: Ports to be opened for software packages Festo P.BE-SBO-Q-EN en 1602e...
Page 72 4. Commissioning Note Opening a port poses a greater safety risk than program- based enabling. Fig. 4/4: Opening port #10000 4-10 Festo P.BE-SBO-Q-EN en 1602e...
Page 73: Network Settings On The Compact Vision System
Windows desktop, or for standard installation: In the Windows menu [Start], select the entry [Festo Software] – [SBO-DeviceManager]. 2. Create a connection to the device using SBO-DeviceManager. 3. Set the network parameters of your Compact Vision System using SBO-DeviceManager (IP address, network mask and if applicable the IP address of the gateway).
Page 74 Connect the device as directly as possible to your PC. • In doing this you will exclude incorrect network configura tions. Also, the search function will find the device even if the setting “Visibility in search requests” is set to “Local (1 Router)”. 4-12 Festo P.BE-SBO-Q-EN en 1602e...
Page 75 If you have any problems, please consult your system • administrator. Note Additional information on IP addressing can be found in the appendix and in the SBO-DeviceManager manual. 4-13 Festo P.BE-SBO-Q-EN en 1602e...
Page 76: Checkkon Connection To The Compact Vision System
2. Start CheckKon by double-clicking on the corresponding symbol on the Windows desktop, or for standard installation: In the Windows menu [Start], select the entry [Festo Software] – [Festo CheckKon]. The program starts and opens the dialogue window “Welcome to CheckKon” (start dialogue). This dialogue window is used to configure the connection to the Compact Vision System.
Page 77 – Deactivation of the network card in the PC due to energy- saving mode. Briefly disconnect the power supply to restart the • device. Additional information can be found in the CheckKon Help, e.g. regarding the basic functions Device connection, Device names and Device control. 4-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 78: Settings On The Compact Vision System
4. Now perform a fine adjustment of the camera mounting position, if necessary. The Compact Vision System is optimally positioned in relation to the check part when the part is in the centre of the camera image. 4-16 Festo P.BE-SBO-Q-EN en 1602e...
Page 79 A “Siemens star” is provided in this manual as a template for setting the image sharpness (è chapter A.3). SBOI SBOC with standard lens from Festo Use a screwdriver to 1. Loosen the locking screw on the lens. •...
Page 80 4. Commissioning SBOI SBOC with standard lens from Festo – 1. Loosen the locking screw on the lens. 2. Turn the aperture ring to adjust the aperture. 3. Tighten the locking screw again slightly. Tab. 4/4: Setting the aperture 7. Now adjust the lighting mounting position, if necessary, to provide optimal lighting for the characteristics to be checked.
Page 81: System Parameters For Preprocessing
The preprocessing functions available depend on the firm ware used. 4-19 Festo P.BE-SBO-Q-EN en 1602e...
Page 82 – e.g. through optimisation of: – Type and position of lighting – Position of the Compact Vision System – Position of the inspection part – Optical characteristics (lens, filter, etc.) (è chapter 4.7). 4-20 Festo P.BE-SBO-Q-EN en 1602e...
Page 83: Selection Of The Evaluation Mode
Selection of the evaluation mode depends on the respective application, in particular on: – the inspection part rate and inspection part flow – the inspection part (individual piece or continuous) – interaction with a higher-level controller. 4-21 Festo P.BE-SBO-Q-EN en 1602e...
Page 84: I/O Process In "Triggered" Evaluation Mode
Output “Ready for Operation” signals logic 1 – any time period set since output “Ready for operation” = logic 1 has expired. This setting is made over the system parameter “Ignore triggering signal after ready for operation”. 4-22 Festo P.BE-SBO-Q-EN en 1602e...
Page 85 Ignore triggering signal after ready for operation The output “Ready for operation” is set to logic 1 only when the results are valid at all outputs. The results can now be processed, e.g. by a higher-level controller (PLC/IPC). 4-23 Festo P.BE-SBO-Q-EN en 1602e...
Page 86 The outputs of the output module of the I/O extension O0 to O3, like the internal outputs, are configured via the system parameters, that is, they are set or reset together with the internal outputs. 4-24 Festo P.BE-SBO-Q-EN en 1602e...
Page 87 – Function at O2 = reject part trigger = 0 ms – Start of lighting = automatic – Earliest start of output is after trigger – Duration of lighting = automatic signal termination = Yes 4-25 Festo P.BE-SBO-Q-EN en 1602e...
Page 88 Duration of lighting = 100 ms – Earliest start of output is after trigger signal termination = Yes – Reset outputs at outputs after “Ignore trigger signal” = Off – Reset outputs at outputs during evaluation = No 4-26 Festo P.BE-SBO-Q-EN en 1602e...
Page 89 Duration of lighting = 100 ms – Earliest start of output is after trigger signal termination = Yes – Reset outputs at outputs after “Ignore trigger signal” = Off – Reset outputs at outputs during evaluation = No 4-27 Festo P.BE-SBO-Q-EN en 1602e...
Page 90: I/O Process With The "Free Run" Evaluation Mode
Between two cycles, a logic 1 can be output at the “Ready for operation” output. The start of image creation and triggering of the lighting can be established regarding the time of the triggering signal. 4-28 Festo P.BE-SBO-Q-EN en 1602e...
Page 91 In this case, after output of the results, the “Ready for operation” output goes over to logic 1 for the set duration. The higher-level controller (PLC) can now read the validly present results. 4-29 Festo P.BE-SBO-Q-EN en 1602e...
Page 92 The outputs of the output module of the I/O extension O0 to O3, like the internal outputs, are configured via the system parameters, that is, they are set or reset together with the internal outputs. 4-30 Festo P.BE-SBO-Q-EN en 1602e...
Page 93 Function at O2 = reject part – Start of lighting = automatic – Duration of lighting = automatic – Reset outputs at outputs after “Ignore triggering signal” = Off – Reset outputs at outputs during Analysis = No 4-31 Festo P.BE-SBO-Q-EN en 1602e...
Page 94 Start of image evaluation triggering signal” = Off after cycle start = 20 ms – Reset outputs at outputs during Function at O2 = external lighting, Analysis = No start of lighting and duration of lighting = manual 4-32 Festo P.BE-SBO-Q-EN en 1602e...
Page 95 As a result, camera images can be checked in very fast sequence for fulfillment of the conditions of the image-based trigger. 4-33 Festo P.BE-SBO-Q-EN en 1602e...
Page 96 The “Single image” setting ensures that the results for a part are only output once, even if the part remains in front of the Compact Vision System for an extended period and thus again fulfills the conditions for the image-based trigger. 4-34 Festo P.BE-SBO-Q-EN en 1602e...
Page 97 Move the mouse to the node points of the “trigger field • area”. With pressed (left) mouse button, change the position and size of the frame. Alternatively, actuate the slide control to set the upper, • lower, left and right trigger field limit. 4-35 Festo P.BE-SBO-Q-EN en 1602e...
Page 98 (evaluation of the image). – “Unit of the trigger threshold” = “pixels” or “percent” – “Trigger threshold” = limit value in the unit of the trigger threshold – “Initiate trigger” with “rising edge” or “falling edge”. 4-36 Festo P.BE-SBO-Q-EN en 1602e...
Page 99 In the “Live image” window, this is shown by a red border around the trigger field area. When the specified conditions of the image-based trigger are not fulfilled, this is shown with a blue border in the trigger field area. 4-37 Festo P.BE-SBO-Q-EN en 1602e...
Page 100 = 0 ms (CAN bus and EasyIP = deactivated) – Function at O2 = external lighting – No external outputs (CAN bus and EasyIP = deactivated) – Image after fulfilled trigger condition = single image 4-38 Festo P.BE-SBO-Q-EN en 1602e...
Page 101: I/O Sequence With The "Fixed Frame Rate" Evaluation Mode
The output time can be postponed by several cycles. If temporary storing is no longer possible, the device enters a fault status or emits a warning (configurable via “Image buffer overflow” system parameter). Temporarily stored images are lost thereby. 4-39 Festo P.BE-SBO-Q-EN en 1602e...
Page 102 (number of full images)” reduces the available memory of the Compact Vision System. Hence it only makes sense to select a value greater than 2 in “Fixed frame rate” evalu ation mode, because only this mode requires a buffer accommodating several images. 4-40 Festo P.BE-SBO-Q-EN en 1602e...
Page 103 Duration of lighting = automatic – Earliest start of output after cycle start – Cycle duration = 220 ms = 0 ms – Reset outputs at outputs during – Function at O2 = reject part Analysis = No 4-41 Festo P.BE-SBO-Q-EN en 1602e...
Page 104 Internal outputs O1, O2, LED D Fig. 4/13: “Fixed frame rate” evaluation mode – signal curve using system parameters Settings of the system parameters: Earliest start of output after cycle start = 300 ms Cycle duration = 220 ms 4-42 Festo P.BE-SBO-Q-EN en 1602e...
Page 105 (I/O expansion, device as CPI module, EasyIP or CheckKon). This duration is approximately 1 ms if the external outputs are deactivated by system parameters and only the internal outputs are used. 4-43 Festo P.BE-SBO-Q-EN en 1602e...
Page 106: Connection To Higher-Level Controller (Plc/Ipc)
– Acknowledge Error signal – Detailed inspection results – Preselection check program with recognised parts type – System parameters and features – Tolerances check program Not SBO...-Q-...-WB Tab. 4/5: Connection possibilities for the Compact Vision System 4-44 Festo P.BE-SBO-Q-EN en 1602e...
Page 107 A higher-level controller must be programmed according to the signal behaviour of the selected evaluation mode. Note the descriptions of the signal processes starting in chapter 4.9.1 ff. 4-45 Festo P.BE-SBO-Q-EN en 1602e...
Page 108: General Information On Use Of Inputs
Input I1 has a double function and can be mapped internally to two different offset addresses: – Apply Inputs signal FW 1 – Acknowledge Error signal FW 2 For reading input I1, flag word 1 or flag word 2 can be used (è chapter A.6.1) 4-46 Festo P.BE-SBO-Q-EN en 1602e...
Page 109 “Ready for operation” output emits logic 0). As soon as the check program has been loaded, the “Ready for operation” output emits logic 1 again. Trigger signals for an inspection are now accepted. 4-47 Festo P.BE-SBO-Q-EN en 1602e...
Page 110 Simplified presentation. The signal curves do not contain jitter, run times or system-related delay times. The inputs must be valid and present for a certain time (min. 30 ms), depending on the I/O possibilities used. 4-48 Festo P.BE-SBO-Q-EN en 1602e...
Page 111 Acknowledge Error signal. The warning condition is automat ically lifted when the cause is eliminated. Information on the errors (description and recommendations for remedy) can be found in chapter 5.1.2. 4-49 Festo P.BE-SBO-Q-EN en 1602e...
Page 112: General Information On Use Of Outputs
– Apply Inputs signal and in case of error: Acknowledge Error signal – Polarity (rising/falling edge or logic 1 / logic 0) can be changed via system parameters. – Deactivated for use under CoDeSys embedded and/or check program 4-50 Festo P.BE-SBO-Q-EN en 1602e...
Page 113 – Output Reject part (standard value) – Output Good part – Output correctly oriented – Output incorrectly oriented – Warning – Error – External lighting – CoDeSys – Check program Tab. 4/6: Functions at internal I/Os 4-51 Festo P.BE-SBO-Q-EN en 1602e...
Page 114: Use Of The I/O Expansion
I/O modules. To provide power to the external I/O modules, first • connect cable SBOA-K20CP-SUP from Festo to the Compact Vision System (è Fig. 4/15). Then connect the I/O modules as depicted in the example •...
Page 115 Use suitable measures in order to avoid equalizing cur • rents, e.g. a common power unit for the compact camera system and the power supply for the I/O modules, or by separate low-impedance potential equalization. 4-53 Festo P.BE-SBO-Q-EN en 1602e...
Page 116 I/O expansion (also note the sequence of the modules) – Modules Report errors (e.g. overload). The assignment of the functions to the individual I/Os of the modules can be configured via system parameters. 4-54 Festo P.BE-SBO-Q-EN en 1602e...
Page 117 Inputs 0 … 7 of the module are interpreted as individual bits and correspond to the check program preselection (0 ... 7): “Bit 0” = check program 1. The input format for the input module can be specified via system parameters. 4-55 Festo P.BE-SBO-Q-EN en 1602e...
Page 118 I/O expansion. The following I/O modules are permissible: – CP-A04-M12-CL – CP-E08-M12-CL – CP-E08-M8-CL – CP-E16-KL-CL Make sure that the system parameter “Function at • CAN interface” has been configured to the value “Off (CoDeSys)”. 4-56 Festo P.BE-SBO-Q-EN en 1602e...
Page 119: Use Of The Device As Cpi Module At Cp Nodes
Notes on installation To connect the device to a CP string, use a suitable cable like cable SBOA-K20CP-WS from Festo. The device does not have any ongoing CP connection and can only be connected at the end of a CP line.
Page 120 CP line X1 or X3. If connected to the CP line x2 or x4, the system parameter must be set to “Yes”. 7. First connect the power supply to the CPX-CP terminal. 8. Actuate the Save button on the CPX-CP terminal to save the new line assignment. 4-58 Festo P.BE-SBO-Q-EN en 1602e...
Page 121 “Acknowledge Error signal” at input I1 or in CheckKon in the “System status” window. A line assignment together with other modules could look as follows: STOP Fig. 4/16: Example line assignment: Compact Vision System SBOI-Q as CPI module 4-59 Festo P.BE-SBO-Q-EN en 1602e...
Page 122 CP masters on CP masters supports with extended without extended extended functions functions functions Compact Vision System acts as CP input and output module Tab. 4/7: Assigned I/Os for the CP input and output module 4-60 Festo P.BE-SBO-Q-EN en 1602e...
Page 123 Bit I12 ... 15 Unused Tab. 4/8: CP inputs 16 CP outputs (from the viewpoint of the device, these are inputs) Output Function Bit O0 Trigger signal Bit O1 Apply Inputs signal Bit O2 Acknowledge Error signal 4-61 Festo P.BE-SBO-Q-EN en 1602e...
Page 124 O8 ... O23 is assigned to the device’s 16 outputs – O24 ... O31 free The address O8 thus corresponds to the trigger signal. Information on the process and signal sequence can be found in chapter 4.9 ff. 4-62 Festo P.BE-SBO-Q-EN en 1602e...
Page 125: Use Of The Device As Canopen Master
CPX-FEC controller: The device can be controlled via the CPI module function of a CPX-FEC. Corresponding system programs can be transferred to the (CPX -FEC) controller using the Festo FST programming software. Note Make sure that the system is in good working order and •...
Page 126 Note Data transmission errors can arise due to signal reflections and signal attenuations. Avoid possible causes: • – missing or incorrect terminating resistor – faulty screened connection – branches – large distances – inappropriate cables. 4-64 Festo P.BE-SBO-Q-EN en 1602e...
Page 127: Use Of The Ethernet Interface With Easyip
4. Commissioning 4.10.7 Use of the Ethernet interface with EasyIP For data transmission and control, the Compact Vision Systems make the Festo EasyIP protocol available. This makes communication possible with the following components: – Festo controllers (e.g. CPX-FEC) with EasyIP support –...
Page 128: Use Of The Ethernet Interface With Telnet
Support for the Telnet function by the Compact Vision System must be enabled via the system parameters. Reading and writing take place via a text-based command line with defined commands, whereby the data to be read/written are defined through memory addresses. 4-66 Festo P.BE-SBO-Q-EN en 1602e...
Page 129 – “On” (normal function): The device to be coupled does not use the Telnet S7 building block – “On” (S7 SBOxQ building block) if you use the Telnet S7 SBOx-Q building block on a corresponding controller. 4-67 Festo P.BE-SBO-Q-EN en 1602e...
Page 130 Vision System at the device to be connected. 6. Program the device to be connected to enable it to access Compact Vision System data. Please consult your local Festo service when using the S7 SBOxQ building block. General information on inputs can be found in chapter 4.10.1.
Page 131 This occurs with the following commands: – USER <User name> – PASS <Password> The user “root” is set up on the Compact Vision System. 4-69 Festo P.BE-SBO-Q-EN en 1602e...
Page 132 4. Commissioning The related password in the delivery condition of the Compact Vision System is “Festo”. Additional users are not supported. Fig. 4/19: Authentication in type SBO...-Q If the combination of user name and password is valid, the message “22 AUTH: access granted” appears.
Page 133 (è appendix A.6). With this command, up to 64 addresses can be read out. Here the flag word addresses should be separated by commas: RFW <address1, address2, address3, ...> . Fig. 4/21: Reading out flag word addresses 4-71 Festo P.BE-SBO-Q-EN en 1602e...
Page 134 The feature names are stored in the check programs and can be established when creating the check program (in CheckOpti). Preferably use meaningful feature names. • If several feature names are identical, the value of the first feature whose name matches is output. 4-72 Festo P.BE-SBO-Q-EN en 1602e...
Page 135 Do not use any of the following characters in data out • put names: – square brackets [ ] – quotation marks “ ” – umlauts – special characters. Use correct capitalisation in data output names. • 4-73 Festo P.BE-SBO-Q-EN en 1602e...
Page 136 The device is ready for operation: Output “Ready for Operation” = logic 1. EXIT Terminate connection The Compact Vision System closes the Telnet connection. VERSION Inquiry of the version of the Telnet server and the version of the device. 4-74 Festo P.BE-SBO-Q-EN en 1602e...
Page 137 – Check program could not be switched. –21 ERROR program number not – Specified check program number is not valid. valid up to firmware 3.4x: code = 0; firmware 3.5 or higher: code = –1 4-75 Festo P.BE-SBO-Q-EN en 1602e...
Page 138 USER or PASS). –63 ERROR no user provided – The command PASS was received before transmission of a user name. -200 ERROR unspecified error – Error not further described. Tab. 4/10: Messages and error descriptions 4-76 Festo P.BE-SBO-Q-EN en 1602e...
Page 139: Use Of The Ethernet Interface With Telnet Streaming
– the check program selected contains Telnet data outputs, – the Telnet data outputs are configured for automatic out put (streaming). Data outputs can be inserted in a check program and con figured with CheckOpti. 4-77 Festo P.BE-SBO-Q-EN en 1602e...
Page 140 In addition to defining which data are to be output, a data output also defines the format of the data (binary, XML). Additional information on creating check programs can be found in the CheckKon Help. Please consult your local Festo service if necessary. Note In the Telnet streaming channel …...
Page 141: Use Of The Ethernet Interface With Telnet Xml
System and the device to be coupled. 2. Using the specified cables, connect the Compact Vision System to the device to be connected, e.g. via an Ethernet switch or hub. 3. Reconnect the power supply. 4-79 Festo P.BE-SBO-Q-EN en 1602e...
Page 142 Open a window with command line via the Windows Start • Menu [Programs] [Accessories] [Entry]. Start the Telnet program and indicate the IP address of • the Compact Vision System as well as the port number defined in the “XML TCP port” system parameter. 4-80 Festo P.BE-SBO-Q-EN en 1602e...
Page 143 Information on this can be found in the Help for the Telnet program. XML structure The return values from the Compact Vision System in XML format always adhere to the following syntax: – There is exactly one root element with the name <Camera> … </Camera> 4-81 Festo P.BE-SBO-Q-EN en 1602e...
Page 144 If authentication has been enabled via the “XML authentica tion required” system parameter, users must identify them selves after the connection is made. This occurs with the following commands: – USER <User name> – PASS <related password> 4-82 Festo P.BE-SBO-Q-EN en 1602e...
Page 145 The user “root” is set up on the Compact Vision System. The related password in the delivery condition of the Compact Vision System is “Festo”. Additional users are not supported. Fig. 4/25: Authentication in type SBO...-Q If the combination of user name and password is valid, this message appears: <Camera>...
Page 146 Fig. 4/26: Writing to a flag word address If the operation is successful you will receive a confirmation message in the format : <Camera> <CommandResultCode>1</CommandResultCode> <CommandResultText>OK: operation successful. </CommandResultText> </Camera> In case of error, an error code and error message are shown. 4-84 Festo P.BE-SBO-Q-EN en 1602e...
Page 147 RNV [name of feature] RNV “Name of feature” Ouputs the current feature value of the specified feature name (è appendix A.6). Only 1 feature value can be read out in each case using the Telnet XML function.. 4-85 Festo P.BE-SBO-Q-EN en 1602e...
Page 148 The feature names are stored in the check programs and can be established when creating the check program (in CheckOpti). Preferably use meaningful feature names. • If several feature names are identical, the value of the first feature whose name matches is output. 4-86 Festo P.BE-SBO-Q-EN en 1602e...
Page 149 Commas, apostrophes and control characters contained in the strings are replaced by “_” characters. If the operation is successful, the result will appear in the following format: <Camera> <DataResult_RSTR>RESULT VALUE </DataResult_RSTR> </Camera> 4-87 Festo P.BE-SBO-Q-EN en 1602e...
Page 150 If the data output exists and uses the Telnet XML function, you will receive the result in the following format: <Camera> <DataResult_RDO> <Name of data output> <float32_1>RESULT VALUE_1</float32_1> <float32_2>RESULT VALUE_2</float32_2> <string_1>RESULT VALUE_N</string_1> </Name of data output> </DataResult_RDO> </Camera> 4-88 Festo P.BE-SBO-Q-EN en 1602e...
Page 151 Output “Ready for Operation” = logic 1. EXIT Terminate connection The Compact Vision System terminates the Telnet XML connection. VERSION Requests the version of the Telnet XML server and of the device. Messages and error messages (è Tab. 4/10). 4-89 Festo P.BE-SBO-Q-EN en 1602e...
Page 152: Use Of The Ethernet Interface With Modbus
System and the device to be coupled. 2. Using the specified cables, connect the Compact Vision System to the device to be connected, e.g. via an Ethernet switch or hub. 3. Reconnect the power supply. 4-90 Festo P.BE-SBO-Q-EN en 1602e...
Page 153 6. Program the device to be connected to enable it to access Compact Vision System data. General information on inputs can be found in chapter 4.10.1. The available memory addresses and their function can be found in appendix A.6. 4-91 Festo P.BE-SBO-Q-EN en 1602e...
Page 154: Use Of The Ethernet Interface With Easyip
When you commission a new EtherNet/IP slave for the first time, this allows the system to be notified of its characterist ics in advance. This has the advantage that the device is correctly identified in a scan and does not require further configuration. 4-92 Festo P.BE-SBO-Q-EN en 1602e...
Page 155 (.ico format) to the Compact Vision System . The device is then displayed accordingly in the configuration program. Notes on installing the EDS files and the icon files can be found in the documentation for your controller. 4-93 Festo P.BE-SBO-Q-EN en 1602e...
Page 156 0 (not supported) Used for devices without outputs – not relevant here. Listen only connections Requires an existing “Exclusive Owner connection”. Up to three devices can “listen”, e.g. for purposes of visualisation on a display. 4-94 Festo P.BE-SBO-Q-EN en 1602e...
Page 157 “Ethernet” and select the command “New Module …” in the context menu. Fig. 4/28: Creating a new module 2. Select “ETHERNET MODULE - Generic Ethernet Module” in the window “Select Module” and confirm with “OK”. 4-95 Festo P.BE-SBO-Q-EN en 1602e...
Page 158 – Assembly Instance Output – Instance for outputs – Size – Size 1 (1 x 16 bit) – Assembly Instance Configuration – Instance for configuration data – Size – Size 0 (0 x 16 bit) 4-96 Festo P.BE-SBO-Q-EN en 1602e...
Page 159 Application Values of type double64 UINT – Values of type REAL UINT Values of type int32 UINT – Values of type int16 UINT – Values of type byte UINT – Values of type str UINT 4-97 Festo P.BE-SBO-Q-EN en 1602e...
Page 160 CheckOpti. Create a .l5x file in CheckOpti in the “Result” register in • the “Data output” window, after selecting the relevant data output. Fig. 4/31: Data output of the EtherNet/IP module 4-98 Festo P.BE-SBO-Q-EN en 1602e...
Page 161 “DataOutput_” data type in the “User-Defined” area after the import, ending with the respective number (= instance) of the data output. Fig. 4/33: Imported data types 3. When you double-click on a data type, its structure will be displayed. 4-99 Festo P.BE-SBO-Q-EN en 1602e...
Page 162 4. Commissioning Fig. 4/34: Structure of an imported data type 4-100 Festo P.BE-SBO-Q-EN en 1602e...
Page 163: Use Of Codesys
CoDeSys program on the Compact Vision System to the “Quality check” application on the same device, for purposes of data exchange. Detailed information on data exchange can be found in the online Help of the programming environment. “CoDeSys provided by Festo”. 4-101 Festo P.BE-SBO-Q-EN en 1602e...
Page 164 To program the integrated CoDeSys soft PLC, you will need the PC software environment “CoDeSys provided by Festo” as well as the Target Support Package for the respective Compact Vision System firmware.
Page 165 And so to operate CoDeSys, an externally coupled device is not mandatory. General information on inputs can be found in chapter 4.10.1. The available memory addresses and their function can be found in appendix A.6. 4-103 Festo P.BE-SBO-Q-EN en 1602e...
Page 166 “CoDeSys provided by Festo” programming environment For use of a controller (target) under “CoDeSys provided by Festo”, a so-called Target Support Package is needed for the corresponding target. This permits access to the system func tions of the target and contains corresponding information in the form of online help.
Page 167 • file is retained. 1. Start the “InstallTarget” program. This program can be found in the start menu under [Programs] [Festo Software] [CoDeSys V2.3 by Festo]. 2. Already installed TSP are displayed in the “Installed target systems” area of the program window.
Page 168 “...” button. The standard entry for the installation directory is: ...CoDeSys V2.3TargetsFestoSBOx-Q_fw35. 6. Highlight the entry “Festo SBOx-Q / SBOx-Q-WB (FW 3.5)” on the left-hand side under “Possible target systems” and click on the “Install” button.
Page 169: Display Of Inspection Results With The "Sbo
Once this has been done, a Web browser can be directly connected with the “SBO...-Q WebViewer” through entry of the IP address of the device, and the check results displayed. 4-107 Festo P.BE-SBO-Q-EN en 1602e...
Page 170 Note For each check program, only one data output of type “HTTP – WebViewer” is possible. If you have not configured a “HTTP – WebViewer” type data output, you will not receive any feature results. 4-108 Festo P.BE-SBO-Q-EN en 1602e...
Page 171 Check, in particular, whether you might have to deactivate • the so-called proxy server to obtain a display. You will find the configuration for the Internet and also the settings for the proxy server under [Connections] [Settings] in the “Characteristics of Internet” dialogue. 4-109 Festo P.BE-SBO-Q-EN en 1602e...
Page 172: Creation Of The Check Programs
– Lighting – Camera image and pre-processing. Information on updating check programs and for setting the system parameters can be found in the parameter help in the “System parameters” window of the CheckKon software package. 4-110 Festo P.BE-SBO-Q-EN en 1602e...
Page 173: Checking The System Settings
CheckOpti or CheckKon. Additional information on preparing check programs can be found in the CheckKon Help. Please consult your local Festo Service if necessary. 4.12 Checking the system settings At completion of commissioning, the following points must always be rechecked: –...
Page 174: Instructions On Operation
Caution Further heating beyond this point can lead to uncontrolled malfunctions. Make sure that the permitted temperature range is • complied with (è Technical data). 4-112 Festo P.BE-SBO-Q-EN en 1602e...
Page 175: Diagnostics And Error Handling
Diagnostics and error handling Chapter 5 Diagnostics and error handling Festo P.BE-SBO-Q-EN en 1602e...
Page 176 ......... . Festo P.BE-SBO-Q-EN en 1602e...
Page 177: Diagnostics And Error Handling
LED flashes green Initialization is in progress Wait until initialization is complete LED is red Indeterminate status, Check power supply to the electronics e.g. operating voltage not present LED is off Tab. 5/1: Operating status LED (A) Festo P.BE-SBO-Q-EN en 1602e...
Page 178 Meaning/error handling Error – LED is red Warning – LED flashes Device is ready to operate; – evaluation can begin LED is yellow Evaluation is in progress – LED is off Tab. 5/3: Activity LED (C) Festo P.BE-SBO-Q-EN en 1602e...
Page 179 LED is yellow No result – LED is off Tab. 5/4: Output LED (D) The function of the output LED can be configured via system parameters; the descriptions here correspond to the standard configuration. Festo P.BE-SBO-Q-EN en 1602e...
Page 180: Error Handling
Reduce exposure time • quickly. – The object lies outside the Ensure minimum distance is • focal range. adhered to. SBOI-Q: 22 mm SBOC-Q: dependent on lens selected – Lens not focussed Focus the lens • Festo P.BE-SBO-Q-EN en 1602e...
Page 181 Disconnect other connection. • a different program/user. – Cause not identifiable Reset device (switch power • off and on). Windows error message – Insufficient free virtual Ensure system requirements • memory are met (è CheckKon Help) Festo P.BE-SBO-Q-EN en 1602e...
Page 182 Cause Remedy The programming environment – Incorrect cable For a direct connection to the • CoDeSys provided by Festo PC, you will probably require cannot connect to the Compact a connecting piece and a Vision System so-called crossover cable in addition to the original cable.
Page 183: A. Technical Appendix
Technical appendix Appendix A Technical appendix Festo P.BE-SBO-Q-EN en 1602e...
Page 184 ....A-44 A.9.2 Telnet communication with a KUKA robot using XML ... A-53 Festo P.BE-SBO-Q-EN en 1602e...
Page 185: Technical Appendix
– using a soft, moist cloth and a non-abrasive cleaning agent Clean the device if it is dirty. • Permitted cleaning agents are soap suds (max. +60 °C) and all non-abrasive agents. Festo P.BE-SBO-Q-EN en 1602e...
Page 186: Addressing In The Ethernet (Basics
An IP address addresses both a network and an individual slave in the network. The IP address therefore contains: – the net ID (specifies the address of a network) and – the host ID (specifies the address of an individual slave in this network). Festo P.BE-SBO-Q-EN en 1602e...
Page 187 Which of the numbers in an IP address represent the net ID and which the host ID is defined through specification of a so-called “net mask”. The telephone number of Festo Germany can be used as an example to explain IP addresses and net masks: 00497113470...
Page 188 – IP address – IP net mask – IP address of the gateway Note The factory settings are as follows: – IP address: 192.168.2.10 – IP net mask: 255.255.0.0 – IP address of the gateway: – Festo P.BE-SBO-Q-EN en 1602e...
Page 189: Siemens Star
A. Technical appendix Siemens star Fig. A/1: Siemens star The Siemens star depicted here is a helpful template for rough focussing. Festo P.BE-SBO-Q-EN en 1602e...
Page 190: Technical Data
Functionality in SBO…-Q Outputs can be parameterised: – Ready for operation, good part, bad part, correctly oriented, incorrectly oriented, warning, error, external lighting, use by CoDeSys/check program 1) C-Mount only with protective lens barrel or SBOL-C-5 adapter Festo P.BE-SBO-Q-EN en 1602e...
Page 191 CP fieldbus – CP fieldbus 2) Protection class as per EN 60 529: Plug connectors inserted or fitted with protective cap 3) With protective barrel 4) In residential buildings, measures for radio interference suppression may be necessary Festo P.BE-SBO-Q-EN en 1602e...
Page 192 139.4 Materials Housing Anodised aluminium Cover Acrylic butadiene styrene, glass fibre reinforced Note on materials Contain no copper or PTFE, RoHS-compliant Product weight 5) With protective barrel 6) Without protective barrel Tab. A/2: Technical data A-10 Festo P.BE-SBO-Q-EN en 1602e...
Page 193: Error Messages
Image buffer overflow (only in evaluation mode = fixed frame rate) Error in image generation Error in check program or system parameter Check program could not be read/found System parameters cannot be read/interpreted Error can be configured A-11 Festo P.BE-SBO-Q-EN en 1602e...
Page 194 Communication error with an input module E107 Overload/short circuit at an output module E108 Overload/short circuit at an input module E109 Low voltage at an output module E110 Low voltage at an input module Error can be configured A-12 Festo P.BE-SBO-Q-EN en 1602e...
Page 195 Detailed information is provided by the system parameter “Current CoDeSys error number” and its error code as per the “errors.ini” file of the Target Support Package E501 CAN interface is busy Error can be configured Tab. A/3: Error messages A-13 Festo P.BE-SBO-Q-EN en 1602e...
Page 196: Address Table For Easyip, Modbus, Telnet And Codesys Embedded
Check program preselection bit 1 uint16 0 or 1 program through setting of Apply Check program preselection bit 2 uint16 0 or 1 Inputs signal. Check program preselection bit 3 uint16 0 or 1 A-14 Festo P.BE-SBO-Q-EN en 1602e...
Page 197: A.6.2 Output Register
Output result reject uint16 Output result correctly oriented uint16 Output result incorrectly oriented uint16 not used uint16 Warning uint16 (corresponds to LED C red & flashing) Error status uint16 (corresponds to LED C red) A-15 Festo P.BE-SBO-Q-EN en 1602e...
Page 198: A.6.3 Rapid Access To The Input And Output Registers
0 to 255 Corresponds to flag program preselection when word 8 to 15. writing The Apply Inputs signal must then be set for application Tab. A/6: Rapid access to the input and output registers A-16 Festo P.BE-SBO-Q-EN en 1602e...
Page 199: A.6.4 Further System Status/System Information
= 0, low byte = 9 Connection to PC uint16 0 = Device is not connected to the PC 1 = Device is connected to CheckKon, for example Tab. A/7: Further system status/system information A-17 Festo P.BE-SBO-Q-EN en 1602e...
Page 200: System Time Of The Device
Parts type 5 uint16 0 to 20 Parts type 6 uint16 0 to 20 Parts type 7 uint16 0 to 20 Parts type 8 uint16 0 to 20 Parts type 9 uint16 0 to 20 A-18 Festo P.BE-SBO-Q-EN en 1602e...
Page 201: Basic Results Of The Last Check
– Recognition quality 0 ... 999 – Good part: 0 ... 100 – Bad part: > 100 Teach mode: Teach mode: – C value – Scatter of features C value 0 ... 100 Orientation quality uint16 Orientation quality A-19 Festo P.BE-SBO-Q-EN en 1602e...
Page 202 The results of up to 256 features results are summarised at the bit-level to 16 bits each (= 1 flag word). Feature result: 0 = bad; 1 = good Tab. A/10: Basic results of the last check A-20 Festo P.BE-SBO-Q-EN en 1602e...
Page 203: Free Flag Words (Non-Remanent
The feature values are also stored as strings of characters (String). In total, there can be no more than 256 blocks of features. The number of features actually used is contained in flag word 266 (è Tab. A/10). A-21 Festo P.BE-SBO-Q-EN en 1602e...
Page 204 – 1 = feature was successfully calculated – 0 = calculation failed Feature type 10077 int16 ID of the feature type Deviation 10078 int16 Deviation (-32000 ... 32000), Good part = -100 ... 100 A-22 Festo P.BE-SBO-Q-EN en 1602e...
Page 205 The features available depend on the check program and the device’s firmware version. Note Additional information on features and tools can be obtained from your local Festo service. Results in text form are also available as the access type “String” (STR) (è chapter A.6.11) A-23...
Page 206: System Parameters
(not evident from the “Live Image” window). For devices of type SBO...-Q-R3, always capture an • additional (unused) image after making changes to system parameters. A-24 Festo P.BE-SBO-Q-EN en 1602e...
Page 207: String Address Table
Fixed feature name (truncated if necessary) Unused string Unused string Addressing example for the 1st feature from STR0; the 2nd feature starts at STR5. Tab. A/14: Features – results of the last check as character string A-25 Festo P.BE-SBO-Q-EN en 1602e...
Page 208: Address Table For Ethernet/Ip
= 0d Product code UINT = 21314 Revision USINT, USINT Major Rev., Minor Rev. Status WORD Serial number UDINT Product name SHORT_STRING = “SBOx-Q” Character string (1 byte per character + 1 byte for string length) A-26 Festo P.BE-SBO-Q-EN en 1602e...
Page 209 The output assembly, in contrast, covers flag words 1…16, as only these can also be written to. They, too, are in com pressed form. Instances Instance Remarks 769d Input data 770d Output data 771d Configuration data A-27 Festo P.BE-SBO-Q-EN en 1602e...
Page 210 DWORD Configuration capability DWORD Get/Set Configuration control DWORD Physical link object ARRAY Get/Set Interface configuration ARRAY Get/Set Host name STRING Services Service code Service name Remarks 01d (01h) GetAttributeAll 14d (0Eh) GetAttributeSingle 16d (10h) SetAttributeSingle A-28 Festo P.BE-SBO-Q-EN en 1602e...
Page 211 The Ethernet link object is used for making further settings for the Ethernet connection. Attributes Attr. no. Access Description Type Remarks Interface speed UDINT Interface flags DWORD Physical MAC address ARRAY Services Service code Service name Remarks 01d (01h) GetAttributeAll 14d (0Eh) GetAttributeSingle A-29 Festo P.BE-SBO-Q-EN en 1602e...
Page 212: Address Table For Ethernet/Ip - Sbo-Specific Objects
Attr. no. Access Description Type Permitted Remarks values Get/Set Trigger signal UINT Get/Set Apply Inputs signal UINT Get/Set Acknowledge Error signal UINT not used UINT not used UINT not used UINT not used UINT not used UINT A-30 Festo P.BE-SBO-Q-EN en 1602e...
Page 213 Instances: Attributes Attr. no. Access Description Type Permitted Remarks values Ready for operation UINT Output result good UINT Output result reject UINT Output result correctly oriented UINT Output result incorrectly oriented UINT not used UINT A-31 Festo P.BE-SBO-Q-EN en 1602e...
Page 214 Recognised parts type bit 4 UINT = Parts type 1 00000001 Recognised parts type bit 5 UINT = Parts type 2 Recognised parts type bit 6 UINT 11111111 = Parts type 256 Recognised parts type bit 7 UINT A-32 Festo P.BE-SBO-Q-EN en 1602e...
Page 215 24 to 31 Get/Set Rapid access to check UINT 0-255 when Corresponds to flag program preselection written word 8 to 15 The Apply Inputs signal must then be set for application A-33 Festo P.BE-SBO-Q-EN en 1602e...
Page 216 3.2.0.9: firmware high byte = 0 low byte = 9 Connection to PC UINT 0 = Device is not con nected to the PC 1 = Device is connec ted to e.g. CheckKon A-34 Festo P.BE-SBO-Q-EN en 1602e...
Page 217 10 5 Instances: Attributes Attr. no. Access Description Type Permitted Remarks values Get/Set Parts type 0 UINT 0…20 Get/Set Parts type 1 UINT 0…20 Get/Set Parts type 2 UINT 0…20 Get/Set Parts type 3 UINT 0…20 A-35 Festo P.BE-SBO-Q-EN en 1602e...
Page 218 Parts type 10 UINT 0…20 Get/Set Parts type 11 UINT 0…20 Get/Set Parts type 12 UINT 0…20 Get/Set Parts type 13 UINT 0…20 Get/Set Parts type 14 UINT 0…20 Get/Set Parts type 15 UINT 0…20 A-36 Festo P.BE-SBO-Q-EN en 1602e...
Page 219 32 bit and divided between 2 FW: FW257 = bit 1…16 (LSW) FW258 = bit 17…32 Example: Part no. 500,000 Part no. high word (MSW) UINT FW257 = 1010 0001 0010 0000 FW258 = 0000 0000 0000 0111 A-37 Festo P.BE-SBO-Q-EN en 1602e...
Page 220 16 bits (= 1 flag word) each. Feature result: 0 = bad 1 = good Free flag words (non-remanent) Object class: 10 7 Instances: Attributes Attr. no. Access Description Type Remarks 1…64 Get/Set Flag word UINT A-38 Festo P.BE-SBO-Q-EN en 1602e...
Page 221 (object class = 106, instance no. = 1, attribute no. 18 ) (è table in the chapter “Basic results of the last check”). A-39 Festo P.BE-SBO-Q-EN en 1602e...
Page 222 A request for the “Valid Flag” is unnecessary. The features available depend on the check program and the device’s firmware version. Additional information on features and tools can be obtained from your local Festo service. Attributes Attr. no. Access Description...
Page 223 Attr. no. Access Description Type Remarks Data output ARRAY You can find a detailed description of how to set up the byte array in the table in the chapter “Data output via EtherNet/IP” (è page 4-97). A-41 Festo P.BE-SBO-Q-EN en 1602e...
Page 224: Data Types
65535 Unsigned 16-bit integer uint32 UDINT 4294967295 Unsigned 32-bit integer uint64 ULINT ) – 1 Unsigned 64-bit integer float32 REAL 1.17549435e–38 3.40282346e+38 32-bit floating point number, smallest and largest representable number in terms of amount A-42 Festo P.BE-SBO-Q-EN en 1602e...
Page 225 1-255. In the current version of the CoDeSys run-time system on the Compact Vision System, the 64-bit data types are NOT supported (è “CoDeSys provided by Festo” online Help [Help] [Content] “Functional overview” section within the “Target system” description).
Page 226: Programming Robot Controllers
– Reading out the Compact Vision System – Initiation of image capture – Reading out the result of the 2nd feature (FW 10100) – Request for a data output – Switching the current check program A-44 Festo P.BE-SBO-Q-EN en 1602e...
Page 227 VAR socketstatus Status; !−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ! Procedure Main ! Description: This demo program shows a telnet communication between controler an ABB robot and a Festo camera SBO...−Q !−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− PROC Main() ! Clear the display of the FlexPendant. TPErase; ! Connect to the cameras telnet server.
Page 228 ! Any camera command must be terminated by ’\0D\0A’ SocketSend ComSocket \Str := ”RFW 16\0D\0A”; SocketReceive ComSocket \Str := readyBit; ! TPWrite ”Ready Signal = ” + readyBit; IF readyBit <> ”1\0D\0A” THEN WaitTime 0.2; ENDIF ENDWHILE ENDPROC A-46 Festo P.BE-SBO-Q-EN en 1602e...
Page 229 ! finished and the time required depends on the check program ! configuration. SocketReceive ComSocket \Str := triggerReturn; ! Important ! ! Any camera response is terminated by ’\0D\0A’ IF triggerReturn <> ”1 OK: operation successful.\0D\0A” THEN TPWrite triggerReturn; stop; ENDIF ENDPROC A-47 Festo P.BE-SBO-Q-EN en 1602e...
Page 230 VAR string flagWord := ””; VAR num Value := 0; VAR bool ok := FALSE; CheckConnectionStatus; ! Important ! ! Any camera command must be terminated by ’\0D\0A’ SocketSend ComSocket \Str := ”RFW ” + Offset + ”\0D\0A”; A-48 Festo P.BE-SBO-Q-EN en 1602e...
Page 231 VAR rawbytes dataCollectionRaw; VAR num float_x; VAR num float_y; VAR num float_angle; CheckConnectionStatus; ! Important ! ! Any camera command must be terminated by ’\0D\0A’ SocketSend ComSocket \Str := ”RDO [” + DataCollectionName + ”]\0D\0A”; A-49 Festo P.BE-SBO-Q-EN en 1602e...
Page 232 This procedure can be used before communications. An alternative would be to use error handlers. !−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− PROC CheckConnectionStatus() status := SocketGetStatus(ComSocket); TPWrite ”Connection Status: ”\Num:=status; IF status <> SOCKET_CONNECTED THEN TPWrite ”Camera Not Connected, re−connecting”; ConnectToCamera; ENDIF ERROR Stop; ENDPROC A-50 Festo P.BE-SBO-Q-EN en 1602e...
Page 233 ! Error handler if the Socket times out or is closed by the server ERROR IF ERRNO = ERR_SOCK_TIMEOUT THEN ! Retry the above Socket call that timed out IF retry_no < 3 THEN TPWrite ”Connection timeout. Retry = ”\Num:=retry_no; A-51 Festo P.BE-SBO-Q-EN en 1602e...
Page 234 ! Retry failed, log and raise the error TPWrite ”Connection to camera failed after retry”; RAISE; ENDIF ELSEIF ERRNO = ERR_SOCK_CLOSED THEN ! If the socket has been closed by the server then one can only ! return RETURN; ENDIF ENDPROC ENDMODULE A-52 Festo P.BE-SBO-Q-EN en 1602e...
Page 235: Telnet Communication With A Kuka Robot Using Xml
KUKA.Ethernet KRL XML is a technology package that is loadable at runtime and has the following functions: – Transfer of data between a robot controller and an external system – Transmitting and receiving data within a KRL program A-53 Festo P.BE-SBO-Q-EN en 1602e...
Page 236 A. Technical appendix Two configuration files need to be installed on the robot con troller for communication between the KUKA robot controller and the Festo Compact Vision System: – XmlApiConfig.xml – [Channel or sensor name].xml e.g. “SBO_Sensor.xml” Because the Compact Vision System cannot evaluate any commands in XML format, the file [Channel or sensor name]+.xml is not needed on the robot controller.
Page 237 ’Port’. −−> <!−− −−> <XmlApiConfig xmlns:xsi=”http://www.w3.org/2001/XMLSchema−instance” xsi: noNamespaceSchemaLocation=”XMLCommunicationSetup.xsd”> <!−− −−> <!−− −−> <XmlApiParam InitOnce=”false”/> <!−− −−> <!−− USE DEMOSERVER −−> <Channel SensorName=”SBO_Sensor” SensorType=”SBO”> <TCP_IP IP=”192.168.2.10” Port=”9997” Route=”false” MapPort=”9997”/> </Channel> <!−− END DEMO −−> </XmlApiConfig> A-55 Festo P.BE-SBO-Q-EN en 1602e...
Page 238 Use correct capitalisation. Fig. A/2: Creating a structure file This file on the KUKA robot controller contains all of the struc ture specifications necessary in order for the Compact Vision System to receive data. A-56 Festo P.BE-SBO-Q-EN en 1602e...
Page 239 System must NOT be XML-formatted. Responses from the Compact Vision System to the robot controller, conversely, are always XML-formatted (è chapter 4.10.10, Structure specification file). The program code here is limited to the content relevant for the demo. A-57 Festo P.BE-SBO-Q-EN en 1602e...
Page 240 ; Camera control commands ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− m_bOK = StrClear(m_sendProg[]) m_sendProg[] = ”CHANGEPRG ” i = StrAdd(m_sendProg[],sProgNumber[]) m_sendImage[] = ”image” m_sendRDO[] = ”RDO [Positions]” ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ; Channel name (sensor name, camera name) ; (see “XmlApiConfig.XML” file) ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− m_sensorname[]=”SBO_Sensor” A-58 Festo P.BE-SBO-Q-EN en 1602e...
Page 241 IF m_bOk == FALSE THEN HALT wait for false ENDIF ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ; Evaluate command result code from camera ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− m_bOk = EKX_GetIntegerElement(0, m_rcvCmdResultCode[], m_nResultCode, m_bNew) IF m_bOk == FALSE THEN HALT wait for false ENDIF A-59 Festo P.BE-SBO-Q-EN en 1602e...
Page 242 ; − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − IF m_nResultCode <> 1 THEN HALT wait for false ENDIF A-60 Festo P.BE-SBO-Q-EN en 1602e...
Page 243 ; − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − IF m_nResultCode <> 1 THEN HALT wait for false ENDIF ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ; Retrieve RDO−data from camera ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− m_nErrCode = EKX_writeline(m_sensorname[], m_sendRDO[]) IF m_nErrCode == eioc_error THEN HALT wait for false ENDIF A-61 Festo P.BE-SBO-Q-EN en 1602e...
Page 244 ENDIF m_bOk = EKX_GetRealElement(0, m_rcvCmdResultPosY[], m_Result.nY, m_bNew) IF m_bOk == FALSE THEN HALT wait for false ENDIF m_bOk = EKX_GetRealElement(0, m_rcvCmdResultAngle[], m_Result.nAngle, m_bNew) IF m_bOk == FALSE THEN HALT wait for false ENDIF A-62 Festo P.BE-SBO-Q-EN en 1602e...
Page 245 ; − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − IF m_Result.nAngle < −180 THEN m_Result.nAngle = m_Result.nAngle + 360 ENDIF IF m_Result.nAngle > 180 THEN m_Result.nAngle = m_Result.nAngle − 360 ENDIF A-63 Festo P.BE-SBO-Q-EN en 1602e...
Page 246 A. Technical appendix ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ; Close XML telnet channel ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− m_bOk = EKX_close(m_sensorname[]) IF m_bOk == FALSE THEN HALT wait for false ENDIF ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− ; Return results to calling function ;−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−− RETURN m_Result ENDFCT A-64 Festo P.BE-SBO-Q-EN en 1602e...
Page 247 Index Appendix B Index Festo P.BE-SBO-Q-EN en 1602e...
Page 248: B. Index
............Festo P.BE-SBO-Q-EN en 1602e...
Page 249 ........4-19 Check program ......XIII, 4-110 Festo P.BE-SBO-Q-EN en 1602e...
Page 250 ........1-14 Festo P.BE-SBO-Q-EN en 1602e...
Page 251 Extraneous light ....... . . 1-18 Festo P.BE-SBO-Q-EN en 1602e...
Page 252 ....4-49 Input “Apply Inputs signal” ......4-47 Festo P.BE-SBO-Q-EN en 1602e...
Page 253 ......4-5, 4-11 Networking and control ......Festo P.BE-SBO-Q-EN en 1602e...
Page 254 ........1-19 Festo P.BE-SBO-Q-EN en 1602e...
Page 255 ..........Festo P.BE-SBO-Q-EN en 1602e...
Page 256 ......... . 1-15 B-10 Festo P.BE-SBO-Q-EN en 1602e...

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Festo SBOI-Q-R3B-WB Manual

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