MICRO-EPSILON colorCONTROL ACS7000 Instruction Manual
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MICRO-EPSILON colorCONTROL ACS7000 Instruction Manual

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FCS-T-ACS1-30/0-50-1200
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Summary of Contents for MICRO-EPSILON colorCONTROL ACS7000

  • Page 1 Instruction Manual colorCONTROL ACS7000 FCS-T-ACS1-30/0-50-1200 FCS-T-ACS2-R45/0-28-1200 FCS-T-ACS3-TR5-200-1200 FCS-T-ACS1-45/0-38-1200 FCS-T-ACS3-TR9-200-1200 FCS-T-ACS3-TT15-200-1200...
  • Page 2 MICRO-EPSILON Eltrotec GmbH Manfred-Wörner-Straße 101 73037 Göppingen / Germany Tel. +49 (0) 7161 / 98872-300 Fax +49 (0) 7161 / 98872-303 e-mail eltrotec@micro-epsilon.de www.micro-epsilon.com Certified acc. to DIN EN ISO 9001: 2008...

  • Page 3: Table Of Contents

    Location Chart ..........................47 5.4.2 Temporal Display .......................... 49 5.4.3 Color Tolerance Parameters ......................50 Color Measurement ............................52 System ................................54 Spectrum ............................... 54 5.7.1 Comparison ..........................54 5.7.2 Video Signal ..........................55 5.7.3 CIE Diagram ..........................56 colorCONTROL ACS7000...
  • Page 4 A 3.6.3.2 Output Mode: Color Measurement ................76 A 3.6.3.3 Output Mode: Color Recognition ................77 A 3.6.3.4 Output Hardware Status Values .................. 77 A 3.6.3.5 Output of Statistics through RS422 and Ethernet ............78 A 3.6.3.6 Signal Selection for Statistics ..................78 colorCONTROL ACS7000...
  • Page 5 Setting Regardless of TwinCat ....................117 A 4.6 Meaning of STATUS-LED in EtherCAT Operation ..................118 A 4.7 EtherCAT Configuration with the Beckhoff TwinCAT© Manager ..............119 Terminology .......................... 126 A 5.1 Standard Illuminant ............................126 A 5.2 Standard Observer ............................126 colorCONTROL ACS7000...
  • Page 6 ACS7000...

  • Page 7: Safety

    Only change a sensor when the light source is switched off. > Avoid risk of blinding. CE Compliance The following applies to the colorCONTROL ACS7000: - EU directive 2004/108/EC - EU directive 2011/65/EC, “RoHS“ category 9 Products which carry the CE mark satisfy the requirements of the quoted EU directives and the European standards (EN) listed therein.

  • Page 8: Proper Use

    Safety Proper Use - The colorCONTROL ACS7000 is designed for use in industrial and residential environ- ments. It is used for ƒ color measurement ƒ color recognition (classification) - The system may only be operated within the limits specified in the technical data, see Chap.

  • Page 9: Functional Principle, Technical Data

    Thereby, the precise determination of the color values for various observation conditions (type of light, standard observer) with simultaneous coverage of the complete color space is possible. Structure of the System The colorCONTROL ACS7000 Controller ACS7000 color measurement system is Ethernet /EtherCAT modularly designed.

  • Page 10: Technical Data

    Operating temperature -20 °C ... +70 °C Storage temperature -20 °C ... +70 °C Shock resistance DIN EN 60068-2-29; 15 g, 6 ms Vibration resistance DIN EN 60068-2-6; 2 g / 10 Hz … 500 Hz colorCONTROL ACS7000 Page 10...
  • Page 11 2.5 mm, refraction index 1.5). When measuring the illumination (only receiver), these were determined with uniformly illuminated (Lambertian) diffuser by tilting the transmitter towards the receiver. 5) Illumination spot diameter 6) When using it as receiver sensor for illumination measurement colorCONTROL ACS7000 Page 11...
  • Page 12 Functional Principle, Technical Data Controller, colorCONTROL ACS7000 Spectral measuring range 390 - 780 nm Measuring range reflectivity 0 - 200 %R Output values L*a*b*, L*u*v*, L*c*h*, XYZ, E, spectrum Types of light A, C, D65, D50, D75, E, F4, F7, F11, Off Standard observer 2 °, 10 °...

  • Page 13: Delivery

    Delivery Delivery Unpacking Controller colorCONTROL ACS7000 Controller acceptance report CD with documents and auxiliary programs Optional accessories: FCS-T-ACS1-30/0-50-1200 fiber optical sensor, 9 mm measuring spot Fiber optical sensor acceptance report White standard 1.25 Fluorilon CAB-RJ45-Eth; RJ45 patch cable Cat5e; 2 m CAB-M9-4P-St-ge;...

  • Page 14: Installation

    Installation Controller Place the controller colorCONTROL ACS7000 on a level surface, or install it at a location of your choice (e.g. in a switch cabinet) using a DIN EN 60715 mounting rail (DIN rail TS35). The feet can be removed.

  • Page 15: Leds Controller

    After switching on the supply voltage, the Power On LED lights. Always use separate 24 V power supplies for measuring instruments in automation systems. Micro-Epsilon recommends the PS2020 power supply for DIN rail mounting in switch cabinets. colorCONTROL ACS7000...

  • Page 16: Digital I/O

    All GND pins are interconnected, and they are connected to the operating voltage ground. Use a shielded cable. Cable length less than 30 m. Micro-Epsilon recommends the use of the optionally available cable CAB- M9-8P-St-ge. LLL: Output level Error, Sync.

  • Page 17: Color Switching Outputs

    The cable shield is connected to the case. Connect the cable shield at the evaluation unit. All GND pins are interconnected, and they are connected to the operating voltage ground. Use a shielded cable. Cable length less than 30 m. Micro-Epsilon recommends the use of the optionally available cable CAB-M9-7P-St-ge.

  • Page 18: Rs422

    Both LEDs on the plug-in connector light to indicate that the connection was successful and its activity. The measuring instrument can be configured using the Web interface or using ASCII commands (e.g. Telnet), or using EtherCAT objects. colorCONTROL ACS7000 Page 18...

  • Page 19: Synchronization

    7 and 8, see Chap. 4.4.3. The synchronization input is electrically connected to the power supply. Micro-Epsilon recommends the use of the optionally available cable CAB-M9-8P-St- ge. Self-made cables must not exceed a length of 30 m.

  • Page 20: Sensor Cable, Optical Fiber

    Re- duced signal quality and/ This sequence prevents twisting of the signal fibers. or failure of the measur- Only replace the sensor when the light source is switched off to avoid dazzling. ing instrument. colorCONTROL ACS7000 Page 20...

  • Page 21: Attaching The Sensor

    Bending radius fiber optics greater than 70 (2.76) mm 99 ±1 (3.90 ±.04 24.5 (.96 ±0.5 ±.02 Dimensions 17.5 (.69 ±0.5 ±.02 (inches) (1.97 ±2 ±.08 Target (1.57) Fig. 17 FCS-T-ACS1-30/0-50-XXXX fiber optical angle sensor dimensional drawing colorCONTROL ACS7000 Page 21...
  • Page 22 Fig. 18 FCS-X-ACS1-45/0-38-XXXX fiber optical angle sensor dimensional drawing colorCONTROL Circular sensor ACS2 2 x M3 30 (1.18) 24.8 (.98) (25) Optimum measurement 50 (1.97) Target distance 4 x M3 ø72 (2.83) Fig. 19 FCS-X-ACS2-R45/0-28-XXXX circular sensor dimensional drawing colorCONTROL ACS7000 Page 22...
  • Page 23 Fig. 20 FCS-X-ACS3-TRX-200-XXXX (Receiver), FCS-X-ACS3-TT15-200-XXXX (Transmitter) dimensional drawing 17.3 17.3 Fig. 21 FCS-ACS3, Fig. 22 FCS-ACS3, mounting adapter, standard mounting adapter 50 mm 17.3 17.3 Fig. 23 FCS-ACS3, Fig. 24 FCS-ACS3-200, mounting adapter 150 mm mounting rail colorCONTROL ACS7000 Page 23...

  • Page 24: Operation

    The initialization is performed after switching on the controller. The system is ready for making measurements when the STATUS LED is lit green without flashing. To ensure precise measurements, let the measuring system warm up for about 40 minutes. colorCONTROL ACS7000 Page 24...

  • Page 25: Operation Using Web

    169.254.168.1. reach an ACS7000 with the serial number “01234567”, enter “ACS7000_ SN01234567” in the address bar of the web browser. Interactive web pages for programming the controller and peripherals are now shown in the web browser. colorCONTROL ACS7000 Page 25...

  • Page 26: Access Via Ethernet

    By letting the diagram display run in a separate tab or browser window, you do not have to restart the display every time. The diagrams start automatically with call of the function. Fig. 27 Display of the measurement results colorCONTROL ACS7000 Page 26...

  • Page 27: User Interface, Settings

    User level when User / Defines the user level that is enabled when the sensor starts the next time. MICRO-EPSILON recommends switching on Professional selecting Professional level here. When the Professional restores the factory settings (Settings menu > Tools > Fac- tory Settings), the Professional level password is reset to “000”.

  • Page 28: Sensor Fine Positioning, Positioning Target

    Notes for the determination of a suitable measuring rate Applies for the Manual Mode, Measurement Mode control behavior and re- quires the Professional user level. The optimum measuring rate depends on the specified light source brightness and on the sensor used. colorCONTROL ACS7000 Page 28...
  • Page 29 - High external light: select bright LED settings, set white LEDs to maximum power (1023) - High measuring rate with low as possible noise: select bright LED settings, set white LEDs to maximum power (1023) - Targets with strong fluorescence or strong direct reflections: select measurement or automatic mode colorCONTROL ACS7000 Page 29...

  • Page 30: Light Source

    The illumination LEDs are automatically switched off for the duration of the correction process. During the dark correction, the button lockout in the controller is activated and Dark bordered released again afterwards. fields require the Value specification of a value. colorCONTROL ACS7000 Page 30...
  • Page 31 During the light reference: - In the web interface a dynamic field in the upper right range informs about the actual progress of the correction process. - The White reference LED on the controller flashes green during the correction. colorCONTROL ACS7000 Page 31...

  • Page 32: Standard Observer, Illuminant, Color Difference

    0.0 ... 3.0 Factor KL Value 0.0 ... 3.0 Ball (CMC) Factor KC Value 0.0 ... 3.0 Fields with a grey background re- quire a selection. Dark bordered fields require the Value specification of a value. colorCONTROL ACS7000 Page 32...

  • Page 33: Color Management

    5.3.8 Color Management 5.3.8.1 Color Table The colorCONTROL ACS7000 color measurement system can store up to 16 different colors in the internal color table to use them for the color recognition. Color space L*a*b* / XYZ Tolerances (type) Ball / cylinder / box ΔE*...
  • Page 34 Export. Exports the measurement data (spectrum) in the controller’s own format. Select data set. Select a color data set for import. Import. Imports an external saved color in the color table using a controller specific format. colorCONTROL ACS7000 Page 34...

  • Page 35: Digital Interfaces

    Frequency and control events / Exposure time in digits / Detector temperature / Light source temperature / Light sensor brightness / Light sensor blue / Light sensor green / Light sensor red / Profile counter / Timestamp / Error codes colorCONTROL ACS7000 Page 35...
  • Page 36 (standard light type / standard observer) are specified by the user for this. The measured values are out- put automatically. Fields with a grey background re- quire a selection. Dark bordered fields require the Value specification of a value. colorCONTROL ACS7000 Page 36...

  • Page 37: Selecting A Digital Interface

    Multiple measured value frames are combined into one measurement block and enclosed by another header. The header must be located at the start of a UDP/IP or TCP/IP packet. One current header per packet is always transmitted. colorCONTROL ACS7000 Page 37...

  • Page 38: Rs422 Interface

    The maximum number of measured values that can be transferred for a measuring point depends on the controller measuring rate and the specified RS422 interface transmission rate. Where possible, use the maximum available transmission rate (baud rate). colorCONTROL ACS7000 Page 38...

  • Page 39: Colorout

    The changeover to the EtherCAT interface via the web page is not performed immediate- ly. It is performed after restarting the controller. The web page is then no longer available. Instructions for changing back to Ethernet from the EtherCAT interface can be found in the Appendix, see Chap. colorCONTROL ACS7000 Page 39...

  • Page 40: Averaging, Error Handling, Statistics

    Averaging has no effect Fields with a grey on the measuring rate and output rate. background re- quire a selection. Dark bordered fields require the Value specification of a value. colorCONTROL ACS7000 Page 40...
  • Page 41 ... 0 1 2 4 5 1 3 Sorted measurement values: 1 2 3 4 5 Median = 3 ... 1 2 4 5 1 3 5 Sorted measurement values: 1 3 4 5 5 Median (n+1) colorCONTROL ACS7000 Page 41...

  • Page 42: Error Handling (Hold Last Value)

    In the case of reduction of the output data rate, the measuring rate remains unchanged, i.e. output data rate £ measuring rate. Fields with a grey background re- quire a selection. Dark bordered fields require the Value specification of a value. colorCONTROL ACS7000 Page 42...

  • Page 43: Trigger Mode

    Operation 5.3.12 Trigger Mode he digital measured value output on the colorCONTROL ACS7000 can be controlled by an external electrical trigger signal or by a command. - Triggering does not affect the preset measuring rate. - The Sync input is used as external trigger input.

  • Page 44: Synchronization

    Make the selection whether interface settings are involved. Click the Export Setups button. How to load all setups into the controller: Click on the Browse button and input the path. Click the Import Setups button. colorCONTROL ACS7000 Page 44...

  • Page 45: Manage Setups On Pc

    The currently selected files will be backed up to the PC. Importing data: Click the Browse button or (Import Color Table). A Windows dialog box for selecting the file opens. Click the Import Setup button. The PC starts transferring the file to the controller. colorCONTROL ACS7000 Page 45...

  • Page 46: Extras

    Professional is logged in. The buttons will be locked if they have not been used after a restart for a configurable period of time. Press and hold the Dark Reference and White Reference buttons simultaneously for 3 to 5 seconds to enable or disable the button lockout. colorCONTROL ACS7000 Page 46...

  • Page 47: Detection

    If the currently measured color is within the tolerance limits of a taught color, the Color Out digital output is switched depending on the coding, see Chap. 5.3.9.5. The Nearest Color text box always represents the color with the minimum color colorCONTROL ACS7000 Page 47...
  • Page 48 The color detection only operates if at least one color has been taught. A color is then detected if the measured color values fulfil all tolerance conditions. A color displayed on the monitor depends on the monitor settings. colorCONTROL ACS7000 Page 48...

  • Page 49: Temporal Display

    Value specification of a In another table (5), the program combines the three current coordinates (color values, value. e.g. L*, a*, b*) of the measured color of the color space. colorCONTROL ACS7000 Page 49...

  • Page 50: Color Tolerance Parameters

    The time diagrams for the color distances in the color recognition program and the color values in the color measurement program also show slower as well as current trends for the changes of the measured values. colorCONTROL ACS7000 Page 50...
  • Page 51 - Averaging of the array signals and/or of the measured values taking account of a reduced temporal resolution. The color distance tolerances must be defined so that the tolerance limits are greater than the change of the measured values for acceptable targets. colorCONTROL ACS7000 Page 51...

  • Page 52: Color Measurement

    If you select L*a*b* as color space, Dark bordered fields require the Value - the tolerance range of the comparison color is shown in positive and negative specification of a value. direction as a red line. colorCONTROL ACS7000 Page 52...
  • Page 53 The switching outputs are active in combination with the color space L* a* b* and the output mode L*, a*, b* check only. Use the Color Measurement program to determine the tolerance parameters for the Color Detection program. colorCONTROL ACS7000 Page 53...

  • Page 54: System

    Dark bordered The currently measured color of the target is represented by the mixed color from the fields require the Value specification of a RGB color space. value. colorCONTROL ACS7000 Page 54...

  • Page 55: Video Signal

    The current measuring rate is shown above the diagram. The diagram display starts automatically. Use the Stop button - to stop the diagram display, - and to save in a CSV file using the Save button. colorCONTROL ACS7000 Page 55...

  • Page 56: Cie Diagram

    The diagram display starts automatically. Use the Stop button to stop the diagram dis- play. Fields with a grey A color displayed on the monitor depends on the monitor settings. background re- quire a selection. Dark bordered fields require the Value specification of a value. colorCONTROL ACS7000 Page 56...

  • Page 57: Timing, Measurement Value Flux

    When triggering is active, the measured value output starts 3 cycles after the incoming trigger signal. Exposure Input TrigIn Start Measurement digital N value output Fig. 48 Timing for triggering, rising edge, one measured value output colorCONTROL ACS7000 Page 57...

  • Page 58: Reset To Factory Settings

    Reset to factory settings is only possible in the Professional user level. Button operation: Press and hold the buttons Dark reference and Teach color simultaneously for appr. 10 seconds. Menu operation: Change to the menu Preferences > Extras > Factory Set- tings. Click the Reset button. colorCONTROL ACS7000 Page 58...

  • Page 59: Warranty

    MICRO-EPSILON Eltrotec. This warranty does not apply to damage resulting from abuse of the equipment and devices, from forceful handling or installation of the devices or from repair or modifications performed by third parties.

  • Page 60: Appendix

    ACS7000 (power) 11234225 CAB-M9-4P-co-straight; 5m-PUR; open ends colorCONTROL ACS7000 (power) 11234091 CAB-M9-8P-co-straight; 2m-PUR; open ends colorCONTROL ACS7000 (digital I/O, Sync.) 11234099 CAB-M9-8P-co-straight; 5m-PUR; open ends colorCONTROL ACS7000 (digital I/O, Sync.) 11234223 CAB-M9-7P-co-straight; 2m-PUR; open ends colorCONTROL ACS7000 (colour Out) 11234226 CAB-M9-7P-co-straight;...

  • Page 61: A 2 Factory Settings

    No measured value averaging Minutes until automatic button lockout Standard observer 10 ° Standard illuminat Distance model Sphere (Euclidian) ColorOut output mode Binary Operating mode after system start Ethernet Statistics, number of measured values for All values calculation colorCONTROL ACS7000 Page 61...

  • Page 62: Ascii Communication With Controller

    Light source mode (light type) LEDCTRL Control of the light source LEDKW, LEDGR, Intensity of a LED quadrant LEDWW, LEDUV Starting a unique automatic adjust- AUTOLEDADJ ment of an internal LED DARKCORR Start dark reference LIGHTCORR Start light source reference colorCONTROL ACS7000 Page 62...
  • Page 63 Type of distance calculation DELTA_KL Weighting factors to parameterize the DELTA_KC measured color/material DELTA_KH Measurement value processing VSAVERAGE Video averaging AVERAGE Averaging of measurement value STATISTICDEPTH Values used for statistics RESETSTATISTIC Reset the statistics OUTHOLD Error processing colorCONTROL ACS7000 Page 63...
  • Page 64 GETVIDEO Request video signal OUTREDUCE Output data rate SYNC Synchronization TRIGGER Select trigger TRIGGERLEVEL Select level active trigger input TRIGGERCOUNT Number of measurements displayed TRIGGERSW Software trigger pulse RESET Booting the controller KEYLOCK Key lock settings colorCONTROL ACS7000 Page 64...

  • Page 65: A 3.3 General Commands

    ECHO ON: The command name and the command reply or an error message is output. ECHO OFF: Only the command reply or an error message is returned. A 3.3.1.4 Parameter Overview PRINT [ALL] This command outputs a list of all setting parameters and its value. colorCONTROL ACS7000 Page 65...

  • Page 66: A 3.3.2 User Level

    The password is case Sensitiv and may contain only letters from A to Z without umlauts and numbers. The maximum length of the passwords is limited to 31 signs. colorCONTROL ACS7000 Page 66...

  • Page 67: A 3.3.3 Sensor

    Timeout when dark reference A data transmitting is already running -> Dark reference not possible To much light input in the sensor. Object to light Large deviations were detected, please optimize measurement setup and repeat correction. colorCONTROL ACS7000 Page 67...

  • Page 68: A 3.3.3.5 White Balance

    Timeout when light correction A data transmitting is already running -> Light reference not possible To much light input in the sensor. Object to dark Large deviations were detected, please optimize measurement setup and repeat correction. colorCONTROL ACS7000 Page 68...

  • Page 69: A 3.3.4 Interfaces

    Choose “Data selection” in Selection mode to select multiple colors for analysis. If multiple colors are selected or best hit mode is enabled, the system automatically determines the color with the lowest color difference and then checks each difference. colorCONTROL ACS7000 Page 69...

  • Page 70: A 3.3.4.6 Set Binary Format

    Ethernet/EtherCAT, of IP address, language and RS422 are kept temporarily. - COLOR: Only color table is reset to the standard color table. - CURRENT: The current setup is reset to the factory setting. - SAVE: Stores the temporarily settings in a setup. colorCONTROL ACS7000 Page 70...

  • Page 71: Color Database

    COLORNEW <location no.> <name> <color space> <observer> <illuminant> <X> <Y> <Z> ->colornew 12 “Green” XYZ 2 D65 35.760 71.520 11.920 COLORNEW OK -> Or via the spectrum: COLORNEW <location no.> <name> <color space> ->colornew 5 Green Spectrum COLORNEW OK -> colorCONTROL ACS7000 Page 71...

  • Page 72: A 3.4.1.2 Adjusting A Color Description

    ->thresholds “Green 165” THRESHOLDS Green 165 0.7560000 0.2560000 0.4560000 -> To permanently store threshold values so that they are maintained even after re- starting the controller, you need to store them as part of a setup configuration. colorCONTROL ACS7000 Page 72...

  • Page 73: A 3.4.1.4 Switching The Display Of Color Space Data (Xyz Or L*A*B*)

    Use RESETMAPPING to reset any color entries to their teach position, where a color entry is directly related to its position in the flash memory. A 3.4.1.7 Deleting Color COLORDELETE <Name> Deletes a color - <Name>: Name of the color to be deleted (length: max. 16 characters) colorCONTROL ACS7000 Page 73...

  • Page 74: A 3.5 Measurements

    - MOVING: Moving averaging value (averaging depth 2, 4, 8, 16, 32, 64 up to 1024 pos- sible) - RECURSIVE: Recursive averaging value (averaging depth 2 up to 32768 possible) - MEDIAN: Median (averaging depth 3, 5, 7 and 9 possible) colorCONTROL ACS7000 Page 74...

  • Page 75: A 3.5.2.3 Setting The Statistics Calculation

    Video images must be requested individually using the corresponding command. Transmission of recognized colors via the ColorOut switching output may be configured and started independently of the primary output interface using the relevant command. colorCONTROL ACS7000 Page 75...

  • Page 76: A 3.6.3 Select Measurement Values To Be Output

    Each calculated color in one of the available color spaces is associated with three measurement values. For example, if you select OUTCOLOR_RS422 [LAB], three measurement values (L* value, a* value, b* value) are transmitted via the serial interface. colorCONTROL ACS7000 Page 76...

  • Page 77: A 3.6.3.3 Output Mode: Color Recognition

    - LM_GREEN: Illuminant intensity is issued for the following area: Green - LM_BLUE: Illuminant intensity is issued for the following area: Blue - LM_BRIGHT: Issues the total intensity of the illuminant The value range for the color intensity of the illuminant is [0 .. 65536]. colorCONTROL ACS7000 Page 77...

  • Page 78: A 3.6.3.5 Output Of Statistics Through Rs422 And Ethernet

    The sync input is also used as trigger input for flank and level triggering (see Chap. Triggering). Error Description Incorrect parameter type (not a valid type of synchronization). Parameter 1 is too long. colorCONTROL ACS7000 Page 78...

  • Page 79: A 3.7.4 Trigger Modes

    The controller is not in the software trigger mode A 3.7.5 Booting the Controller RESET The Controller restarts. A 3.7.6 Keylock KEYLOCK INACTIVE | ACTIVE | AUTO <TIME> Configures the keylock. Enter a time in minutes in automatic mode to start the keylock. colorCONTROL ACS7000 Page 79...

  • Page 80: A 3.8 Measured Value Format

    Raw signal, 16 bit Raw signal, 16 bit Raw signal, 16 bit Dark corrected signal, 16 bit Linearized signal, 16 bit Balanced signal Balanced signal Balanced signal (spectrum), 16 bit (spectrum), 16 bit (spectrum), 16 bit colorCONTROL ACS7000 Page 80...

  • Page 81: A 3.8.2 Exposure Time / Frequency

    L*a*b* & L*u*v* & L*c*h*: 3 x 32 bit Bit position Description 0 - 18 L*/a*/b*/u*/v*/c*, -value, signed, 9 Bit pre-decimal point, 10 Bit decimal places H° acc. to CIE & DIN99 are unsigned values (0 up to 360 degrees) 19 - 31 Reserved colorCONTROL ACS7000 Page 81...

  • Page 82: A 3.8.9 Color Difference Values

    To remain compliant with the 18 Bit payload restriction for RS422 interfaces, the distance values are transmitted as follows even via Ethernet: color distance via RS422 (11 Bit pre- decimal point position and 7 Bit decimal places). The ColorID can be ordered separately. colorCONTROL ACS7000 Page 82...

  • Page 83: A 3.8.10 Error Status

    The statistical values have the same format as the color differences. If selected, the minimum value is transmitted first, followed by the maximum and then Peak-to-Peak. Statistics values are displayed as 32-bit signed integers or in the relevant RS422 inter- face format. colorCONTROL ACS7000 Page 83...

  • Page 84: A 3.9 Measurement Data Format

    - Reduce measuring frequency, see Chap. 3.5.1.4, see Chap. 5.3.4 - Reduce the amount of data, or reduce to one data word if 2 were selected, see Chap. A 3.6.3 - Reduce output data rate, see Chap. A 3.7.2 colorCONTROL ACS7000 Page 84...
  • Page 85 3. Division of the result with 2^9 4. For signed values (e. g.: a* and b*) check, if result Shifting factor is > 2^8 --> negative, i. e. result = result - 2^9 15267 Result 29.82 colorCONTROL ACS7000 Page 85...

  • Page 86: A 3.9.2 Transmitting Measurement Data To A Measurement Server Via Ethernet

    Temperature of the illumination LED Red portion of the illumination LED Green portion of the illumination LED Blue portion of the illumination LED Total brightness of the illumination LED Profile counter Time stamp Measurement data in the XYZ color space colorCONTROL ACS7000 Page 86...

  • Page 87: A 3.9.2.2 Description Flags2

    Distance value per color, array {001} Distance value per color, array {010} Distance value per color, array {100} reserved Number of statistic values array {001} Number of statistic values array {010} Number of statistic values array {100} colorCONTROL ACS7000 Page 87...

  • Page 88: A 3.9.3 Ethernet Video Signal Transmission

    4294967295 x 1_1/2/3 33-35 -2097152 2097151 -2048.00 2048.00 x/1024 … 36-77 … 16_1/2/3 78-80 -2097152 2097151 -2048.00 2048.00 x/1024 Distance Min_1/2/3 81-83 -2097152 2097151 -2048.00 2048.00 x/1024 DetectedID MinDistID Fig. 50 Overview output data via Ethernet colorCONTROL ACS7000 Page 88...

  • Page 89: A 3.10 Error Messages

    E26 no signals selected. sion. E27 invalid combination of signal Invalid signal combination, please check parameters - please check measure measurement mode and selected signals mode and selected signals E28 the entry already exists. Color exists already colorCONTROL ACS7000 Page 89...

  • Page 90: A 3.11 Warnings

    W06 Data request has been modified by Data request through the system modi- the system, a reason for this could be the fied. The reason may be the selection of a selection of a statistic signal. statistical signal. colorCONTROL ACS7000 Page 90...

  • Page 91: Ethercat-Documentation

    - LWR (Logical write, Writing of a logical storage area) - LRW (Logical read write, Reading and writing of a logical storage area) - ARMW (Auto increment physical read multiple write, Reading of a physical area with auto-increment addressing, multiple writing) colorCONTROL ACS7000 Page 91...

  • Page 92: A 4.1.3 Addressing And Fmmus

    „Safe-Operational“ state. The process data commu- nication runs for the inputs. The outputs are in the „safe“ state. In the „Operational“ state, process data communication runs for the inputs as well as the outputs. colorCONTROL ACS7000 Page 92...

  • Page 93: A 4.1.6 Canopen Over Ethercat

    - Light sensor brightness channel - Light sensor blue channel - Light sensor green channel - Light sensor red channel - Value counter - Timestamp - Sensor state - Statistic min - Statistic max - Statistic peak-peak colorCONTROL ACS7000 Page 93...

  • Page 94: A 4.1.8 Service Data Sdo Service

    All parameters of the measuring device can be read or changed in this way, or measurements can be transmitted. A desired parameter is addressed via index and subindex within the object directory. colorCONTROL ACS7000 Page 94...

  • Page 95: A 4.2 Coe - Object Directory

    Object 1008h: Manufacturer device name 1008 Device name IFC24x1 Visible String ro Object 1009h: Hardware version 1009 Hardware version V x.xxx Visible String ro Object 100Ah: Software-Version 100A Software version V x.xxx Visible String ro colorCONTROL ACS7000 Page 95...
  • Page 96 Sync manager 1 0x01 Unsigned8 Sync manager 2 0x02 Unsigned8 Sync manager 3 0x03 Unsigned8 Sync manager 4 0x04 Unsigned8 Object 1C13h: TxPDO assign 1C13 RECORD TxPDO assign Subindices Number of entries Unsigned8 Subindex 001 0x1A00 Unsigned16 colorCONTROL ACS7000 Page 96...
  • Page 97 Cycle time 100000 Unsigned32 Sync modes supported 0x4005 Integer16 Minimum cycle time 1000000 Integer32 Calc and copy time Integer32 Get cycle time Integer16 SM event missed counter 0 Integer32 Cycle exceeded counter Integer32 Sync error FALSE Bool colorCONTROL ACS7000 Page 97...

  • Page 98: A 4.2.2 Manufacturer Specific Objects

    6087 Color distance no. 8 Distance to color 8 6088 Color distance no. 9 Distance to color 9 6089 Color distance no. 10 Distance to color 10 608A Color distance no. 11 Distance to color 11 colorCONTROL ACS7000 Page 98...
  • Page 99 Unsigned8 Name ACS7000 Visible String ro Serial No xxxxxxxx Visible String ro Option No Visible String ro Article No xxxxxxx Visible String ro Further details can be found in the section Controller Information, see Chap. 3.3.1.2. colorCONTROL ACS7000 Page 99...
  • Page 100 Delete all setups FALSE BOOL Delete current setup FALSE BOOL Keep device settings FALSE BOOL Save interface settings FALSE BOOL Further details can be found in the section Extras, see Chap. 5.3.17 and Default Settings, see Chap. 3.3.5.3. colorCONTROL ACS7000 Page 100...
  • Page 101 2 - 2 ° 10 - 10 ° Standard illuminant: 0 - D50 4 - C 8 - F11 1 - D65 5 - E 2 - D75 6 - F4 3 - A 7 - F7 colorCONTROL ACS7000 Page 101...
  • Page 102 4 - Recursive average of 16 video signals 5 - Recursive average of 32 video signals 6 - Recursive average of 64 video signals 7 - Recursive average of 128 video signals 8 - Reduction to 256 points and 8 bit colorCONTROL ACS7000 Page 102...
  • Page 103 Light sensor green channel FALSE BOOL Light sensor red channel FALSE BOOL Value counter FALSE BOOL Time stamp FALSE BOOL Sensor state FALSE BOOL Statistic min FALSE BOOL Statistic max FALSE BOOL Statistic peak-peak FALSE BOOL colorCONTROL ACS7000 Page 103...
  • Page 104 BOOL Color distance no. 16 FALSE BOOL ColorValues at Detection Mode FALSE BOOL Color distance no. 1 to 16 can only be selectable when color difference measurement (object 0x2154.1) and Selected mode (Best-Hit mode Object 0x2154.2). colorCONTROL ACS7000 Page 104...
  • Page 105 Object 2202h: Color output 2202 RECORD ColorOut settings Subindices Anzahl Einträge Unsigned8 Output mode Unsigned8 Binary format Unsigned8 Color to compare Unsigned8 Further details can be found in the section ColorOut, see Chap. 5.3.9.5, see Chap. 3.3.4.5. colorCONTROL ACS7000 Page 105...
  • Page 106 1 - At edge triggering: Rising edge; at level triggering: High Number of value per trigger pulse: Number of output data after a trigger pulse for edge or software triggering, 0...16382, 16383 = infinite, 0 = Stop colorCONTROL ACS7000 Page 106...
  • Page 107 2 - 2 ° 10 - 10 ° Standard illuminant: 0 - D50 4 - C 8 - F11 1 - D65 5 - E 2 - D75 6 - F4 3 - A 7 - F7 colorCONTROL ACS7000 Page 107...
  • Page 108 Delta 1 FLOAT32 Delta 2 FLOAT32 Delta 3 FLOAT32 Object 2816h: Limit value selection 2816 RECORD Threshold selection Subindices Number of entries Unsigned8 Color ids 1, 2, 3, Visible String rw Selected color for edit 0x01(1) Unsigned8 colorCONTROL ACS7000 Page 108...
  • Page 109 RGB color values B Unsigned 32 ro Object 6067h: L*a*b* color values 6067 RECORD L*a*b* color values Subindices Number of entries Unsigned8 L*a*b* color values L* Signed32 L*a*b* color values a* Signed32 L*a*b* color values b* Signed32 colorCONTROL ACS7000 Page 109...
  • Page 110 RECORD Color distance no. 2 Subindices Number of entries Unsigned8 Color distance no. 2 L* Signed32 Color distance no. 2 a* Signed32 Color distance no. 2 b* Signed32 Color distance no. 2 ab* Signed32 Color distance no. 2 E Signed32 colorCONTROL ACS7000 Page 110...
  • Page 111 RECORD Color distance no. 7 Subindices Number of entries Unsigned8 Color distance no. 7 L* Signed32 Color distance no. 7 a* Signed32 Color distance no. 7 b* Signed32 Color distance no. 7 ab* Signed32 Color distance no. 7 E Signed32 colorCONTROL ACS7000 Page 111...
  • Page 112 RECORD Color distance no. 12 Subindices Number of entries Unsigned8 Color distance no. 12 L* Signed32 Color distance no. 12 a* Signed32 Color distance no. 12 b* Signed32 Color distance no. 12 ab* Signed32 Color distance no. 12 E Signed32 colorCONTROL ACS7000 Page 112...
  • Page 113 Statistic value min (Y, G, a*, u*, C*, a99, C99) Un-/Signed32 ro Statistic value max (Y, G, a*, u*, C*, a99, C99) Un-/Signed32 ro Statistic value peak-peak (Y, G, a*, u*, C*, a99, C99) x Un-/Signed32 ro colorCONTROL ACS7000 Page 113...
  • Page 114 Object 60E4h: Statistic for color dist. (no. n / best-hit) E* 60E4 RECORD Statistic for color dist. (no. n / best-hit) E Subindices Number of entries Unsigned8 Statistic value min E Signed32 Statistic value max E Signed32 Statistic value peak-peak E Signed32 colorCONTROL ACS7000 Page 114...

  • Page 115: A 4.3 Error Codes For Sdo Services

    Dynamic generation of object directory failed or no object directory is 0800 0023 available A 4.4 Data Formats The data formats are similar to those in Ethernet mode. See the section Measured Value Format, see Chap. 3.8. colorCONTROL ACS7000 Page 115...

  • Page 116: Distributed Clock

    A 4.5.4 Slave In the DC-Synchron xxxkHz and DC-Synchron manuel mode the controller is switched in the synchronization mode Slave. For the measurement frequency to be defined manually, the measurement time must be specified in μs: colorCONTROL ACS7000 Page 116...

  • Page 117: A 4.5.5 Apply Selected Settings

    Distributed Clocks. You will find details under www.beckhoff.de or www. ethercat.org. For reading the settings in the TwinCAT it is possible to display the require- ments of the XML file using the button Advanced Settings. colorCONTROL ACS7000 Page 117...

  • Page 118: A 4.6 Meaning Of Status-Led In Ethercat Operation

    Red Single Flash, 200 ms ON / 1000 ms OFF Not requested status change Red Double Flash, 200 ms ON / 200 ms OFF / Timeout of the watchdog 200 ms ON / 400 ms OFF Red flashing 10 Hz Error by initializing colorCONTROL ACS7000 Page 118...

  • Page 119: A 4.7 Ethercat Configuration With The Beckhoff Twincat© Manager

    Confirm with OK. Confirm with Yes. The ACS7000 is now shown in a list. Now confirm the window Activate Free Run with Yes. The current status should be at least PREOP, SAFEOP or OP on the ONLINE side. colorCONTROL ACS7000 Page 119...
  • Page 120 On delivery of the sensor only one measurement value (Color value XYZ) is set as output size (in both the sensor and in the ESI file). To configure the synchronous manager correctly, it is first necessary to read the object directory of ACS7000. Select Mappaple Objects (TxPDO). Confirm with OK. colorCONTROL ACS7000 Page 120...
  • Page 121 Example for a complete object directory (subject to change without prior notice). On the Process data side the PDO allocations can be read from the device. The scope of the provided process data and the assignment of the SyncManager may be viewed now. colorCONTROL ACS7000 Page 121...
  • Page 122 To select statistic values, a measured value about which the statistics should be conducted must be set in the 0x2181.0A “Signal for statistics“ object. See object description Averaging, error processing and statistics, see Chap. A 4.2.2 colorCONTROL ACS7000 Page 122...
  • Page 123 Because the PDO-Mapping is changed by the selection of measurement values, in par- ticular the number of valid subindices of the object 0x1A00, the object directory must be read anew by the TwinCAT©-Manager. colorCONTROL ACS7000 Page 123...
  • Page 124 Settings for example Offline – from device description, change the again to Online – about SDA information and click only now on OK. Change to the tab Process data and click on the button Load PDO Info from the device. colorCONTROL ACS7000 Page 124...
  • Page 125 Appendix | EtherCAT-Documentation Now select the tab Reload the configuration under the tab Actions. The configuration is now complete. The selected measurement values are transmitted as process data in the status SAFEOP and OP. colorCONTROL ACS7000 Page 125...

  • Page 126: Terminology

    Every person assesses colors in a slightly different way. The CIE defined the normal spectral value function for X (red), Y (green) and Z (blue) on the basis of data determined during a variety of different test series. These functions describe how an average person perceives color. colorCONTROL ACS7000 Page 126...
  • Page 128 X9751252-A031069SWE MICRO-EPSILON Eltrotec GmbH Manfred-Wörner-Straße 101 · 73037 Göppingen / Germany MICRO-EPSILON MESSTECHNIK Tel. +49 (0) 7161 / 98872-300 · Fax +49 (0) 7161 / 98872-303 *X9751252-A03* eltrotec@micro-epsilon.de · www.micro-epsilon.com...

This manual is also suitable for:

Fcs-t-acs1-30/0-50-1200Fcs-t-acs1-45/0-38-1200Fcs-t-acs2-r45/0-28-1200Fcs-t-acs3-tr5-200-1200Fcs-t-acs3-tr9-200-1200Fcs-t-acs3-tt15-200-1200

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