Baumer VeriSens ID Series Technical Documentation Manual page 6

15.5.3.2 Group: Control and status ..................................................................................................... 339
15.5.3.3 Group: Result data ................................................................................................................ 343
15.5.3.4 Group: Parameters ................................................................................................................ 344
15.5.3.5 Group: Trigger data ............................................................................................................... 345
15.5.3.6 Handshake ............................................................................................................................ 346
15.5.3.6.1 Simple handshake ......................................................................................................... 346
15.5.3.6.2 Handshake with acknowledgement ............................................................................... 347
15.5.3.6.3 Data elements for handshake ....................................................................................... 348
15.5.4 PROFINET .................................................................................................................................. 350
15.5.4.1 LEDs on the Vision Sensor ................................................................................................... 350
15.5.4.2 Cabling .................................................................................................................................. 350
15.5.4.3 Connection to the PLC .......................................................................................................... 351
15.5.4.3.1 Determining a permanent IP address and name for the Vision Sensor ........................ 351
15.5.4.3.2 Installation of the GSD file ............................................................................................. 354
15.5.4.3.3 Integration of the device into the PLC project ............................................................... 357
15.5.4.3.4 Configuring the Application Suite .................................................................................. 361
15.5.4.4 Vision Sensor alarm .............................................................................................................. 362
15.5.4.5 Depiction of the data elements on the PROFINET module .................................................. 363
15.5.4.5.1 Module: Control and status ........................................................................................... 363
15.5.4.5.2 Module: Result data ...................................................................................................... 364
15.5.4.5.3 Module: Parameters ...................................................................................................... 364
15.5.4.5.4 Module: Trigger data ..................................................................................................... 365
15.5.4.5.5 Example ......................................................................................................................... 366
15.5.5 EtherNet/IP
15.5.5.1 LEDs on the Vision Sensor ................................................................................................... 367
15.5.5.2 Cabling .................................................................................................................................. 367
Ethernet/IP™ object classes and instances .......................................................................... 368
15.5.5.3
15.5.5.4 Connection to the PLC .......................................................................................................... 369
15.5.5.4.1 Determining a permanent IP address and name for the Vision Sensor ........................ 369
15.5.5.4.2 Installation with EDS file ................................................................................................ 371
15.5.5.4.3 Integration of the Vision Sensor into the PLC project ................................................... 374
15.5.5.4.4 Configuring the Application Suite .................................................................................. 376
15.5.5.5 Additional data elements ....................................................................................................... 377
15.5.5.6 Depiction of the data elements on the assembly instances .................................................. 378
16 Use with UR (Universal Robots) ........................................................................................................... 381
16.1 Installation.......................................................................................................................................... 382
16.2 Quick installation ............................................................................................................................... 386
16.3 Installation instructions ...................................................................................................................... 388
16.3.1 Preparation: UR and vision sensor ............................................................................................. 388
16.3.1.1 Preparation of the UR - installation of the URCap ................................................................ 388
16.3.2 Mount the vision sensor on the robot or stationary on the machine ........................................... 391
16.3.3 Installing and commissioning the vision sensor .......................................................................... 393
16.3.4 Activating robotics mode in the vision sensor ............................................................................. 394
16.3.5 Shading correction (optional) ...................................................................................................... 394
16.3.6 Distortion correction (optional) .................................................................................................... 395
16.3.7 Z calibration (optional) ................................................................................................................ 395
16.3.8 Set-up .......................................................................................................................................... 396
16.3.9 Coordinate alignment .................................................................................................................. 398
16.4 Messages .......................................................................................................................................... 402
16.5 Programming the UR with vision sensor ........................................................................................... 403
16.5.1 Node for job execution ................................................................................................................ 403
v2.11.0-B4
TM
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Technical Documentation
VeriSens
Baumer Optronic GmbH
Radeberg, Germany
®