SICK VSPM-6B2413 Reference Manual
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SICK VSPM-6B2413 Reference Manual

Vision sensor. ver 2.0
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REFERENCE MANUAL
Inspector PIM60 ver 2.0
Vision sensor

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Summary of Contents for SICK VSPM-6B2413

  • Page 1 REFERENCE MANUAL Inspector PIM60 ver 2.0 Vision sensor...
  • Page 2 IR LED light λ = 850 nm DISCLAIMER SICK uses standard IP technology for its products, e.g. IO Link, industrial PCs. The focus here is on providing avail- ability of products and services. SICK always assumes that the integrity and confidentiality of data and rights involved in the use of the above-mentioned products are ensured by customers themselves.

  • Page 3: Table Of Contents

    Example formatting strings ........23 Control the sensor via Ethernet Raw ........... 26 4.3.1 Basic principles ............26 4.3.2 Command syntax ............. 26 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 4 Login ..................79 Prepare restore mode ............... 80 Transfer restore file to device ............. 80 Device restart ................80 Index ......................81 ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 5: Introduction

    Introduction...

  • Page 6: Introduction

    Operating Instructions for Inspector PIM60. The readers are also assumed to have knowledge about the basic functionality of the technology of the interfaces used for the integration. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 7: Interfaces

    Interfaces...

  • Page 8: I/O Extension Box

    The Inspector PIM60 can be connected to an I/O extension box that increases the number of digital inputs and outputs. The I/O Extension box is available as an accessory from SICK. This section covers how the I/O extension box is connected to the Inspector, and how it is configured.

  • Page 9: Basic Configuration Of The Ip Address

    (in milliseconds) that the Inspector is waiting for a reply from the I/O extension box for a request to set outputs or read inputs. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 10: Enabling The I/O Extension Box

    If the I/O extension box is not available when the Inspector starts up, the Inspector will use the last reference object that was selected in the SOPAS Engineering Tool (ET) application before ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

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

    4 digital inputs.). The configuration of an I/O extension box can be changed by adding/removing I/O modules to/from the I/O extension box. I/O modules are available as an accessory from SICK. For details about Accessories Ordering information see the Operating Instructions for Inspector PIM60.

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

    If the problem persists even if the timeout and the number of retries have been increased, verify that the network topology does not block the use of UDP packets. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

  • Page 13: Web Interface

    Web API by a request using the URL: http://<IP-address>/CmdChannel?gRES The response is a string that has the following syntax: rgRES <errorCode> <resultString> 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 14: Synchronize Live Image With Result

    To start logging images again the log has to be unlocked first and this is done by using the http://<IP-address>/LockLog?Unlock ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 15: Statistics

    The command is sent as an ASCII string. The combination of a command with its parameters will either change the device configuration or fetch information from the device. For more 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 16: Current Reference Object

    The result of the request is an .spb file containing the device configuration. This file can be stored in the file system of the receiving unit and used later in the restore procedure. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

  • Page 17: Create Custom Web Pages

    To use the response, you define a function that takes a single argument – the response object – and pass that function as an argument to the Inspector's method. In the function you can 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 18 Inspector didn't return any result at all. The following table lists the attributes that are specific to the called method: ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 19: Example: Display Live Image

    // The (new Date()...) is a trick to make the browser // retrieve the image from the Inspector and not from cache setTimeout(refreshLiveImage, 500); 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 20 480, nocache: true, minInterval: 500, refreshInterval: 1000, magnifier: true, imgUrl: "/LiveImage.jpg", refreshText: "Refresh interval" //--> </script> </head> <body> <div id="liveImage"></div> </body> </html> ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 21: Handle The Web Api

    Reference Manual Interfaces Inspector PIM A Custom Web Toolkit can be found on the support pages (supportportal.sick.com) which provides a framework that simplifies the process of making an HMI as well as additional templates and examples.. Handle the Web API The Web Server and Web API interfaces can be activated or deactivated.

  • Page 22: Ethernet Raw

    If such a parameter is added to the formatting it will be ignored by the Inspector. In binary mode all added text and text formatting, for example , are ignored. Only the values <SPACE/> ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 23: Attributes

    Below follow some short descriptions of example strings for different configurations. For more information about the XML formatting see Appendix A, “Result output formatting” (page 39). 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 24 Binary output OK. Number of bytes: 27 Part of example string for configuration with a Blob Blob_tool.<NEWLINE/> <BLOB index="0" name="Blob 1"> Found_blobs:<SPACE/><FOUND_BLOBS/><NEWLINE/> -------------------------<NEWLINE/> Blob_information:<NEWLINE/> Position_(X,Y):<SPACE/>(<X/>,<SPACE/><Y/>)<NEWLINE/> ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 25 Start of container tag for polygon corners with instruction to loop over all polygon corners, explanatory text, and corner position End of container for polygon corners 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 26: Control The Sensor Via Ethernet Raw

    Ethernet Raw in the Ethernet Raw tab in the dialog Interfaces and I/O Settings in the InspectorPIM60 menu. 4.3.2 Command syntax The commands have the following syntax: JSON (JavaScript Object Notation) in accordance with RFC 4627 ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 27: Select Reference Object

    This is done by the command gRES. The sensor does not send the result automatically on this port. • All other commands on the command channel are available as in the standard three port solution. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 28: Ethernet/Ip

    </OBJECT_LOC> Analyzed image’s number Start of container for object locator Decisions reports whether the object was found (=1) or not found (=0) ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 29 Offset byte Variable from from XML configuration (dataType) example above SINT DECISION SINT SINT SINT SINT SINT SINT SINT DINT IMAGE_NUMBER DINT 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 30 SINT is selected the range of position is 8, i.e. [0, 7]. For more details about dataType and pos see table in Section A.3.2, “Attributes” (page 50). ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 31 REAL Part of default string for configuration with only a Polygon <IMAGE_NUMBER dataType="DINT" pos="0"/> <POLYGON name="Polygon 1"> <NUM_CORNERS dataType="SINT" pos="0"/> <CORNERS corners="0"> 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 32 Position ref (pos) Data type Offset byte Variable from from XML configuration (dataType) example above SINT NUM_CORNERS SINT SINT SINT SINT SINT ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 33: Control The Sensor Via Ethernet/Ip

    RPI (Requested Packet Interval) specified for the communication channel. With the shortest possible RPI, the highest recommended inspection rate is therefore ap- proximately 30 Hz. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 34: Basic Principles

    Interfaces Reference Manual Inspector PIM The EDS file for the Inspector PIM60 can be found in the SICK Support Portal (support- portal.sick.com). The Inspector PIM60 has two Output assemblies that can be used for controlling the Inspector. To do this the connection has to be set first, see Operating Instructions for Inspector PIM60.

  • Page 35: Image Triggering

    4 has 44 positions [0, 43]. The contents of the assembly are defined from the Ethernet Result Output dialog. Note On the SICK Support portal (supportportal.sick.com) there is an excel file with templates for the four result input assemblies (file name: ). These AssemblyMappingPI50andPIM60.xls...

  • Page 36: Assemblies Command Channel

    Main view. Slim command channel The Output assembly contains two parameters that are used for selecting reference object and trigger inspections. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 37 DINT Error code DINT Returnvalue 1 DINT Returnvalue 2 DINT Returnvalue 3 DINT Returnvalue 4 DINT Returnvalue 5 DINT Returnvalue 6 DINT 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 38: Appendix

    Appendix...

  • Page 39: Result Output Formatting

    • container tags: <OBJECT_LOC>, <POLYGON>, <BLOB>, ... • value tags: <X/>, <PIXELS/>, <NEWLINE/>, <TIME/>,... 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 40: Container Specific Tags

    {0, 1} USINT 0=not found, 1=found EDGE_ name any string Name attribute required if more than one Edge Pixel PIXEL_ Counter exist ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 41 “mm” depending on attribute “coordUnit” or configured value in the Ethernet Result output dia- log. SCORE [0, 100] REAL Pattern matching score. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 42 In “pixels” or “mm” depending on attribute “co- ordUnit” or configured value in the Ethernet Result output dialog. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 43 The search region is defined by the user drawn edge and the position search parameter. See also Operating Instructions for Inspector PIM60 about Single edge tool. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 44 Y position of the reference point. In “pixels” or “mm” de- pending on attribute “co- ordUnit” or configured value in the Ethernet Result output dialog. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 45 X position of the intersection point. In “pixels” or “mm” de- pending on attribute “co- ordUnit” or configured value in the Ethernet Result output dialog. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 46 “pixels” or “mm” de- pending on attribute “co- ordUnit” or configured value in the Ethernet Result output dialog. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 47 If the chosen Edge counter is circular the value is the width in degrees or radians depend- ing on attribute “unit” or con- 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 48 When a tool is related to the object locator and the object locator is not found in the live image the presented results for the related tools are undefined. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

  • Page 49: General Tags

    Value can be changed through the com- mand channel. UINT2 [0, 65535] UINT Value can be changed through the com- mand channel. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 50: Attributes

    The index of this corner is the order in which the polygon corner was added when the polygon was drawn. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 51 4 bytes [0, 2 DINT 4 bytes REAL 4 bytes Represented as IEEE 754 binary 32 See Section 4.2.3, “Attributes” (page 23). 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 52: Command Channel

    Trig an image acquisition and analysis gRES Retrieve the latest available Ethernet Result Output string gSTAT Retrieve the latest statistics from the device ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 53: Commands Id Numbers For Ethernet/Ip

    Table with command ID numbers to be used as replacement for the normal command strings for interfaces where strings not are possible or preferred. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 54: Command Channel Index Handling

    SOPAS Engineering Tool (ET). The index can be found in the Tools tab in SOPAS Engineering Tool (ET). Hold the mouse pointer over the current tool to get the index number. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...
  • Page 55 The aACT 6 command will make the device being temporarily disconnected while it is rebooted. This command can only be used if the 4 control points have been set via the sINT 300 command 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 56 Change internal illumin- sINT int illum- 0=Off, 1=On ation mode Mode Get internal illumina- gINT int illumMode 0=Off, 1=On tion mode ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 57 200000 ticks] Get digital output delay gINT int outputIn- int type, int delay [0,19], [0=ms, (milliseconds*10 1=tick], or ticks) [1,50000] resp [0 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 58 Get object locator gINT [0, 100], percent match threshold threshold Change object locator sINT int mode 0=off, 1=on rotation search mode ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 59 Change blob in- sINT int index, [0, 7], tensity thresholds int min, [0, 255], min<=max int max [0, 255], min<=max 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 60 0=High quality, 1=Nor- mal, 2=High speed Get blob search gINT int index [0, 7], method int method 0=High quality, 1=Nor- mal, 2=High speed ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 61 Get bead intensity giNT int index int in- [0, 7], tensity Set bead intensity gINT int index, [0, 7], int intensity [0, 1] 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 62 [0, 7], int corner, [0, 15] int delta-x, delta-x, delta-y = pixels. int delta-y Arguments are delta values. These can be ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 63 [0, 7], search tolerance int tol [0, 100] pixels Change polygon sINT int index, [0, 7], score threshold int threshold [0, 100] pixels 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 64 [0, 7], int corner, [0-15] int delta-x, int delta-x, delta-y = delta-y pixels. Arguments are delta values. These can be negative as ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 65 [0, 63], edge pixels int min, [0, ROI size ] pixels, thresholds min<=max int max [0, ROI size ] pixels, min<=max 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 66 [0, 63], polarity int polarity [0, 2] (0 = any, 1 = bright to dark, 2 = dark to bright) ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 67 Identi- Arguments Return val- Range mand fier able mode Change circle sINT int index, [0, 63], edge contrast int contrast [0, 100] 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 68 Get circle robust- gINT int index [0, 63], ness int criterion [0, 4] (0 = high robust- ness to 4 = high speed) ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 69 480 pixels. The table below lists the move commands for the Pixel counter, Edge pixel counter, Pattern, Edge, and Circle tools. 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 70 [0, 63], offset compensa- int off- [-1000000,1000000] tion set*1000 [0, 1] (0 = pixels, 1 = int unit millimeters) ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 71 [0, 63], counter edge qual- int robustness [0, 6] Get Edge counter gINT int index [0, 63], edge quality int quality [0, 6] 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 72 [0, VGA image diagon- int max*1000 [0, VGA image diagon- int unit [0, 1] (0 = pixels, 1 = millimeters) min ≤ max ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 73 [0, 31], ject [0, 7] int index string name Get name of Poly- gSTR int referenceOb- [0, 31], ject 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 74: Error Codes

    Ethernet Raw for configuring the device through the command channel. When using EtherNet/IP for configuring the device through the command channel will only view the error code. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 75 The device is performing an operation and cannot accept new command 8006 Set commands are disabled for this interface 8007 This command is only available for GET 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 76 8125 Width or height is invalid 8126 No tools in configuration 8127 Invalid unit specified 8128 Alignment to specified control points failed ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...

  • Page 77: Version Information

    8 0 Polygon 2 - if OK second reference object rgSTR 8 8107 No polygon with this index exists. - if not OK 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 78 After this command the new IP address will have to be used in order to connect to the device Returned value is the calibration target coverage in percent ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

  • Page 79: Restore Configuration Over Web Api

    The password is the password stored on the device. Default password is "Inspector". Operations CREATE SOCKET CONNECT TO SOCKET(<IP address>, port = 80) SEND HTTP POST REQUEST (to="/HandleConfig", data = "sopas_username=Maintenance&sopas_password=<login_password>") 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...

  • Page 80: Prepare Restore Mode

    When the transfer is completed, the parameters on the device are updated and the configur- ation is stored permanently on the flash file system. The device is then restarted. ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018-...

  • Page 81: Index

    ASCII versus binary, 22 Basic principles, 26 Troubleshooting Command syntax, 26 I/O extension box, 11 Control the sensor via Ethernet Raw, 26 8015726/ZPP7/2018- ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved Subject to change without notice...
  • Page 82 Control the sensor via Web API, 15 Custom web pages, 17 Live image, 13 Logged image, 14 Results, 13 XML based formatting, 39 XML formatting, 39 ©SICK AG • Identification & Measuring • www.sick.com • All rights reserved 8015726/ZPP7/2018- Subject to change without notice...
  • Page 84 Phone +36 1 371 2680 Phone +386 591 788 49 E-Mail office@sick.hu E-Mail office@sick.si India South Africa Phone +91 22 6119 8900 Phone +27 11 472 3733 E-Mail info@sick-india.com E-Mail info@sickautomation.co.za Further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

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