Software package CheckOpti – Version 3.1
Table of Contents 1
Help system for CheckOpti................................................................................................................ 1 1.1 Designated use ............................................................................................................................ 1 1.2 Target group ................................................................................................................................. 1 1.3 Service ......................................................................................................................................... 1 1.4 Notes on this help ........................................................................................................................ 1 1.5 What's new in CheckOpti? ........................................................................................................... 1 1.6 Important user information ........................................................................................................... 3 1.6.1 Danger categories ............................................................................................................ 3 1.7 Marking special information ......................................................................................................... 3 1.7.1 Pictograms ........................................................................................................................ 3 1.7.2 Text markings.................................................................................................................... 3 1.7.3 Conventions ...................................................................................................................... 3 1.8 System requirements ................................................................................................................... 4 1.9 Scope of delivery of the software package................................................................................... 4 1.10 Documentation for devices and software packages ..................................................................... 5 1.11 Product-specific terms and abbreviations .................................................................................... 5
2
Target devices..................................................................................................................................... 8 2.1 Checkbox family........................................................................................................................... 8 2.1.1 How CHB works ................................................................................................................ 9 2.2 Compact Vision Systems ............................................................................................................. 9 2.2.1 How SBO...-Q works ....................................................................................................... 10
3
Installation and general operating instructions ............................................................................. 11 3.1 3.2 3.3 3.4 3.5
Installing CheckOpti ................................................................................................................... 11 Uninstalling CheckOpti ............................................................................................................... 11 Starting CheckOpti ..................................................................................................................... 12 Working with projects ................................................................................................................. 12 Establishing the communication connection .............................................................................. 13 3.5.1 Connecting to CHB ......................................................................................................... 13 3.5.2 Connecting to SBO...-Q .................................................................................................. 14 3.6 Using country-specific special characters .................................................................................. 18 3.7 Undo/redo .................................................................................................................................. 18 4
Program interface of CheckOpti ..................................................................................................... 19 4.1 The program window.................................................................................................................. 19 4.1.1 The main menu of the program window .......................................................................... 19 4.1.2 The toolbar of the program window ................................................................................ 20 4.1.3 The toolbar for check programs ...................................................................................... 20 4.2 Windows and dialog windows .................................................................................................... 21 4.2.1 "Options" dialog window ................................................................................................. 21 4.2.2 "Project properties" dialog window .................................................................................. 24 4.2.3 "Part list" window ............................................................................................................ 26 4.2.4 "Part properties" dialog window ...................................................................................... 28 4.2.5 "Part contour" window ..................................................................................................... 29 4.2.6 "Part contour" window for CHB ....................................................................................... 29 4.2.7 "Part contour" window for SBO...-Q ................................................................................ 32 4.2.8 "Teach-Data" window ...................................................................................................... 41 4.2.9 "Properties / evaluation of the Teach-Data" dialog window ............................................. 46 4.2.10 "Set counter properties" dialog window........................................................................... 47 4.2.11 "Properties of the selected part type" dialog window ...................................................... 48 4.2.12 "Check program properties" dialog window .................................................................... 48 4.2.13 "Replace reference to feature" dialog window ................................................................ 49 4.2.14 "Tool properties" window ................................................................................................. 50 4.2.15 "Feature graph" window .................................................................................................. 51 ii
Table of Contents 4.2.16 "Data output" window ...................................................................................................... 53 4.2.17 "Project documentation" window ..................................................................................... 55 4.2.18 "Check program Manager" dialog window ...................................................................... 58 4.2.19 "Communication Manager" window ................................................................................ 60 4.2.20 "Connection parameter" dialog window for serial connections........................................ 61 4.2.21 "Connection parameter" dialog window for Ethernet connections ................................... 62 4.2.22 "Device search" dialog window for Ethernet connections ............................................... 63 4.2.23 "Log parts to file" dialog window ..................................................................................... 64 4.2.24 "Import of camera images" dialog window ...................................................................... 65 4.2.25 "Page view" window ........................................................................................................ 66 4.2.26 "Information on CheckOpti" dialog window ..................................................................... 67 4.3 Menu commands ....................................................................................................................... 68 4.3.1 [File] menu ...................................................................................................................... 68 4.3.2 [Edit] menu...................................................................................................................... 69 4.3.3 [View] menu .................................................................................................................... 71 4.3.4 [Device] menu ................................................................................................................. 71 4.3.5 [Action] menu .................................................................................................................. 73 4.3.6 [Wizards] menu ............................................................................................................... 74 4.3.7 [Navigate] menu.............................................................................................................. 74 4.3.8 [Extra] menu ................................................................................................................... 75 4.3.9 [Window] menu ............................................................................................................... 75 4.3.10 [Help] menu .................................................................................................................... 75 4.4 Key assignment ......................................................................................................................... 75 4.5 Colour conventions .................................................................................................................... 76 5
Working with CheckOpti .................................................................................................................. 77 5.1 Procedure for working with CheckOpti ....................................................................................... 77 5.2 Defining the target device and the project properties ................................................................. 78 5.3 Teaching parts with CheckOpti ................................................................................................... 79 5.3.1 Preparing the target device ............................................................................................. 79 5.3.2 Teach process................................................................................................................. 80 5.4 Recording test parts with CheckOpti .......................................................................................... 82 5.4.1 Recording test parts ........................................................................................................ 82 5.5 Setting up and optimising the check program ............................................................................ 84 5.5.1 Editing the sample and test parts .................................................................................... 84 5.5.2 Adding or editing tools .................................................................................................... 84 5.5.3 Editing the features ......................................................................................................... 86 5.6 Evaluating the check program.................................................................................................... 87 5.6.1 Visually inspecting the sample and test parts ................................................................. 87 5.6.2 Differentiating the orientations and part types ................................................................. 88 5.6.3 Evaluating the feature scatter ......................................................................................... 89 5.6.4 Reviewing the bad parts ................................................................................................. 90 5.6.5 Influence of the tolerance................................................................................................ 90 5.7 Setting up a data output ............................................................................................................. 90 5.8 Documenting the project ............................................................................................................ 91 5.9 Importing and exporting data ..................................................................................................... 91 5.10 Transferring a check program to the target device ..................................................................... 92
6
Wizards.............................................................................................................................................. 93 6.1 Project Wizard............................................................................................................................ 93 6.1.1 Function of the Project Wizard ........................................................................................ 93 6.1.2 Starting the Project Wizard ............................................................................................. 93 6.2 Wizard for manual project creation ............................................................................................ 94 6.3 "Optimisation of type or orientation detection" wizard ................................................................ 95 6.4 "Statistical evaluation of a feature" wizard.................................................................................. 96 6.5 "Calibration of coordinate transformation" wizard .................................................................... 101 6.5.1 Overview ....................................................................................................................... 101 6.5.2 Prerequisites for calibration .......................................................................................... 102
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Software-Paket CheckOpti – Version 3.1 6.5.3 Automatic calibration of the coordinate transformation ................................................. 103 6.5.4 Manual calibration of the coordinate transformation ..................................................... 105 6.5.5 "Coordinates of calibration point" dialog window .......................................................... 107 7
Tools and features for CHB ........................................................................................................... 108 7.1 General information on devices from the Checkbox family (CHB) ........................................... 108 7.1.1 Description of the global features ................................................................................. 108 7.2 Overview of tools and features for CHB ................................................................................... 109 7.3 Area-based tools ...................................................................................................................... 110 7.3.1 ROI ............................................................................................................................... 110 7.3.2 VStrip ............................................................................................................................ 120 7.3.3 CTool ............................................................................................................................ 127 7.4 Measuring tools ........................................................................................................................ 132 7.4.1 General ......................................................................................................................... 132 7.4.2 Distance measurement (horizontal) .............................................................................. 139 7.4.3 Multiple distance measurement (horizontal) ................................................................. 141 7.4.4 Distance measurement (vertical) .................................................................................. 143 7.4.5 Angle measurement...................................................................................................... 144 7.4.6 Multiple angle measurement ......................................................................................... 146 7.4.7 Counting measurement ................................................................................................ 147 7.5 Special tools ............................................................................................................................. 148 7.5.1 Feature combination ..................................................................................................... 148 7.5.2 Externally calculated feature (sensor)........................................................................... 149
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iv
Tools and features for SBO...-Q .................................................................................................... 150 8.1 General information on Compact Vision Systems SBO...-Q .................................................... 150 8.2 Overview of tools and features for SBO...-Q ............................................................................ 151 8.3 General mode of operation of the tools .................................................................................... 152 8.3.1 Feature reference ......................................................................................................... 152 8.3.2 Standard reference ....................................................................................................... 153 8.3.3 Shape and size of a tool region .................................................................................... 155 8.3.4 Placement of a tool region ............................................................................................ 157 8.4 General tool properties............................................................................................................. 161 8.4.1 "Position" tab ................................................................................................................ 161 8.4.2 "Rotation" tab ................................................................................................................ 162 8.4.3 Tool properties - "Threshold" tab (for area-based tools)................................................ 162 8.4.4 Tool properties - "Threshold" tab (for search lines) ....................................................... 165 8.4.5 "Measure" tab ............................................................................................................... 167 8.4.6 "Data points" tab ........................................................................................................... 168 8.5 General feature properties ....................................................................................................... 169 8.5.1 Automatic coordinate transformation ............................................................................ 169 8.6 Standard tools .......................................................................................................................... 170 8.6.1 ROI ............................................................................................................................... 170 8.6.2 CTool ............................................................................................................................ 174 8.6.3 Edge finder ................................................................................................................... 177 8.6.4 Circle finder................................................................................................................... 181 8.6.5 Blob finder..................................................................................................................... 186 8.6.6 Pattern matching........................................................................................................... 194 8.7 Measuring tools ........................................................................................................................ 204 8.7.1 General ......................................................................................................................... 204 8.7.2 Single measurement ..................................................................................................... 211 8.7.3 Multiple measurement .................................................................................................. 215 8.7.4 Ray tool......................................................................................................................... 219 8.8 Tools for colour and brightness detection ................................................................................. 223 8.8.1 Brightness detection ..................................................................................................... 223 8.8.2 Colour detection............................................................................................................ 226 8.9 Special tools ............................................................................................................................. 230 8.9.1 Math/logic function ........................................................................................................ 230
Table of Contents 8.9.2 Geometry function ........................................................................................................ 234 8.9.3 Flagword access ........................................................................................................... 237 8.9.4 I/O access ..................................................................................................................... 242 8.9.5 Coordinate transformation ............................................................................................ 247 8.10 SBO...-Q Tools Add-In tools ..................................................................................................... 250 8.10.1 Datamatrix code reader/checker ................................................................................... 251 8.10.2 Bar code reader ............................................................................................................ 255 8.10.3 Text recognition (OCR) ................................................................................................. 259 9
Data output with SBO...-Q .............................................................................................................. 269 9.1 Adding a data output ................................................................................................................ 270 9.1.1 Configuring the system parameters .............................................................................. 270 9.2 Data output "EtherNet/IP – CIP object" .................................................................................... 271 9.2.1 Communication ............................................................................................................. 271 9.2.2 Configuration ................................................................................................................ 271 9.3 Data output "Telnet - SBO...-Q Data Collection"....................................................................... 274 9.3.1 Communication ............................................................................................................. 274 9.3.2 Configuration ................................................................................................................ 275 9.4 Data output "Telnet - SBO...-Q Part Detector" .......................................................................... 279 9.4.1 Communication ............................................................................................................. 279 9.4.2 Configuration ................................................................................................................ 280 9.5 Data output "Telnet – XML" ...................................................................................................... 283 9.5.1 Communication ............................................................................................................. 283 9.5.2 Configuration ................................................................................................................ 283 9.6 Data output "CST – CheckKon Viewer".................................................................................... 286 9.6.1 Configuration ................................................................................................................ 286 9.7 Data output "WebViewer" ......................................................................................................... 288 9.7.1 Communication ............................................................................................................. 288 9.7.2 Configuration ................................................................................................................ 289
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Technical reference ........................................................................................................................ 291 10.1 Error messages ........................................................................................................................ 291 10.2 Feature description .................................................................................................................. 292
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1
Help system for CheckOpti
© CHB is a registered trademark of Festo AG & Co. KG.
1.1
Designated use
The CheckOpti software package provides a user-friendly way of creating check programs and therefore carrying out the teach process as well as verifying the reliability of the check process for all devices in the Checkbox family CHB and for all Compact Vision Systems SBO...-Q from Festo. CheckOpti can be used to create check programs for all currently available CHB and SBO...-Q devices. The respective device used, the operation of other software packages and peripherals to be connected are documented in the specific manuals. Please comply with national and local safety laws and regulations.
1.2
Target group
This manual is intended for users with experience in commissioning and operating CHB and SBO...-Q devices. Further information can be found in the manuals listed under "Documentation".
1.3
Service
Please contact your local Festo service centre if you have any technical problems.
1.4
Notes on this help
This online help relates to CheckOpti version 3.1. Other or specially adapted versions may differ slightly in their representation and functionality. The procedure as well as the functions, displays and options available depend on the devices connected and the project properties defined. As a result, the screenshots of the CheckOpti user interface shown in the manual may differ greatly from the user interface that you see. The examples in this manual relate to – CHB devices with firmware version 3.2 – SBO...-Q devices with firmware version 3.5 – with firmware add-in "GSLO-S1", – with presettings in the project properties: type separation and orientation separation.
1.5
What's new in CheckOpti?
The following tables show the main new features in the CheckOpti software package. Further information can be found in the "Readme en.rtf" file in the CheckOpti installation directory or the "Readme en.rtf" file on the CheckOpti CD.
Changes to CheckOpti version 3.1 compared with version 3.0 Topic/window
Description
General
– Support for Compact Vision Systems SBO...-Q with firmware version 3.2
to 3.5. Operation
– Setting up of projects with and without quality check. – Support for the functions "Undo" and "Redo".
Changes to settings can be undone and redone in various windows.
1
Software-Paket CheckOpti – Version 3.1 Topic/window
Description
Check program
– Automatic coordinate transformation of feature values. – Use of standard feature references. – Data output, for example via Ethernet. There are six different types of
data outputs available. – New or modified windows, dialogs, displays, functions and buttons depending on the project properties defined.
Changes to CheckOpti version 3.0 compared with version 2.1 Topic/window
Description
General
– Support for Compact Vision Systems SBO...-Q with firmware version 3.2
to 3.4. – Enhanced tool functionality. – New or modified windows, dialogs, displays, functions and buttons depending on the target device, the firmware version used and the project properties defined. Check program
1)
– Use of up to 16 different part types with up to 8 orientations each. 1)
– Use of up to 256 features.
– Support for calculation of multiple features per tool.
1)
1)
– Free assignment of names for tools and features.
1)
– Option to use tools on either contour images or camera images.
– Free positioning, turning and rotation of the tool region using the mouse 1)
or by entering numeric values. – Positioning of tools as a function of previously calculated features. Features
– Support for features that return results in text form (so-called text
features). – Support for features with an invalid result. 1) Depending on the target device used. Changes to CheckOpti version 2.1 compared with version 2.0 Topic/window
Description
General
– Support for CHB (Compact Plus) devices. – Support for firmware version 3.2 (e.g. new tools). – Enhanced tool functionality.
Changes to CheckOpti version 2.0 compared with version 1.0 Topic/window
Description
General
– Support for CHB (Compact Classic & PLC) as well as Sortbox devices. – Support for firmware version 3.1 (e.g. new tools). – Creation and use of multiple check programs (toolbar and navigation). – New file format, in some cases with backwards compatibility with
CheckOpti version 1.0. – Communication interface for CHB devices for communication with baud
rates of up to 115 kbps.
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Help system for CheckOpti
1.6
Important user information
1.6.1
Danger categories
This manual contains information on the possible dangers that can occur if the product is not used as designated. This information is marked with a signal word (warning, caution, etc.), placed on a shaded background and additionally marked with a pictogram. A distinction is made between the following danger warnings: Warning ... means that serious injury to people and damage to property can occur if this warning is not heeded. Caution ... means that injury to people and damage to property can occur if this warning is not heeded. Note ... means that damage to property can occur if this warning is not heeded.
1.7
Marking special information
1.7.1
Pictograms
The following pictograms mark passages in the text containing special information: Information: Recommendations, tips and references to other sources of information. Accessory: Information on necessary or useful accessories for the Festo product. Environment: Information on the environmentally friendly use of Festo products. Many functions can be executed directly using the buttons in the toolbar. The relevant button will be shown next to the text (e.g. starting CheckKon).
1.7.2
Text markings
1.
Figures denote activities that must be carried out in the order specified.
•
Bullets denote activities that may be carried out in any desired order. Hyphens denote general listings.
–
1.7.3
Conventions
This manual uses different notations to identify different software components: Menu commands are framed in square brackets, for example the [New ...] command in the [File] menu opens a new system file. Names of windows, dialog windows and buttons such as "Part contour", "System parameters" or "Cancel" as well as designations are shown in inverted commas. Names of keys on the PC keyboard or of operating elements on the devices are represented in upper case letters in the text (e.g. ENTER, CTRL, C, F1, etc.). For some functions you need to press two keys simultaneously. For example, press and hold down the CTRL key and also press the C key. This is represented in the text as CTRL+C.
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Software-Paket CheckOpti – Version 3.1
1.8
System requirements
CheckOpti is a 32-bit application. The system requirements are as follows: – IBM or IBM-compatible PC – CPU with at least 1.6 GHz – Microsoft® Windows XP SP3 or higher; for Chinese version of CheckOpti 3.1: support for the Chinese Windows character set – Screen resolution of at least 1024x768 pixels, high colour (16-bit colour depth) – A mouse or suitable graphical input device – Main memory with at least 1 GB – At least 150 MB of free hard disk space Requirements for operating CheckOpti with CHB: – PC with standard RS232 interface (if applicable USB to RS232 adapter or similar, with full RS232 support, in particular transmission without flow control) – Alternatively one of the following target devices: – CHB-IB (Identbox), CHB-CB (Countbox) – Standard version 6.2, 7.0 to 7.2 and 8.0 – Config version 1.2, 2.0 to 2.2 – Version 3.0 to 3.2 – CHB-SB (Sortbox) – Version 3.0 to 3.2 – CHB-C (Compact Classic, Compact PLC, Compact Plus, Compact Flex) – Version 3.0 to 3.2 Requirements for operating CheckOpti with SBO...-Q: – PC with standard Ethernet interface – Connecting cable for the Compact Vision System SBO-..Q: SBOA-K30-EM12S – Target device: – Compact Vision System SBO...-Q with firmware version – 3.2.2.162 – 3.3.7.31 – 3.4.2.156 – 3.5.2.177 or higher
1.9
Scope of delivery of the software package
The CheckOpti software package includes: – the CheckOpti program – the associated online help as well as the printable help as a PDF file. Note The CheckOpti, CheckKon and SBO DeviceManager software packages can be downloaded free of charge via the Internet.
• Contact your local Festo service centre if you have any questions.
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Help system for CheckOpti
1.10 Documentation for devices and software packages Further information on using CHB and SBO...-Q as well as the software packages can be found in the following manuals: Documentation
Contents
P.BE-SBO-Q
Description of the function, commissioning, operation and maintenance of Compact Vision Systems SBO...-Q.
P.BE-CB-COMP
Description of the function, commissioning, operation and maintenance of CHB-C-X devices.
P.BE-CHECKBOX
Description of the function, commissioning, operation and maintenance of CHB-IB, CHB-CB and CHB-SB devices.
P.SW-KON
Operating instructions for the CheckKon software package.
P.SW-OPTI
Operating instructions for the CheckOpti software package.
P.BE.K-GSLO-S1
Installation instructions for the firmware add-in "SBO…-Q Tools Add-In". Brief instructions on how to license additional tools for Compact Vision Systems SBO...-Q.
SBO DeviceManager Software Package
Operating instructions for the SBO DeviceManager software package.
1.11 Product-specific terms and abbreviations Term/abbreviation Meaning Deviation
During checking, the deviation with the highest value from all feature deviations is ascertained for each part. This is then the part deviation.
Alternative feature value (transformed value)
A feature value converted into world coordinates.
Wizard
Wizards in CheckOpti guide you interactively through all of the steps required for a specific task.
C value
The C value specifies the variation in the features for the sample parts.
Data output
Output of selected check results and feature values for communicating with controllers or robots, for graphical display or for production data acquisition. Data output is set up in check programs using the CheckOpti software (version 3.1 and later).
Turning position
If a part can assume any alignment in the image or there is no stable position or guide, this is called a turning position. Fixed alignment of the part, by contrast, is called "orientation".
FW or flagword
A flagword is a memory address for Compact Vision Systems SBO...-Q that contains specific information (e.g. setting or result).
Shape
Describes the tool region (e.g. rectangular, circular).
CHB devices
Any device from the Checkbox family (e.g. Identbox, Countbox, Compact PLC, Compact Plus, etc.).
Valid(ity)
Features that can be calculated are called valid features. A feature is invalid – if calculation is not possible or – if references that the feature needs are already invalid.
Good part
A test part where all features have a feature deviation between -100 and +100 and are therefore within the specifications for the teach data.
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Software-Paket CheckOpti – Version 3.1 Term/abbreviation Meaning
6
Coordinate transformation (automatic)
Function for converting (transforming) feature values in pixels to world coordinates or vice versa. The result is available as an alternative feature value during automatic coordinate transformation.
Teach process
The teach process consists of determining the specification for the value ranges (or texts) of the teach data from the features of the sample parts.
Feature
Features are calculated from the images by means of the tools defined in the check program. They include lengths, coordinates, angles, texts, etc. A feature can be of the type "value feature" or "text feature".
Feature deviation
With test parts, each feature is compared with the associated specified value range (or text) in the teach data. Features with a feature deviation between –100 and +100 are considered "good".
Feature validity
Valid(ity)
Feature reference
Reference of a tool to an existing feature (reference feature) as a basis for settings or calculations. Example: A tool can be positioned with the help of features (e.g. coordinates) already calculated in another tool.
Feature variation
Value range of a feature ascertained from several parts.
Feature value
Calculation result for a feature.
Sample parts
Parts used for the teach process. These parts represent the good parts.
Orientation
A basic, fixed alignment of a part in the image without significant variation. An example is the stable positions of a block that moves along a guide rail. If the part has no alignment, this is called a "turning position".
Orientation separation
In projects with orientation separation, the check program includes teach data for several orientations. This enables the device to detect the orientations of a part. Orientation 1 is normally the preferred orientation in feed applications.
Pattern
A taught reference pattern of the Pattern matching tool that is sought in a camera image and, if found, produces a match.
Placement
Specifications for a tool region with respect to its position, size, rotation and turning position.
Project
Each project in CheckOpti consists of one or more check programs that are processed.
Check program
The check program defines which tools or features in an image are calculated. It includes the teach data required for this as well as further settings and data.
Test parts
Parts used for the check process.
Check process
The check process consists of checking the features of the test parts for adherence with the specifications by means of the teach data (value ranges or text specification). The test parts are classified as good parts or bad parts as appropriate to the feature deviations.
Quality check
Check with qualitative evaluation of the test part, for example determining dimensional accuracy.
Reference
Feature reference
Reference feature
A feature to which a feature reference relates.
Help system for CheckOpti Term/abbreviation Meaning Bad part
A test part where at least one feature is outside the specifications of the teach data.
Sorting function
Type separation
System parameter
Device settings relating to the device's behaviour during evaluation, lighting, image recording and inputs/outputs. Settings are made with CheckKon but some can be influenced from within the check program.
Teach data
All features ascertained during the teach process with value ranges or text specifications: – Value features with at least minimum, mean and maximum in each case – Text features with a text or control specification – Further feature settings.
Part type
Part defined by means of the teach data of the sample parts.
Text feature
A feature consisting of a text or letter.
Tolerance
The tolerance setting together with the tolerance factor of a feature increases the permissible value range of the feature (this range is specified by means of the teach data). The greater the tolerance, the less strict the check.
Tolerance factor
Factor that can be used to change the effect of an individual feature's tolerance ( Tolerance).
Type separation
In projects with type separation, the check program includes teach data for several part types. This enables the device to identify and, for example, sort different part types.
Invalid(ity)
Valid(ity)
Tool region
Image region in which a tool calculates its features.
Tool
Component of a check program used to calculate specific features from the images.
Value feature
A feature consisting of a number.
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2
Target devices
CheckOpti supports different target devices. Two device classes are differentiated here: – Devices from the Checkbox family CHB – Compact Vision Systems SBO...-Q. Various software packages are available for user-friendly commissioning, optimisation and monitoring of the devices. Software package
Functions
SBO DeviceManager
– Loading new firmware
1)
– Loading a new firmware add-in – Changing network settings
1)
– Changing the device name
CheckKon
1) 3)
1) 3)
– Displaying and evaluating the most recently registered test part – Displaying and logging the recorded images, features and results – Displaying and adjusting the image recorded by the camera – Displaying and adjusting the system parameters – Loading new firmware
CheckOpti
2)
– User-friendly creation of the check program for part checking – User-friendly teaching of the sample parts – Monitored checking of parts, displaying the registered features – Evaluating the part check with respect to reliability (evaluation) – Graphic display of the check sequence – Support in project planning, management and documentation
1) For SBO...-Q only 2) For CHB only 3) As of SBO DeviceManager 1.2 Release 07
2.1
Checkbox family
Devices in the Checkbox family can be used for visual (non-contacting) position and quality checking of conveyed parts. Different variants are available for this depending on the requirements: – CHB-IB (Identbox) – CHB-CB (Countbox) – CHB-SB (Sortbox) – CHB-C-C (Compact Classic) – CHB-C-P (Compact PLC) – CHB-C-X (Compact Plus) Further information on the available variants of the CHB devices is available: – from a Festo technical advisor – or on the Internet at http://www.festo.com.
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Target devices
2.1.1
How CHB works
The conveyed parts to be checked are placed on a conveyor belt and passed in front of a camera. The controller analyses the contour of the test part and decides whether it is a correct part, an incorrectly orientated part or a faulty part. Incorrectly orientated or faulty parts are blown down. Control unit Delivery position for good parts Blow-down position for incorrectly orientated parts Blow-down position for faulty parts (bad parts) Conveyor belt Camera housing
Figure: How CHB works – using the example of Identbox The nominal contour of the parts is ascertained by means of a simple teach process. This is done by showing the device a series of sample parts. Features are ascertained from the contour of the sample parts. The test parts are judged with regard to their orientation and quality on the basis of these features.
2.2
Compact Vision Systems
Compact Vision Systems SBO...-Q enable visual (non-contacting) checking of parts. Different device types are available for this depending on the requirements: Device type
Image resolution
SBOC-Q-R1B, SBOI-Q-R1B
1)
640x480 sensor, monochrome
SBOC-Q-R1C, SBOI-Q-R1C
1)
640x480 sensor, colour
1)
SBOC-Q-R2B
1280x1024 sensor, monochrome
SBOC-Q-R2C
1280x1024 sensor, colour
SBOC-Q-R3B-WB, SBOI-Q-R3B-WB
1) 2)
752x480 sensor, monochrome
SBOC-Q-R3C-WB, SBOI-Q-R3C-WB
1) 2)
752x480 sensor, colour
1) Device type is also available with installed SBO...-Q Tools Add-In licence (supplementary type designation: "-S1"). 2) Device type without fieldbus interface. Further information on the available variants of Compact Vision Systems is available: – from a Festo technical advisor – or on the Internet at http://www.festo.com.
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Software-Paket CheckOpti – Version 3.1
2.2.1
How SBO...-Q works
Compact Vision System (here SBOI-Q) Figure: How SBO...-Q works Compact Vision Systems SBO...-Q are used for visual checking of parts in automation. They can be used for the following applications: – Detecting the position and turning position of the parts within the camera's field of vision in pixel or world coordinates (mm, inch) – for flexible control of handling systems or – for precision positioning of axes – Quality checks on distances, dimensions, angles, colour, etc. – Presence check – Reading bar or datamatrix codes – Reading characters and texts – Detecting a preferred orientation – Detecting/sorting types To do this, the devices record an image using an image sensor and evaluate it. The aim of the evaluation is to obtain information on one or more parts in the image. The evaluation must be defined by the user. A distinction is made as to whether the settings relate to the environment (e.g. the lighting, interaction with a controller, etc.) or the check of the part itself. – Settings that relate to the environment are made using the CheckKon software package. These settings are called the configuration. – Settings that relate to the check are made using the CheckOpti software package. These settings are called the check program. When creating the check program in CheckOpti, the objects to be checked and the method of checking them are defined. As part of this process, CheckOpti simulates the device's teach or check processes and immediately displays the (simulated) results. CheckOpti enables the user: – To create a check program with relative ease – To evaluate the check program on a PC (through simulation) before it is used on the target device – To transfer the check program to the target system following evaluation.
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3
Installation and general operating instructions
In order to operate CheckOpti, you must install the software on the PC. Installation is carried out by means of a setup program. •
Uninstall any earlier versions of CheckOpti if necessary. Administrator rights are required to install the CheckOpti software.
• Contact your system administrator if necessary.
3.1
Installing CheckOpti
•
To install the program, run "Setup CheckOpti 3.1 ... .exe". Installation programs for different languages can be found in the "Setup/[Language]/" directory on the installation CD provided by Festo.
•
Follow the instructions in the installation program. "Next" brings you to the next step, "Back" to the previous step.
The installation program guides you through the following steps: 1. Welcome message from the installation program 2. Accepting the license agreement on use of the software 3. Displaying current information on CheckOpti (readme) 4. Displaying a recommended installation directory with option to change this directory 5. Starting the installation 6. Notice of successful installation 7. If necessary: restarting the PC When installation is completed, you will find a link for starting CheckOpti in the start menu under [Programs] [Festo software] [CheckOpti 3.1]. If using Windows Vista or later, you may see a message that the software has not been certified by Microsoft or the software author is unknown.
• Accept this message to continue with the installation.
3.2
Uninstalling CheckOpti
CheckOpti can be uninstalled with the help of the "Software" function in the Windows Control Panel or directly from the start menu. •
Follow the instructions in your Windows manual. When uninstalling CheckOpti, some files may be left in the CheckOpti installation directory.
• Delete these files manually if necessary (e.g. using Windows Explorer).
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Software-Paket CheckOpti – Version 3.1
3.3
Starting CheckOpti
•
Start CheckOpti by selecting the start menu item: [Programs] [Festo Software] [CheckOpti 3.1] [Festo CheckOpti 3.1 ...]. CheckOpti starts with the following dialog window:
Figure: Starting CheckOpti The following options are available: Option
Meaning
Section
"Create new project"
CheckOpti starts with a new (empty) project.
– Working with projects – Procedure for working with
CheckOpti "Open existing project file" "Open recently used project file"
CheckOpti starts with the "Open" dialog window. You can open a saved project file in this dialog window.
– Working with projects
CheckOpti starts immediately with the project selected in the drop-down list.
– Setting up and optimising the check
– Procedure for working with
CheckOpti program – Evaluating the check program
•
Select one of the options and click the "Next" button. CheckOpti starts with the chosen option.
•
You can also double-click one of the options directly.
3.4
Working with projects
In order to document, reuse and archive the work carried out with CheckOpti, you must save this work in projects. A project contains the following general information: – Project documentation – Information about the target device including coordinate transformation data (SBO...-Q only) – One or more check programs A check program describes the detection or check process to be carried out by the device. The following information is saved in a check program: – Sample and test parts – Teach data – Tools – Data outputs (SBO...-Q only) All the information in a project is saved in a project file. The project file is given the following file extension: ".cbp" for projects with CHB devices ".sbp" for projects with SBO...-Q devices
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Installation and general operating instructions The first time you save the project you will be prompted to enter or confirm the name and directory path of the project file. •
Manage your project files with Windows Explorer. You can move, delete or copy these files and open them again in CheckOpti as desired.
•
Document your edited projects in the "Project documentation" window. Enter all relevant information in order to simplify the later assignment of the individual projects.
3.5
Establishing the communication connection
A communication connection is required to transfer data from or to the device. The connection with the device is established (or disconnected) by: – Enabling or disabling the "Connect to device" option in the "Communication Manager" window – Selecting the [Device] [Connect or disconnect from device] menu command – Using the "Identify ..." button appropriate to the device type in the "Project properties" dialog window. Depending on the device type, certain interfaces are available for communication with the software packages. CheckOpti shows the appropriate connection dialog for the device used: – CHB devices have a serial interface to RS232. CheckOpti shows the "Connection parameter" dialog window for a serial connection. – Compact Vision Systems SBO...-Q have an Ethernet interface. CheckOpti shows the "Connection parameter" dialog window for an Ethernet connection.
3.5.1
Connecting to CHB
Use the diagnostic cable type KDI-SB202-BU9 to enable communication between CheckOpti and CHB. This diagnostic cable can be ordered from Festo (Part No. 150268). •
Connect the following connections using the diagnostic cable: – "X1" diagnostic interface on CHB-IB, CHB-CB and CHB-SB or "Diag" diagnostic interface on CHB-C-X – Serial interface to RS232, for example COM1, COM2 on the PC (if applicable USB to RS232 adapter or similar with full RS232 support, in particular transmission without flow control).
"X1" diagnostic interface Figure: Connecting a CHB-IB, CHB-CB or CHB-SB device to the PC (example) Note Connect the PC and CHB with the diagnostic cable: – Not twisted – Without bends – At a sufficient distance from current-carrying cables or devices. You will then avoid transmission faults between the PC and CHB.
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Software-Paket CheckOpti – Version 3.1 Note The CheckOpti connection is used to record parts and other data when creating a check program. The connection to the device is no longer required once this has been done.
• Note that the device operates only at a reduced parts rate in diagnostic mode. • Remove the diagnostic cable as soon as you have finished working with CheckOpti. This prevents malfunctions. Only when using Identbox, Countbox or Sortbox: If, in exceptional cases, a connection between the PC and device is necessary in continuous operation:
• Use galvanic isolation (an optocoupler) between the PC and the device. • Contact your local Festo service centre if you have any technical questions.
Caution The change in the device's time response in diagnostic mode can cause malfunctions.
• Do not operate the device at the full parts rate in diagnostic mode. This prevents unchecked parts being delivered incorrectly. The device is in diagnostic mode when it is connected to CheckOpti. The device transmits more information in diagnostic mode than in operating mode. This increases the time required for transmission. No parts are checked during transmission. This can result in damage to the subsequent system. CheckOpti shows the "Connection parameter" dialog window for a serial connection when establishing the connection if the "Set connection automatically" option is not enabled in the "Options" dialog window. Otherwise the connection is established immediately.
3.5.2
Connecting to SBO...-Q
Use the diagnostic cable type SBOA-K30E-M12S to enable communication between CheckOpti and Compact Vision Systems SBO...-Q. This diagnostic cable can be ordered from Festo (Part No. 542139).
Figure: Connecting an SBO...-Q to a PC (example) Compact Vision System SBO...-Q Diagnostic cable type SBOA-K30E-M12S •
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Connect the following connections using the diagnostic cable: – Ethernet port on the SBO...-Q – Ethernet port on the switch, hub or router to which the PC is connected or directly with the Ethernet interface on the PC (with Auto MDI-X support)
Installation and general operating instructions The setting of the Ethernet interface on the PC must correspond to the settings of the Ethernet interface on the device so that communication is possible. The relevant information can be found in the manual for the device.
• Change the network settings of the PC ( section: Network settings on the PC). • Change the network properties of the device if necessary with the help of the SBO DeviceManager. The "Connection parameter" dialog window appears when establishing a connection ( section: Establishing the communication connection).
Figure: Connection parameters for SBO...-Q on the Ethernet interface "IP address of device" shows the data of the most recently used device: – Device name – IP address – MAC address. In the drop-down list you will find data of already known devices. You have the following options if your device does not appear in the "Connection parameter" drop-down list: 1. Enter an IP address or alternatively the host name (DNS name) of the device, if this is known to you, directly into the edit field of the drop-down list or Click the "Search ..." button to search for the camera in the local network. Follow the instructions for the "Device search" dialog window. 2. Once you have found the device you want to connect to, click the "Next" button. The data in the edit field of the drop-down list is used to establish the connection. Note The CheckOpti connection is used to record parts and other data during creation of a check program; this increases the processing time in the device and therefore changes its time response.
• Note that the device operates only at a reduced parts rate in diagnostic mode.
Note The connection to the device is no longer required once the check program has been created.
• Close the connection as soon as you have finished working with CheckOpti. This prevents malfunctions.
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Software-Paket CheckOpti – Version 3.1 Caution The change in the device's time response in diagnostic mode can cause malfunctions in your machine.
• Do not operate the device at the full parts rate in diagnostic mode. This prevents unchecked parts being delivered incorrectly. The device is in diagnostic mode when it is connected to CheckOpti. The device transmits more information in diagnostic mode than in operating mode. This increases the time required for transmission. Network settings on the PC The network connection to be used must be configured correctly to be able to establish a connection with the device. The settings for the network connection of the PC can be found under the category of the same name in the Windows Control Panel. The available LAN connections are displayed and can be configured there. •
Select the LAN connection you want to use to connect to the device and display its properties.
Figure: Network and remote data transmission connections •
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In particular check the properties of the "Internet Protocol (TCP/IP)" entry in the "Local Area Connection Properties" window.
Installation and general operating instructions
Figure: Example for Internet protocol (TCP/IP) properties If the network connection is configured so that the PC obtains its IP address automatically (from a DHCP server), the DHCP server must be accessible via the network connection. If this is not the case (e.g. with a direct connection with the camera), the network connection must be told which IP address to use ( Figure "Example for Internet protocol (TCP/IP) properties"). The settings chosen for the network connection of the PC and the camera must be compatible: •
Choose an IP address that is not yet in use by other network subscribers but still uses the same subnet (if no gateway is being used).
•
Choose the same address range for the subnet mask.
•
Confirm the input using the "OK" and/or "Close" buttons.
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Software-Paket CheckOpti – Version 3.1
3.6
Using country-specific special characters
CheckOpti 3.1 supports the use of country-specific special characters as appropriate to the language of the Windows operating system used. Note
• Do not use any country-specific special characters (e.g. Chinese characters) in texts when configuring a check program. This ensures that the texts will always be correctly displayed in different language versions. Country-specific special characters are not always saved correctly in Compact Vision Systems and in project files (*.sbp) since they cannot always be displayed using the PC's character set (ASCII table). Problems occur in particular if data is exchanged between Windows operating systems with different languages. If that happens, question marks "?" will be saved instead of the special character or characters will be left out. The question marks will only be displayed after the data is loaded again.
3.7
Undo/redo
This function can be used to undo or redo changes to the following data individually for each check program: – Tool properties – Data outputs – Teach data – Check program properties (name and Z value) – Part type (name) properties in the Teach-Data window. The "Undo" function reverses the most recent change to the settings in the active check program. The "Redo" function reverses the most recent "Undo" step. It repeats the reversed setting in the active check program. All "Redo" steps are deleted as soon as another setting is made manually. The buttons for "Undo" and "Redo" can be found in the toolbar of various windows in CheckOpti 3.1. Their function always relates to the selected check program. Note All "Undo" steps recorded in all check programs are deleted when the project properties are changed.
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4
Program interface of CheckOpti
4.1
The program window
The appearance and operation of the CheckOpti program window correspond to the usual conventions for user programs under Windows. The main features can be seen in the following screenshot:
Figure: CheckOpti program window Title bar of the CheckOpti window with the name of the current project
Toolbar for check programs
Menu bar
Minimised window
Toolbar of the CheckOpti program window
Status bar
Window in the working area
The toolbars enable fast access to important or frequently used functions (e.g. starting CheckKon).
4.1.1
The main menu of the program window
The main menu of the program window of CheckOpti contains the following:
Figure: Main menu of the program window The main menu is divided into the following categories: Menu command
Contents
[File]
Functions for opening, saving, importing and exporting files as well as for printing.
[Edit]
Functions for editing currently selected data.
[View]
Functions for displaying the main windows.
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Software-Paket CheckOpti – Version 3.1 Menu command
Contents
[Device]
Functions relating to the device, the connection and the exchange of data with the device.
[Action]
Functions for enabling and carrying out actions.
[Wizards]
Functions for enabling or displaying wizards for carrying out actions with user guidance.
[Navigate]
Functions for controlling the display (navigation) or the displayed data.
[Extra]
Functions for displaying the properties of CheckOpti.
[Window]
Functions for displaying and arranging open windows.
[Help]
Functions for displaying the online help and information on the current program version of CheckOpti.
4.1.2
The toolbar of the program window
The toolbar of the program window of CheckOpti contains the following:
Figure: Toolbar of the CheckOpti program window New project
Show part contour
Open project
Show teach data
Save project
Show tool properties
Establish or disconnect connection with the target device
Show feature graph
Record sample parts via connection
Show data outputs
Record test parts via connection
Show project documentation
Record parts without contour images
Show Check program Manager
Record parts without camera images
Show Communication Manager
Project properties/identify target device
Start CheckKon
Show part list
Show context-sensitive help
4.1.3
The toolbar for check programs
If the project supports several check programs, an additional toolbar for managing the check programs will be displayed in the program window of CheckOpti.
Figure: Toolbar for managing check programs
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New check program
Copy check program
Previous check program
Paste check program
Next check program
Delete displayed check program
Selection of the check program
Check program properties
Program interface of CheckOpti
4.2
Windows and dialog windows
The following help pages contain an overview of the most important windows and dialog windows in CheckOpti. A description of the steps that can be carried out with CheckOpti can be found in the section "Procedure for working with CheckOpti".
4.2.1
"Options" dialog window
Global settings for CheckOpti are made in the "Options" dialog window ([Extra] [Options]).
Figure: "Options" dialog window General settings (ďƒ¨ table) Search for the CheckKon.exe file Connection options (ďƒ¨ table)
General options
Meaning
Display received part automatically
The part received by a device is displayed automatically if this box is checked.
Parts buffer
Maximum number of sample or test parts to be recorded per check program.
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Software-Paket CheckOpti – Version 3.1 General options
Meaning
When limit of parts buffer is reached
Presetting in case the maximum number of sample or test parts in the project is exceeded. – Request: If the parts buffer is exceeded, you will be asked whether it should be increased (by 500) or whether the excess parts should be deleted. – Delete new parts: CheckOpti deletes the new excess parts (without a request for confirmation). – Increase parts buffer: CheckOpti increases the parts buffer by 500 (without a request for confirmation). – Delete oldest parts: CheckOpti deletes the oldest excess parts (without a request for confirmation). Note: The same action takes place when you open a file (without a request for confirmation).
Path to CheckKon
To be able to start CheckKon via the CheckOpti toolbar, you must enter the corresponding start command in this text field.
• Enter the appropriate program path on your system together with the program call for CheckKon here or
• Select the program path and program call via the "..." button. Display values of features used for quality decision only
To improve the overview, the feature values and further information of disabled features are not displayed if this box is checked.
Display coordinate system in world 1) coordinates
The mouse position and coordinate grid are displayed in world coordinates in the "Part contour" window. The world coordinates are derived from the coordinate transformation defined in the project ( section: "Calibration of coordinate transformation" wizard). This display is particularly helpful when using the coordinate transformation tool.
Display position of all tools
1)
All tools are displayed in the "Part contour" window if this box is checked, even if these tools are not selected.
• This enables you to switch between the tools by selecting them with the mouse. Only the currently selected tool is displayed in the "Part contour" window if this option is not enabled; all other tools are hidden. Display flagword and string offsets 1) (e.g. for EasyIP or Telnet)
The flagword offsets (addresses) for all values available via EasyIP, Telnet or ModbusTCP are displayed along with these values if this box is checked.
Show camera or contour image automatically depending on usage 1) of selected tool
The program switches automatically to the image (camera or contour image) that is required when a new tool or feature is selected if this box is checked.
• You can also switch between the images manually using the "Switch between contour and camera image" function. 1) For SBO...-Q only
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Program interface of CheckOpti Connection settings
Meaning
Connection...
Selection of the type of connection to be used for the next connection attempt (e.g. with the "Connect or disconnect from device" function): – via RS232 interface: CheckOpti uses the serial interface (for CHB only). – via modem (remote management): CheckOpti uses a modem (for CHB only). Further information on connecting via a modem can be obtained from your local Festo service centre. – via Ethernet interface: CheckOpti uses the Ethernet interface (for SBO...-Q only). Further information on establishing connections between a PC and target device can be found in the manual for the device. 2)
Set connection automatically
The interface and baud rate are set automatically if this box is checked. The "Connection parameter" dialog window appears when starting a connection if this box is not checked.
Use signal tone on part reception
CheckOpti outputs a signal tone for each received part.
Delete parts with defect contour data automatically
Communication problems via the RS232 interface can result in contour data being defective. These parts will be deleted automatically when CheckOpti finds defects of this type if this box is checked.
Use features that differ from the part contour (this can occur on certain parameter settings of the device, e.g. 'Ignore center area of part')
With CHB, certain settings can result in the contour image changing after certain features are calculated. It is not possible to recalculate (simulate) these features in CheckOpti because the data required is no longer available. The received feature values are not changed by CheckOpti if this box is checked.
2) Only available with connection via RS232 interface
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Software-Paket CheckOpti – Version 3.1
4.2.2
"Project properties" dialog window Basic settings for the current project are defined in the "Project properties" dialog window ([View] [Project properties]).
Note When the project properties are changed, all undo steps recorded up until that point are deleted in all check programs. You will receive a warning before this happens.
• Acknowledge the warning with "OK" to save the new project properties or cancel the change.
Starts automatic identification of the target device. Selection of the target device. Selection of the firmware version (firmware of the target device). Selection of firmware add-ins. Detailed information on the target device. Acceptance of the device properties into the project documentation. Enabling of several check programs in the project. Enabling of the quality check in the project (e.g. for checking dimensional accuracy). Enabling of orientation separation in the project (detection of the preferred orientation). Enabling of the automatic deletion function for orientations without a sample part. Enabling of type separation or the sorting function in the project. Enabling of the automatic deletion function for types without a sample part. Enabling of automatic coordinate transformation for features. Presetting for tools to be created from new. The next time the project is saved it will be compatible with CheckOpti version 1.0 after this Figure: "Project properties" dialog window option is enabled. 1. Target device type: The settings in this area adapt the CheckOpti project to the functionality of the respective device. •
Carry out identification of the target device (e.g. SBO...-Q-R1B, Identbox, Countbox). This can either be done automatically using the associated button or manually by the user.
•
Enter the firmware version. You can also have the firmware version identified automatically.
•
If necessary, select firmware add-ins. The selection is made as appropriate to the target device type and firmware version. The automatic identification function establishes a connection with the device and ascertains all of the data required to identify the device type. With SBO...-Q, the coordinate transformation data is additionally compared between the device and CheckOpti during identification. If coordinate transformation (e.g. coordinate transformation tool or automatic coordinate transformation of the features) is not used in the current CheckOpti project, the data from the
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Program interface of CheckOpti device is transferred without any further request for confirmation. Otherwise the data records are compared. If the coordinate transformations are different, a warning is output. With CHB, only Config firmware version 1.2 or later supports the use of tools or the editing of features. Note It is absolutely necessary to set the target system to be simulated so that the scope of functions of CheckOpti and the device can be adapted to suit each other. If the target device type and the firmware version are not defined correctly, malfunctions may occur during the check. The specification of the target device type is saved in the project and relates to all check programs contained in the project. •
The specified or automatically ascertained device properties are inserted into the project documentation as text if the "Insert device properties into project description" box is checked ( section:"Project documentation" window).
2. Project settings: The settings in this area define further basic settings for the main task of the check program. You can set the following options using checkboxes: •
"Project with multiple check programs": You can create multiple check programs (for the same target device) in the project if this option is enabled. This option is always enabled with SBO...-Q. All check programs except for the first one will be deleted following a request for confirmation if this option is disabled.
•
"Project with quality inspection" Features for qualitative evaluation of the test part can be configured if this option is enabled. For example the dimensional accuracy of test parts can be determined.
•
"Project with orientation separation (preferred orientation)": Control elements for differentiating up to eight different test part orientations are available if this option is enabled. Existing data or settings used for orientation separation will be deleted following a request for confirmation if this option is disabled (e.g. the classification of sample parts into specific orientations). This option can only be set manually for SBO...-Q; it is always enabled with CHB.
•
"Delete orientations without sample parts automatically" (enabling recommended): Enabled: If there are no sample parts available for an orientation, its teach data will be deleted automatically or set to 0 values. Disable this option if you are using teach data without the associated sample parts (e.g. after transferring a check program from the device or when the teach data is set manually).
•
"Project with type separation (sorting function)": Control elements for differentiating up to 16 part types in the check program are available if this option is enabled. For example these can be sorted with the help of this function. Existing data or settings used for type separation will be deleted following a request for confirmation if this option is disabled (e.g. assignment of sample parts to specific types). This option can only be set manually for SBO...-Q; it is always enabled with CHB-SB... (Sortbox).
•
"Delete types without sample parts automatically" (enabling recommended): Enabled: If there are no sample parts available for a type, its teach data will be deleted automatically or set to 0 values. Disable this option if you are working with teach data without the associated sample parts (e.g. after transferring a check program from the device or when the teach data is set manually).
•
"Project with automatic coordinate transformation of features": Pixel dimensions are (insofar as possible and practical) converted into the unit defined during the most recent calibration of the coordinate system if this option is enabled. – Carry out a calibration of the coordinate transformation if necessary.
•
"Calculate tools as default on camera image": The presetting "Calculate on camera image" is used for setting up new tools after this option is enabled.
25
Software-Paket CheckOpti – Version 3.1 •
The "Project file compatible with CheckOpti 1.0" checkbox enables you to process the project with CheckOpti version 1.0. This option is only available if: – the "Project with multiple check programs" box is not checked, – the target system is neither Sortbox, Checkbox Compact nor SBO...-Q, – the firmware version is no more than 3.0.
4.2.3
"Part list" window The current sample and test parts with the assigned orientation or part type are managed in the "Part list" window ([View] [Part list]).
Note If the project contains multiple check programs, only the sample and test parts for the currently selected check program are displayed.
• Select the check program in the toolbar for check programs.
Figure: "Part list" window List of sample parts List of test parts Sort the list of sample or test parts as per the chosen criterion (the display of the parts in other windows is also adapted) Copy/move selected sample or test parts to the other list Delete selected sample parts Delete selected test parts Assign the orientation of the selected sample parts (only with projects with orientation separation) Assign the type of the selected sample parts (only with projects with type separation)
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Program interface of CheckOpti Ignore selected sample parts Status bar with information on test parts (only displayed with projects with quality check) – Percentage of "good" test parts – Percentage of "bad" test parts – Percentage with incorrect orientation (only displayed with projects with orientation separation) All parts are displayed in the lists of sample and test parts with their type, orientation and, if applicable, a description. The individual parts are identified according to the following colour convention: Symbol
Meaning
Dark green "T"
Good sample part
Red "T"
Disabled (invalid) sample part
Green dot
Good test part/good part (only with projects with quality check)
Red dot
Bad test part/bad part (only with projects with quality check)
The part selected under "Sample parts" or "Test parts" is displayed in the "Part contour" window. The "Feature graph" and "Teach-Data" windows show the corresponding sample or test part data. Toolbar of the "Part list" window
Figure: Toolbar of the "Part list" window Previous part
Delete part
Jump to part no.
Part properties
Next part
Switch between sample/test parts
Copy part
Record sample parts
Paste part
Record test parts
Note The [Undo] command in the [Edit] menu is not available if changes are made to the parts (e.g. parts are added, deleted, etc.) or if changes are made to the part properties (e.g. remark, orientation, etc.). Possible actions: •
Change the order of the sample and test parts lists using the drop-down menu above the respective part list (sorting criterion). The new order also applies to display and navigation in all other windows.
•
Assign a new orientation to the sample parts using the numbers (buttons) arranged vertically underneath the "Ori" abbreviation.
•
Assign a new type to the sample parts using the buttons arranged horizontally to the right of the "Type" abbreviation.
•
Accept suitable test parts as sample parts. Do this using the buttons arranged under "Copy" and "Move". This enables you to incorporate the properties of test parts during the teach process.
•
Delete incorrect or incorrectly taught sample parts using the buttons under "Delete" or the DELETE button on the keyboard.
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Software-Paket CheckOpti – Version 3.1 The selected sample parts are defined as invalid parts using the "Ignore parts" symbol. These will consequently not be taken into account when the teach data is ascertained. This enables you to fix any mistakes made during recording of the sample parts. The selected sample parts are defined as valid parts using the "Use parts" symbol. These will consequently be taken into account when the teach data is ascertained.
Note Orientations and types can only be assigned if the "Project with orientation separation" or "Project with type separation" options have been enabled in the project properties. Otherwise only the "Ignore parts" and "Use parts" options will be available. You can also execute all functions using the mouse by means of drag and drop (if applicable with the help of the CTRL key) or using the "Cut", "Copy" and "Paste" menu commands. This can also be done between different check programs or between the CheckKon and CheckOpti programs.
4.2.4
"Part properties" dialog window • Open one or more sample or test parts from the part list. Open the dialog using - the button ( screenshot), - the right mouse button and the "Part properties" command, - the [Edit] [Part properties] menu.
The following specifications for the selected sample parts can be changed in this dialog window: – Part type - only with projects with type separation (sorting function) – Orientation - only with projects with orientation separation – Use for the teach process. In the case of test parts only the comment can be changed; the part type and orientation are defined by the check process. Selection of the part type (only available with projects with type separation) Selection of the orientation (only available with projects with orientation separation) Space for comment or description for the selected parts Selection for the teach process (only available with projects with orientation separation) Figure: "Part properties" dialog window If several parts with different properties are selected, the relevant fields (e.g. Part type) will be displayed as empty. The changes become effective for all selected parts when you make a selection from the dropdown lists or enter a comment. •
Click the "OK" button to assign the changed properties to the selected parts. Note The [Undo] command in the [Edit] menu is not available if changes are made to the part properties.
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Program interface of CheckOpti
4.2.5
"Part contour" window The image of the selected sample or test part is displayed and the check program tools are set up and optimised in the "Part contour" window ([View] [Part contour]).
For individually selected sample or test parts, you get a combined view of all associated – contour and/or camera images – tools and features – individual results of the test parts combined with an overall result shown as a colour. The selection of tools differs depending on the possible target devices: – "Part contour" window for CHB – "Part contour" window for SBO…-Q. The window is described for devices of the types CHB and SBO...-Q in the following sections.
4.2.6
"Part contour" window for CHB The "Part contour" window ([View] [Part contour]) shows the contour images recorded using the target device as well as the features of the current sample or test part.
Here you can: – Add and set up tools made available by the device or firmware – Check parts by viewing them (e.g. wrong orientation, unfavourable alignment).
Figure: "Part contour" window Information on the displayed part
Colour coding (only with test parts): test part good (green) or bad (red)
Features of the current part
Status bar
Images of the part
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Software-Paket CheckOpti – Version 3.1 Toolbar of the "Part contour" window
Figure: Toolbar of the "Part contour" window Control 10 parts back
Zoom (zoom tool in/out) With zoom tool in: – Left mouse click: enlarge image at mouse position – Right mouse click: reduce image at mouse position – Drag zoom area with left mouse button pressed
Previous part Jump to part no. Next part 10 parts forward Switch between teach and test views
Change axis relationship
Functions Copy tool/feature
Copies the currently selected tool to the clipboard.
Paste tool/feature
Pastes a tool from the clipboard into the check program. The position is determined by the tool type.
Delete tool/feature
Deletes the currently selected tool or disables global features following a request for confirmation.
Show tool properties
Displays the "Tool properties" window for the currently selected tool.
Tools Add new ROI tool
Add new angle measurement
Add new VStrip tool
Add new multiple angle measurement
Add new CTOOL
Add new counting measurement
Add new horizontal distance measurement
Add new combination
Add new horizontal multiple distance measurement
Add feature for external calculation
Add new vertical distance measurement Display areas of the "Part contour" window Information on the sample or test part is displayed in the top right part of the window: – Specified part type for sample parts or detected part type for test parts – Specified orientation for sample parts or detected orientation for test parts – Calculated feature scatter (only with sample parts) – Calculated deviation with colour coding for good (green) or bad (red) (only with test parts) – Calculated orientation uncertainty (only with test parts) – Specified tolerance for the check (only with test parts) – Record number – Date and time of recording – Contour data size of the image
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Program interface of CheckOpti The features of the sample or test part are displayed in the bottom right part of the window: – Feature number with symbol – Specified tool name or blank for global features – Feature name – Feature value – Feature deviation (only with test parts) – Feature scatter (only with sample parts) – Individual tolerance of the feature, if different from the specified tolerance Symbols in the "Part contour" window Symbols with sample parts
Meaning
Dark green "T"
Feature is used to determine the value range in the teach data.
Red "T"
Feature is not used to determine the value range in the teach data because the part is ignored during the teach process.
"D" on yellow background
Feature is not used for quality decision (check disabled).
"M" on yellow background
Feature has no influence on the value range in the teach data because this is assigned manually by the user. – M: without write protection – F: with write protection
"F" on yellow background
Symbols with test parts
Meaning
Green dot
Feature with good result, feature deviation max. ±50.
Green arrow
Feature with permissible result, feature deviation max. ±98.
Yellow arrow
Feature at tolerance limit, feature deviation max. ±100.
Red arrow
Feature with bad result, feature deviation more than ±100.
"D" on yellow background
Feature is not used for quality decision (check disabled).
The toolbar shows the coordinates of the mouse cursor, the number, orientation and type as well as a description of the part ("Information").
31
Software-Paket CheckOpti – Version 3.1
4.2.7
"Part contour" window for SBO...-Q The "Part contour" window ([View] [Part contour]) shows the following recorded using the target device: – Contour image or – Camera image - Grey scale image (with SBO...-Q-R...B) - Colour image (with SBO...-Q-R...C) It also shows the following for the current sample or test part: – Results and information – Features
In this window you can: – Add and set up tools made available by the device or firmware – Check parts by viewing them (e.g. wrong orientation, unfavourable alignment).
Figure: "Part contour" window Information on the displayed part
Colour coding (only with test parts): test part good (green) or bad (red)
Features of the current part
Status bar
Images of the part
The axis label shows the position of the image pixels along the X and Y axes. – The axis labels are hidden when the image is displayed in world coordinates. – The mouse pointer position (coordinates) is displayed in the status bar when the mouse pointer is in the image region.
Changes to the tools and features (e.g. tolerance, feature name, etc.) can be conveniently undone and then redone.
• Use the [Undo] and [Redo] commands in the [Edit] menu or click the corresponding buttons in the "Part contour" window (blue round arrows).
32
Program interface of CheckOpti Toolbar of the "Part contour" window
Figure: Main toolbar of the "Part contour" window Send trigger signal/create image(s)
Switch between contour and camera images
10 parts back
Zoom (zoom tool in/out) With zoom tool in: – Left mouse click: enlarge image at mouse position – Right mouse click: reduce image at mouse position – Drag zoom area with left mouse button pressed
Previous part Jump to part no. Next part
Control element for adjusting the zoom factor
10 parts forward
Show position of unselected tools: Switches between displaying all tools or displaying the tool for the selected feature
Open the "Part properties" window
Switch the representation of the display between – image coordinates (pixels) – world coordinates (mm)
Delete the selected part
Disable and enable recording of contour images
Switch between teach and test views
Disable and enable recording of camera images
Functions of the "Part contour" window
Figure: Tool toolbar of the "Part contour" window Copy tool/feature
Copies the currently selected tool to the clipboard.
Paste tool/feature
Pastes a tool from the clipboard into the check program after the currently selected tool (feature).
Delete tool/feature
Deletes the currently selected tool or the selected feature following a request for confirmation. Other dependent tools (due to feature references) are also deleted following a request for confirmation.
Move tool/feature upwards
Moves the currently selected tool (and therefore all features calculated by this tool) in the check program up one place in front of the previous tool/down one place after the next tool. This means that new feature references are possible for the previous/next tool. The tool to be moved must not, however, be moved in front of another tool whose features it itself uses as a reference feature.
Move tool/feature downwards
Show tool properties
Displays the "Tool properties" window for the currently selected tool.
Undo most recent change
Reverses the most recent change when editing the tools.
Redo most recently reversed change
Repeats the most recently reversed change.
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Software-Paket CheckOpti – Version 3.1
Adding tools New ROI tool
New Colour detection tool
New CTool
New Math/logic function tool
New Edge finder tool
New Geometry function tool
New Circle finder tool
New Flagword access tool
New Blob finder tool
New I/O access tool
New Pattern matching tool
New Coordinate transformation tool
New Single measurement tool
New Datamatrix code reader/checker tool
New Multiple measurement tool
New Bar code reader tool
New Ray tool
New Text recognition (OCR) tool
New Brightness detection tool
Context menu in the image region
Figure: Context menu in the image region Command
Keyboard command
Delete part
Meaning Deletes the currently displayed sample or test part.
Part properties
CTRL+E
Opens the "Part properties" dialog window.
Part orientation and type...
CTRL+(SHIFT+) number
Opens an extended context menu containing a selection of commands for assigning orientation and type for the displayed sample part. The number in the keyboard command corresponds to the number of the orientation or type.
Add tool...
Opens an extended context menu containing a selection of possible tools and adds the selected tool to the feature list.
Copy tool
CTRL+C
Copies the selected tool to the clipboard.
Paste tool
CTRL+V
Pastes the tool saved to the clipboard into the feature list.
Delete tool or feature
DEL
Deletes the selected tool following a request for confirmation or disables the selected feature.
34
Program interface of CheckOpti Command
Keyboard command
Meaning
Tool properties
ALT+S
Opens the "Tool properties" dialog window.
Show position of unselected tools
Tools not selected in the image are surrounded by a green frame when this menu item is enabled.
Edit camera images (all parts)...
Opens an extended context menu containing the "Delete camera images" command.
Settings for tape measure
Conversion factors for distance measurements using the mouse cursor.
Copy screenshot to clipboard
Copies the contents of the window as a screenshot to the clipboard.
Save screenshot to file
Saves the contents of the window as a screenshot to a file.
Context menu in the feature list
Figure: Context menu in the feature list The following table explains only those commands that do not occur in the context menu in the image region. Command
Keyboard command
Meaning
Rename feature
F2
Opens a dialog window for changing the feature name.
Reset all feature names of tool Use feature for quality decision
Resets all features of the currently selected tool to their default names. CTRL+D
Enables the "Feature used for quality decision" option in the "Teach-Data" window.
Replace references to feature
Opens the "Replace reference to feature" dialog window for replacing a reference feature with another feature.
Assign standard references...
– Assigns the selected feature to a standard reference – Performs the automatic assignment of standard references – Resets the assignment of standard references. ( section: Standard reference)
35
Software-Paket CheckOpti – Version 3.1 Results of sample or test parts Results for the selected sample or test part are displayed in the top right part of the window. Result Type
Meaning
1) 2)
Specified or detected part type.
Orientation Deviation
1) 3)
Specified or detected orientation.
6)
Deviation with colour coding: good (green) or bad (red).
Orient. uncert.
1) 3)
Evaluation of the detected orientation.
4) 5)
At teach process 5)
Scatter
Use of the part (use or ignore). Evaluation of the feature scatter.
6)
Tolerance
Specified tolerance for test parts.
I/O access
Shows when an output on an "I/O access" tool is set. The character "-" appears if no outputs are set. – Internal outputs of the camera and outputs of the I/O expansion are differentiated using the following extensions (e.g. "Int. O0:= 1 O4:= 1 Ext. CP O1:=1").
Data outputs
Shows the data outputs used. The communication name or the communication ID of the data outputs (e.g. "RPD") appears. The character "-" appears if no data outputs are used. – A tilde character "~" after the data output means that the "Automatic data output (streaming)" option is enabled for this data output.
Record no.
Record no. (number of the recording in the device).
Recorded on
Recorded on (date and time of the recording in the device).
1) 2) 3) 4) 5) 6)
Only with projects with quality check Only with projects with type separation Only with projects with orientation separation Only with projects without type separation and without orientation separation Only with sample parts Only with test parts
Features of sample or test parts The table in the bottom right part of the window (feature list) contains the features of the sample or test part. Column
Meaning
Info
Number of the feature, with symbols to indicate the properties of the respective feature (see below).
Tool
Name of the tool.
Feature
Name of the feature.
S.Ref.
Assigned standard references ( section: Standard reference).
Value
Feature value with unit, for example [pixels]. Text features are represented with "..". 1)
Value (trans.)
2) 4)
Scatter Dev.
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3)
Feature value (transformed) or alternative feature value. The display must be switched to "world coordinates" to show the transformed feature values ( section: Toolbar of the Part contour window). Feature scatter. Feature deviation.
Program interface of CheckOpti
Tol.
4)
Tolerance factor of the feature if there is a deviation from the overall tolerance (ďƒ¨ tolerance factor is not 1.0).
Dep.
Dependency between feature references (see below) This display refers to the currently selected feature (X) and shows – whether a dependency exists for all previous features, – whether all subsequent features are dependent on the selected feature.
FW / STR
Flagword and string offset: address of the feature in the device (if the display is enabled in the Options dialog window).
1) Only when using the coordinate transformation tool or in projects with automatic coordinate transformation 2) Only with sample parts 3) Only with test parts 4) Only with projects with quality check Dependencies between feature references Dependencies between features are indicated in the "Dependency" column in the feature list using the following symbols: Symbol
Meaning
X
Selected feature to which the dependencies of the other features represented with the symbols (<, >, <<, >>) refer.
>
Feature that is used as a reference feature by the selected feature (X) (direct dependency).
>>
Feature that is used as a reference feature by another feature. This other feature is used by the selected feature (X) (indirect dependency).
<
Feature that uses the selected feature (X) as a reference feature (direct dependency).
<<
Feature that uses another feature as a reference feature. This other feature uses the selected feature (X) as a reference feature (indirect dependency).
The following table shows the dependencies by the respective arrow directions. >>
>
X
<
<<
Reference feature for '>'
Direct reference feature for 'X'
Selected feature
Feature directly dependent on 'X'
Feature dependent on '<'
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Software-Paket CheckOpti – Version 3.1 Symbols in the "Part contour" window Symbols with sample parts
Meaning
Dark green "T"
Feature is used to determine the value range in the teach data.
Red "T"
Feature is not used to determine the value range in the teach data because the part is ignored during the teach process.
Blank dot with V
Feature is invalid (with projects without quality check).
"D" on yellow background
Feature is not used for quality decision (check disabled).
1)
"M" on yellow background
1)
"F" on yellow background
Feature has no influence on the value range in the teach data because this is assigned manually by the user. – M: without write protection – F: with write protection
1)
1) The V index beside the symbol means that it was not possible to calculate a result for the feature, i.e. it is invalid. This information is taken into consideration in the teach data. Symbols with test parts
Meaning
Green dot
Feature with good result, feature deviation max. ±50.
Green dot with V
Feature is invalid (it was not possible to ascertain a result). The specifications of the teach data with respect to feature validity do, however, evaluate this as a good result.
Red dot with V
The result of the feature does not match the specifications of the teach data with respect to feature validity. This leads to a bad result.
Blank dot with V
Feature is invalid (with projects without quality check).
Green arrow
Feature with permissible result, feature deviation max. ±98.
Yellow arrow
Feature at tolerance limit, feature deviation max. ±100.
Red arrow
Feature with bad result, feature deviation more than ±100.
"D" on yellow background
Feature is not used for quality decision (check disabled).
Status bar Display
Contents
Position of the mouse cursor
With display in "image coordinates": – The position of the mouse cursor over the image point is shown as X and Y coordinates in pixels relative to the lower left corner of the image. With display in "world coordinates": – The position of the mouse cursor over the image point is shown as X and Y coordinates in world coordinates. The position is calculated using the project's coordinate transformation data.
Brightness
Representation of the brightness value for the image point underneath the mouse cursor.
Colour value (only with colour images)
Representation of the colour value as a H component for the image point underneath the mouse cursor. Representation of the colour value as an RGB value for the image point underneath the mouse cursor.
Type
Representation of the part type (only with "Project with type separation" = enabled).
Orientation
Representation of the orientation (only with "Project with orientation separation" = enabled).
38
Program interface of CheckOpti Display of the size and placement of tools in the image region The tool region and its settings are displayed for the currently active tool.
Figure: Sample representation of tools in the image region Property
Display
Shape
Blue frame around the tool region (here rectangular region)
Size
Size of the frame with values for the width (here W = 25) and height (H = 30)
Centre point after rotation around rotation point
Brown crosshair with blue circle at the centre point of the shape with coordinate values (here X = 38, Y = 63)
Centre point before rotation
Blue crosshair with blue circle with coordinate values (here X = 50, Y = 35)
Feature reference of the centre point
Dashed reference lines along X and Y axes (here X = 20, Y = 15)
Absolute values (constants) of the centre point
Blue line from "feature reference of the centre point" to "centre point before rotation" (here dX = 30, dY = 20)
Rotation point
Brown crosshair with blue circle with coordinate values (here X = 10, Y = 35)
Rotation angle
Brown angle around rotation point (here 45°) from "centre point before rotation" to "centre point after rotation"
Turning angle
Brown angle around "centre point after rotation" (here 75°)
Adapting the size and placement of tools using the mouse in the image region The following properties of the tools (if available in the respective tools) can be changed using the mouse: – Position – Size – Rotation point – Rotation – Turning position
39
Software-Paket CheckOpti – Version 3.1
Figure: Adapting tools in the image region Property
Procedure
Position of the tool region
Move the mouse pointer into the tool region (blue frame).
• With the left mouse button pressed, move the tool region in any direction. If the Shift key is pressed at the same time, movement is only possible horizontally, vertically and in angular increments of 45°. Size of the tool region
Move the mouse pointer to the gripping points at the edge of the tool region. With the left mouse button pressed:
• Change the overall size of the tool region using the gripping points at the corners.
• Change the height or width of the tool region using the gripping points at the sides. If the Alt key is pressed at the same time, the size changes are carried out symmetrically relative to the centre point or the centre axis. Rotation point of the tool region
Move the mouse pointer to the rotation point of the tool region.
• With the left mouse button pressed, move the rotation point together with the tool region in any direction. If the Shift key is pressed at the same time, movement is only possible horizontally, vertically and in angular increments of 45°.
Turning of the tool region around its centre point
Move the mouse pointer to the gripping points at the corners of the tool region and press the Ctrl key on the keyboard.
• With the left mouse button pressed, turn the tool region around its centre point. If the Shift key is pressed at the same time, turning is only possible in angular increments of 15°. Rotation of the tool region around the rotation point
Move the mouse pointer to the gripping points at the corners of the tool region and press both the Ctrl and Alt keys on the keyboard.
• With the left mouse button pressed, rotate the tool region around the rotation point. If the Shift key is pressed at the same time, rotation around the rotation point is only possible in angular increments of 15°.
Further information on configuring tools can be found in the section "Tool properties" window.
40
Program interface of CheckOpti
4.2.8
"Teach-Data" window The left-hand side of the "Teach-Data" window ([View] [Teach data]) shows the value ranges of the individual features (ascertained from the sample parts or for the test parts, permitted value ranges) separately for the different orientations and part types (only with projects with orientation or type separation). The properties of the currently selected feature can be manually changed on the right-hand side ( section: Properties of the currently selected feature).
The representation of the information in the "Teach-Data" window depends on the settings in the "Project properties" window. With projects without quality check: – The "Teach-Data" window cannot be opened – The "Feature used for quality decision" option is disabled for all features.
The previously displayed window is closed when the "Project with quality inspection" option is disabled. "Feature value ranges" display area
Figure: "Teach-Data" window (only with display area for "Feature value ranges") Part type and orientation (with project with orientation or type separation)
Open the "Set counter properties" dialog window (only with devices with a counter)
Tolerance
Orientation (for test parts) or C value (for sample parts) of the parts
Preselected counter reading (only with devices with a counter)
Features
Increase or reduce tolerance
Status bar
41
Software-Paket CheckOpti – Version 3.1 Toolbar of the "Teach-Data" window
Figure: Toolbar of the "Teach-Data" window Previous orientation
Reduce tolerance
Next orientation
Increase tolerance
Switch between sample and test parts
Open the "Set counter properties" dialog window (only with devices with a counter)
Previous part type
Set properties of the selected tool
Next part type
Disable feature or delete tool
Delete teach data of the displayed part type (only possible if there are no sample parts available)
Undo most recent change
Set properties of the selected part type
Show "Properties / evaluation of the Teach-Data" dialog window
Redo most recently reversed change
A graph of the various parts is displayed in the top left part of the window. This graph shows the C value for sample parts or the orientation for test parts. The orientation "0" stands for bad parts. •
Switch to the test part view using the "Switch between sample and test parts" button. You can test the influence of the tolerance on the value ranges of the features by setting different tolerances using the "Increase tolerance" or "Reduce tolerance" buttons.
• Enter a preselected value under "Set counter" (only with devices with a counter). In the lower part of the window you will see a list of the features with the respective value ranges for the current type and current orientation, in each case with the minimum, mean and maximum values as well as the tolerance factor and the tolerances if these differ from the overall tolerance. Column
Meaning
Info
Symbol identifying the property of the respective feature and the number of the feature.
Tool
Name of the tool (if assigned).
Feature
Name of the tool.
Separates
Shows the best feature for separating the current part type and orientation compared with other part types and orientations. For example "->1/2" = separates the displayed type and orientation from type 1, orientation 2.
Tol.F
Tolerance factor of the feature (only if the tolerance factor of the feature is not 1.0).
Min.
Minimum value of the feature (blank with a text feature).
Tol.
Tolerance used for the minimum value of the feature, if this differs from the overall tolerance. Values in square brackets have been limited automatically.
Mean
Mean of the feature for a value feature or check expression for a text feature.
Max.
Maximum value of the feature (blank with a text feature).
Tol.
Tolerance used for the maximum value of the feature, if this differs from the overall tolerance. Values in square brackets have been limited automatically.
42
Program interface of CheckOpti
Context menu in the feature list
Figure: Context menu in the feature list of the "Teach-Data" window Command
Keyboard command
Meaning
Rename feature
F2
Opens a dialog window for changing the feature name.
Reset all feature names of tool Use feature for quality decision
Resets all features of the currently selected tool to their default names. CTRL+D
Delete tool or feature Tool properties
Enables/disables the "Feature used for quality decision" option. Deletes the selected tool following a request for confirmation or disables the selected feature.
ALT+S
Opens the "Tool properties" dialog window.
Assign standard references...
Opens a submenu for setting or resetting standard references (ď&#x192;¨ section:Standard reference).
Set counter
Opens the "Set counter properties" dialog window (only with devices with a counter).
Copy screenshot to clipboard
Copies the contents of the window as a screenshot to the clipboard.
Save screenshot to file
Saves the contents of the window as a screenshot to a file.
43
Software-Paket CheckOpti – Version 3.1 Properties of the currently selected feature
Figure: "Teach-Data" window displaying the feature properties (value features)
Figure: "Teach-Data" window displaying the feature properties (text features) You can set various options for the currently selected feature (mouse click) in the right-hand part of the window. Selected option
Meaning
Feature
Displays the currently selected feature and provides the option to select another feature.
Name
1)
Name of the currently selected feature with an option to change the feature name.
Feature used for quality decision
The current feature is taken into consideration in the teach and check processes with the tolerance ranges for detection of the orientation, part type and good/bad decision ascertained from the sample parts (or changed manually). – The enabled feature is identified by a green T in the table of tools and features. – Disabled features are identified with a yellow "D".
Tolerance factor
Entry of a multiplication factor for influencing the overall tolerance for the selected feature. Value range is restricted with CHB: – 0.00 ... 0.99 (2 decimal places) – 1 ... 127 (no decimal places) You must use the dot as a decimal point when entering the factor.
Further properties specific for:
Each of the following properties must be specified separately for a part type and an orientation.
44
Program interface of CheckOpti Selected option
Meaning
Type
Selection of the part type
Orientation
Selection of the orientation
Check expression
1)
Only with a text feature: display and if applicable entry of the check expression for text features. – If a text is entered, an exact match is expected during the check. – If "*" is entered, any text will be accepted during the check. Setting – automatic (from sample parts) Check expression is ascertained automatically from the sample parts – manually Check expression is specified manually – manually with lock Check expression is specified manually. Value range is locked on the device before the teach process.
Value range
Only with a value feature: display and if applicable entry of the value range. – Min.: – Mean: – Max.: Setting – automatic (from sample parts) Value range is ascertained automatically from the sample parts – manually Value range is specified manually, mean is not recalculated – manually with lock Value range is specified manually; value range is locked on the device before changes resulting from the teach process.
Quality decision when calculation not possible 1) (invalid)
Depending on the feature and the settings of the tool, it may not be possible to calculate a feature. If this is the case, there will be no result available. The effect of invalid features on the quality decision can be defined using the following settings: – automatic: The evaluation during the check depends on the sample parts: If the feature was not invalid for any of the sample parts then it must be valid during the check, otherwise the test part will be classified as bad. Symbols: If the feature was invalid for at least one sample part then it will also be accepted as good during the check. Symbols: – bad:
The feature must be valid during the check irrespective of the sample parts, otherwise the test part will be classified as bad. Symbols: – good (when valid and invalid):
The feature may be valid or invalid during the check irrespective of the sample parts Symbols: – good (only when invalid): The feature must be valid during the check irrespective of the sample parts Symbols: 1) For SBO...-Q only
45
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 A corresponding symbol as appropriate to the set feature properties is displayed for easier identification: Symbol
Meaning "T" on green background
Features of the sample parts.
"A" on grey background
Features of the test parts.
"D" on yellow background (disabled)
Feature is not used for quality decision, i.e. the feature is ignored for the part check in all orientations.
1)
"M" on yellow background (modified manually)
Manually: value range of the feature (or check expression with text features) has been modified manually by the user in this orientation. A new teach process on the target device will overwrite the modifications.
1)
"F" on yellow background (lock)
Lock: value range of the feature (or check expression with text features) has been modified manually by the user in this orientation. A new teach process on the target device will not overwrite the modifications.
1) The index beside the symbol shows how the feature is evaluated if it is invalid. The evaluation is based on the settings under "Quality decision when calculation not possible (invalid)". Changes to the teach data (e.g. tolerance, feature name, etc.) can be conveniently undone and then redone.
â&#x20AC;˘ Use the [Undo] and [Redo] commands in the [Edit] menu or click the corresponding buttons in the "Teach-Data" window (blue round arrows).
4.2.9
"Properties / evaluation of the Teach-Data" dialog window
The "Properties / evaluation of the Teach-Data" dialog window shows the evaluation of the teach data by CheckOpti. The "Properties / evaluation of the Teach-Data" dialog window is opened in the "Teach-Data" window using the appropriate icon.
Figure: "Properties / evaluation of the Teach-Data" dialog window Results of the evaluation Symbols for evaluating the results or information
46
Program interface of CheckOpti The individual pieces of information or results are evaluated with the help of symbols: Symbol
Meaning
Green tick
Editing step has been carried out successfully.
Yellow tick
Editing step has been carried out, the result however is not optimum ( information).
Small red "X"
Editing step has been carried out, the result however is not optimum and should be improved by further editing ( information).
Large red "X"
Editing step has been carried out, the result however is incorrect and must be improved by further editing ( information).
3 dots
Information on the editing step or the problems that occurred.
Yellow "i"
Information, without judgement.
Appropriate improvements should be made if the evaluation of the teach data produces a poor result. Information on this can be found under "Working with CheckOpti".
4.2.10 "Set counter properties" dialog window A preselected value can be entered in the "Set counter status" field in the "Set counter properties" dialog window. This value is only effective with devices with a counter. The "Set counter properties" dialog window is opened in the "Teach-Data" window using the corresponding icon or the "..." button.
Figure: "Set counter properties" dialog window Set counter status Ignore orientation
The "Ignore orientation" option corresponds to the "Enable orientations" illuminated pushbutton on the LCD COUNTER with CHB ( CHB manual).
Ignore orientation
Effect
Enabled
Good parts are accepted and counted in all taught orientations.
Disabled
Good parts are accepted only in one orientation (set value orientation). Good parts with any other orientation are blown down.
47
Software-Paket CheckOpti – Version 3.1
4.2.11 "Properties of the selected part type" dialog window A remark or description can be added to the designation of the current part type. The "Properties of the selected part type" dialog window is opened in the "Teach-Data" window using the appropriate icon.
Figure: "Properties of the selected part type" dialog window
4.2.12 "Check program properties" dialog window You can change specific properties for the currently displayed check program in this dialog window. The "Check program properties" dialog window is opened in the program window using the icon shown on the left.
Figure: "Check program properties" dialog window The following actions are possible: – Change the name of the check program, – Enter the Z coordinate for automatic coordinate transformation of the features. The input field for the Z coordinate is only visible: – If the "Project with automatic coordinate transformation of features" option is enabled ( "Project properties" dialog window) – If the device supports this function. The value is used as a Z value when calculating the automatic coordinate transformation. •
48
Confirm the settings with "OK".
Program interface of CheckOpti
4.2.13 "Replace reference to feature" dialog window Reference features used by tools for calculation can be replaced using this dialog window. This provides a convenient way of changing the dependencies between features and tools. â&#x20AC;˘
In the "Part contour" window, select the reference feature to be replaced from the list of features.
â&#x20AC;˘
Right-click the selected reference feature and select the command "Replace references to feature" in the context menu.
Figure: "Replace reference to feature" dialog window Selected reference feature to be replaced. List of tools that use the selected feature as a reference. Feature to be used instead of the previous reference feature. Option to maintain the result when using a new reference feature. Replacing the reference feature generally also changes the result of the reference function "constant value + reference feature * multiplication factor". The position of the tool, for example, may change as a result. If this option is enabled, the constant value in the formula is changed so that the result remains the same.
1.
, select the tools whose reference feature is to be replaced. In the list Set or remove the respective ticks by clicking.
2.
Open the drop-down list
3. 4.
Enable the option to maintain the result of the calculation with the new feature reference. Replace the reference feature using the "OK" button.
and select the new reference feature.
The new feature references can be seen in the "Dependency" column in the feature list in the "Part contour" window for SBO...-Q (ď&#x192;¨ section: Replace references to feature, subsection: Dependencies due to feature references).
49
Software-Paket CheckOpti – Version 3.1
4.2.14 "Tool properties" window The "Tool properties" window shows information on the current tool. The tools or its features can be configured and edited in this window provided the firmware of the target device supports this function. The "Tool properties" window for the selected tool can be opened: – Via the main menu [Edit] [Tool properties] – By double-clicking the designation of the required feature in the "Part contour" or "Teach-Data" window – Via the main menu [View][Tool properties]. The "Info" tab shows a description of the selected tool. Tabs for configuring the selected tool Description of the tool (if available) Comment about the tool Status bar (shows the name of the current tool)
Figure: "Tool properties" window - "Info" tab Toolbar of the "Tool properties" window
Figure: Toolbar of the "Tool properties" window Pin window on top
Delete tool or disable feature
Previous tool
Move tool up (by one position to the front) (only with SBO...-Q)
Next tool
Move tool down (by one position to the rear) (only with SBO...-Q)
Selection of one of the tools used
Undo most recent change
Copy tool (to clipboard)
Redo most recently reversed change
Paste tool (from clipboard)
If the "Pin window on top" icon is pressed, the "Tool properties" window will remain in the foreground to make it easier to use when changing settings. Changes to the tool properties (e.g. adding or deleting tools, changing settings, etc.) can be conveniently undone and then redone.
• Use the [Undo] and [Redo] commands in the [Edit] menu or click the corresponding buttons in the "Tool properties" window (blue round arrows).
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Program interface of CheckOpti
4.2.15 "Feature graph" window The "Feature graph" window ([View] [Feature graph]) shows the progression of results (e.g. feature values) across the different parts. The "Feature graph" window enables you to examine the suitability of the individual features for the detection process. â&#x20AC;&#x201C; The features suitable for checking the orientation distinction or type distinction are distinguished by narrow ranges and large gaps between the orientations or types. â&#x20AC;&#x201C; All features with relatively narrow value ranges (gap between orientations not necessary) are suitable for the quality check. You can also represent the distribution (histogram) of the features or deviations. In each case the number (sum) of the values within a value range will be shown as a horizontal bar.
Figure: "Feature graph" window Selected feature Selection of how the result is displayed: values or deviations with or without distribution (histogram) Selection of the orientation Selection of the part type Value ranges of the feature in the individual orientations or types Status bar showing the part number, type, orientation and feature value of the selected part (in accordance with the selected display) as well as information on the selected part Number of the sample or test parts Feature values of the individual parts Further selected parts (large dots) Current part (large rectangle)
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Software-Paket CheckOpti – Version 3.1 Toolbar of the "Feature graph" window
Figure: Toolbar of the "Feature graph" window Previous feature
Next part
Next feature
Copy part
Feature properties
Paste part
Switch between sample and test parts
Delete part
Previous part
Part properties
Note The [Undo] command in the [Edit] menu is not available if changes are made to the parts (e.g. parts are added, deleted, etc.) or if changes are made to the part properties (e.g. remark, orientation, etc.). "Display" drop-down list Different results are available in the "Display" drop-down list. These results are dependent on the settings for the project properties. Results
Representation in the feature graph
Values
– Feature values of the parts in pixels
Values & histogram
– Feature values of the parts in pixels – Number of parts with this feature value
1) 2)
Values (trans.)
– Feature values with unit of the coordinate transformation
Values (trans.) & histogram
1) 2)
– Feature values of the parts with unit of the coordinate
transformation – Number of parts with this feature value
Deviations
3)
Deviations & histogram
– Deviation of the feature values from the sample part 3)
– Feature distribution from teach data – Number of parts with this feature deviation
1) Only with projects with automatic coordinate transformation of the features 2) Transformed values of the coordinate transformation are displayed 3) Only with projects with quality check If the project properties are changed, the display will be set to "Values" if applicable.
Representation of the displayed parts –
– – – – –
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The feature value of each individual part is indicated by a dot. Exception: if a part's feature is invalid, no dot will be displayed with the corresponding part number (this location will be "skipped"). Selected parts are indicated by large dots. The most recently selected part is marked with a large rectangle. When using different orientations, all parts with the same orientation get their own dedicated colour (only with projects with orientation separation). In the sample parts view, the colour "Black" is used for ignored sample parts. In the test parts view, bad parts are shown with an X (crossed through in red) (only with projects with quality check).
Program interface of CheckOpti The order of the displayed parts is determined by the settings in the "Part list" window.
• Use the sorting criteria from the drop-down list there for sample and test parts. The teach data area to the right of the feature graph is only visible: – With projects with quality check – When the display "Values" and "Values & histogram" are selected. Possible actions •
Click a feature dot to select the corresponding part. The display of information in the other windows is adapted accordingly.
•
Select several parts by drawing a frame around the relevant values or deviations (dots) using the mouse or clicking several parts one after the other with the SHIFT or CTRL key pressed.
•
You can then change the type, orientation, properties or order of the parts (with the help of the other windows).
4.2.16 "Data output" window One or more data outputs can be set up in the "Data output" window ([View] [Data output]). The data outputs can be configured and edited in this window provided the firmware of the target device supports this function.
Basic information on data output can be found in the section Data output with SBO...-Q devices.
Figure: "Data output" window Toolbar Tabs containing properties for the currently selected data output Status bar with display name, the type of data output as well as the communication name or communication instance number of the selected data output Toolbar of the "Data output" window
Figure: Toolbar of the "Data output" window
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Software-Paket CheckOpti – Version 3.1 New data output
Opens a window for selecting a new data output.
Previous data output
Shows the previous (already added) data output.
Next data output
Shows the next (already added) data output.
Select data output
Enables fast selection of a data output.
Copy data output
Copies the selected data output to the clipboard.
Paste data output
Pastes a data output from the clipboard into the list of (already added) data outputs.
Delete data output
Deletes the selected data output.
Move up Move down
Moves the selected data output up one place in the check program in front of the previous data output/down one place after the next data output.
Undo
Reverses the most recent change.
Redo
Repeats the most recently reversed change.
The drop-down list contains all available (already added) data outputs in the active check program. Each data output is displayed with: – consecutive number, – display name, – communication name or communication instance number. Context menu of the "Data output" window
Figure: Context menu of the "Data output" window Command
Keyboard command
Meaning
General context menu commands Copy data output
CTRL+C
Copies the selected data output to the clipboard.
Paste data output
CTRL+V
Pastes the data output saved to the clipboard into the list of data outputs.
Delete data output
CTRL+X
Deletes the selected data output following a request for confirmation.
Copy screenshot to clipboard
Copies the contents of the window as a screenshot to the clipboard.
Save screenshot to file
Saves the contents of the window as a screenshot to a file.
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Program interface of CheckOpti Command
Keyboard command
Meaning
Context menu commands in the "Data" or "Viewer" tab for using data elements Cut
CTRL+X
Removes the selected data element to the clipboard.
Copy
CTRL+C
Copies the selected data element to the clipboard.
Paste
CTRL+V
Pastes the data element saved to the clipboard into the placeholder.
Delete
DEL
Deletes the selected data element.
Delete all
Deletes all of the selected data elements.
4.2.17 "Project documentation" window The current project can be described on four tabs in the "Project documentation" window ([View] [Project documentation]).
Tab for project data Tab for customer data Tab for technical data of the target device Tab for special transport system settings Enters the current date Selection of a file to be assigned to the project
Figure: "Project documentation" window
Always enter the information in the "Project name" and "Project engineer" fields. Otherwise a warning will appear when you save the project.
All entries are checked for Unicode special characters and a warning is output if applicable.
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Software-Paket CheckOpti – Version 3.1 "Project" tab: – –
You can enter general information on your project here. You can enter the name and path of any file under "Additional file". This enables you to refer to, for example, a text file containing detailed information (reference only, no link).
"Customer" tab: –
The edit fields offer space for specifying specific company data for two customers or companies.
"Device" tab: – –
You enter the specific technical data of the target devices here. You can display the internal system information of the connected target device using the "Show ..." button.
Figure: System information of the connected target device The data displayed in the system information depends on the device type and the operating system/firmware used and can deviate from the screenshot presented. – Properties and versions (subversion numbers are shown using two digits, e.g. firmware version 3.5 = 3.50) – Hardware and software components – Camera design – Memory capacity License information on the firmware of the device can be displayed with devices of the type SBO...-Q (only in the "System information" dialog window of CheckKon). There must be an active connection with the device and the proxy settings for your operating system must be disabled (see Windows Control Panel or Internet Explorer under Internet Options/Connections/Settings).
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Program interface of CheckOpti "Transport system" tab: –
You enter the specific technical data of the transport system here.
Context menu
Figure: Context menu in the "Project documentation" window •
Change or use the complete project documentation using the corresponding commands in the context menu: – By importing existing project documentation from files of the type *.txt, *.sbp, *.cbp, *.sbs, *.cbs – By copying and pasting all text entries in the project documentation via the clipboard – By copying the "Project documentation" window as a screenshot to the clipboard for transfer into other programs or saving in a file. Note The [Undo] command in the [Edit] menu is not available if changes are made to the project documentation.
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Software-Paket CheckOpti – Version 3.1
4.2.18 "Check program Manager" dialog window The function of the "Check program Manager" dialog window ([View] [Check program manager]) is determined by the device type set in the project properties. – With SBO...-Q you can manage and transfer all check programs contained in the CheckOpti project or on the device. – With CHB you can only manage and transfer the teach data of the currently selected check program. In order to transfer the teach data of another check program you must first close the "Check program Manager" dialog window, then switch to the required check program and open the dialog window again.
Figure: "Check program Manager" dialog window The window can be opened even when there is no connection with the device. The check of whether the check program or teach data is suitable for the device is carried out during copying. The buttons in the dialog window provide the following options: Button
Function
1)
New
Creates a new (empty) check program for the current CheckOpti project.
1)
Copy
Paste
Copies the selected check program to the clipboard.
1)
Delete
Pastes a check program on the clipboard into the CheckOpti project (at the end of the list) as a new check program.
1)
Deletes the check program selected in the CheckOpti project.
Rename
Move up/down
Opens a dialog window for changing the name – of the check program (with SBO...-Q) or – of the teach data (with CHB). 1)
Changes the order of the check programs in the CheckOpti project.
Import from file
Imports data from a file into the CheckOpti project: – Teach data for CHB: *.typ or *.cbt or *.bin – Check programs for SBO...-Q: *.sbc
Export to file
Exports data from the CheckOpti project into a file: – Teach data for CHB: *.typ or *.cbt or *.bin – Check programs for SBO...-Q: *.sbc
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Program interface of CheckOpti Button
Function
< Connect >
Establishes the connection with the target device: – RS232 connection with CHB – Ethernet connection with SBO...-Q
Copy to device >
Transfers the selected check program (with SBO...-Q) or the selected teach data (with CHB) from the CheckOpti project to the target device. This button is only active if you have selected at least one check program or part type for the device. If you want to transfer several check programs at once, select the same 1) number of check programs in the CheckOpti project and on the device .
< Copy from device
Transfers the selected check program (with SBO...-Q) or the selected teach data (with CHB) from the device to the CheckOpti project.
Delete >
Deletes the check program (with SBO...-Q) or the teach data (with CHB) selected in the connected target device.
Close
Closes the "Check program Manager" dialog window.
1) Supported for SBO...-Q only. When transferring check programs from/to SBO...-Q devices, a check is performed to see whether the transferred check programs use a coordinate transformation. If so, the coordinate transformation data is loaded by the device and compared with the data in CheckOpti. A warning will be displayed if differences are found. The following information is only available with SBO...-Q: – Name of the check programs on the device side – Size of the check programs on the CheckOpti and device sides – Free memory space on the device side. Note The [Undo] command in the [Edit] menu is not available when changes are made to the check program manager (e.g. adding, deleting check programs, etc.).
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1
4.2.19 "Communication Manager" window The connection with the target device can be controlled using the "Communication Manager" window ([View] [Communication Manager]). You can define which data the target device should send to the PC and how this should be used during teaching as well as during checking.
Figure: "Communication Manager" window Establish or disconnect connection with the target device Selection for recording images Selection for recording sample or test parts to the current check program in CheckOpti or parts directly to a file Selection of orientation and part type to be assigned to the sample parts to be recorded (only available with projects with orientation or type separation) Displays the status during recording of parts to a file (ď&#x192;¨ "record received parts to *.sbl/*.cbl file...")
Toolbar of the "Communication Manager" window The toolbar of the "Communication Manager" window contains the following functions:
Figure: Toolbar of the "Communication Manager" window Send trigger signal (SBO...-Q only)
Record test parts via connection
Establish or disconnect connection with the target device
Disable and enable transfer of contour images
Record sample parts via connection
Disable and enable transfer of camera images (SBO...-Q only)
Note If the transfer of contour or camera images is not enabled, tools cannot be processed or can only be processed to a limited extent in CheckOpti. The teach or check process in CheckOpti will not work completely.
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Program interface of CheckOpti Note The results calculated by CheckOpti on the basis of sample and test parts during a teach or check process are only valid within CheckOpti. â&#x20AC;&#x201C; For the target device to carry out the check specified by the check program, the check program must be transferred from CheckOpti to the target device (ď&#x192;¨ "Check program Manager" dialog window).
Note The transfer of the parts can change the target device's time response. This increases the processing time. With CHB, parts may then not be blown down correctly and bad parts may reach the good parts position without being checked.
4.2.20 "Connection parameter" dialog window for serial connections This dialog window is displayed if a connection is to be established with CHB and the "Set connection automatically" option is not enabled in the "Options" dialog window. Connect with: selection of the serial interface used for connecting to CHB Speed: selection of the baud rate with which the connection is to be established Time out (s): selection of the period in seconds during which CheckOpti waits for a reaction from CHB before a communication fault can be sent Cancel: closes the dialog window without establishing a connection Next: enables the connection with the set parameters Figure: "Connection parameter" dialog window for RS232 serial interface
With the "automatic" setting, the relevant connection parameter is determined automatically. If all connection parameters are set to "automatic", this corresponds to the "Set connection automatically" setting in the "Options" dialog window. The "Connection parameter" dialog window is not displayed if this setting is enabled.
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Software-Paket CheckOpti – Version 3.1
4.2.21 "Connection parameter" dialog window for Ethernet connections The "Connection parameter" dialog window is displayed if a connection is to be established with SBO...-Q.
Figure: "Connection parameter" dialog window for Ethernet connections IP address of the device: contains data of the most recently used device Drop-down list: contains data of already known devices Search: starts the search for Compact Vision Systems SBO... in the network. The devices found are displayed in the "Device search" dialog. Cancel: closes the dialog window without establishing a connection Next: enables the connection with the set parameters
The "IP address of device" drop-down list shows the data of the most recently used device: – Device name – IP address – MAC address. In the drop-down list you will find data of further already known devices. •
Enter an IP address or alternatively the host name (DNS name) of the device, if this is known to you, directly into the edit field of the drop-down list.
•
Click the "Search ..." button to search for the camera in the local network. Follow the instructions for the device search ( section: "Device search" dialog window).
•
Click the "Next" button. The data in the edit field of the drop-down list is used to establish the connection.
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Program interface of CheckOpti
4.2.22 "Device search" dialog window for Ethernet connections The "Device search" dialog window is displayed once the search initiated by clicking the "Search..." button in the "Connection parameter" dialog window is complete. It shows a list of the devices found. The first time a search is performed after CheckOpti is installed, the firewall on your PC may ask you whether to allow CheckOpti to use the network connection.
• Confirm this and then click the "New search" button.
The setting of the Ethernet interface on the PC must correspond to the settings of the Ethernet interface on the device so that communication is possible. The relevant information can be found in the manual for the device.
• Use the information in this dialog window to change the network settings of the PC ( section: Network settings on the PC).
• Change the network properties of the device if necessary with the help of the SBO DeviceManager.
Figure: "Device search" dialog window List of the devices found in the network with device name, IP address and MAC address New search: starts the search for Compact Vision Systems SBO... in the network. The devices found are displayed in the "Device search" dialog. Cancel: closes the dialog window without establishing a connection Next: enables the connection with the selected device
List of found devices: – Entries with a green light can be selected for the connection. – Entries with a red light cannot be used for the connection. Information will be provided as to why the connection is not possible. •
Select the device by double-clicking or click the "Next >" button.
•
After connecting a new device, click the "New search" button. To find devices in the Ethernet, a multicast search is carried out in the local network.
•
Click the "Cancel" button to return to the "Connection parameter" dialog. The device name displayed after the search can be set for easier identification (e.g. if there are several devices in the network).
• Use the SBO DeviceManager for this (Version 1.2 Rel. 07 and later). The device can also be identified by means of the displayed MAC address. The MAC address can be found on the device's name plate.
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Software-Paket CheckOpti – Version 3.1
4.2.23 "Log parts to file" dialog window The "Log parts to file" dialog window is opened by selecting the [Device] [Record received parts to file] menu command or selecting the "record received parts to *.sbl/*.cbl file..." option in the "Communication Manager" window.
Figure: "Log parts to file" dialog window The received parts are stored directly to a log file by CheckOpti with the options that can be set here. – With CHB to a file with extension (*.cbl) – With SBO...-Q to a file with extension (*.sbl). This enables a large number of parts to be logged over a long period and evaluated later. Note The parts are not added to the CheckOpti parts buffer while they are being saved to a log file. The recorded parts must therefore be imported to be available in the CheckOpti project currently open. The parts logged to files can be imported into a CheckOpti project using the [File] [Import…] menu function by selecting "Sample parts" or "Test parts". •
You can optionally select the data to be saved: – Parts including camera image (only with SBO...-Q) – Sample parts – Good parts – Bad parts – Number of parts per file (default: 500)
•
Click the "OK" button and then choose the path and filename for saving the logged parts.
CheckOpti will establish a connection with the device if there is not one already. The following data is saved with each logged part: – Features – Contour images – Selection: sample/good/bad parts A new file is created when the specified number is exceeded. A consecutive number is then added to the name.
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Program interface of CheckOpti
4.2.24 "Import of camera images" dialog window Image files can be converted to the data format used by CheckOpti for sample or test parts using this dialog. The following image formats can be imported: – Windows bitmap (*.bmp) – JPEG File Interchange Format (*.jpg) Contour images are additionally created from the imported camera images. Note The size of the imported images is limited.
• Max. image width: 1280 pixels • Max. image height: 1024 pixels Using larger images can lead to calculation errors.
Figure: "Import of camera images" dialog window The following settings are needed for conversion: Position X / Y
Specifies the lower left corner for positioning the imported camera images in the image region of the "Part contour" window. – Position X is the same as the system parameter "Left limit of viewing area" – Position Y is the same as the system parameter "Lower limit of viewing area" ( CheckKon)
Brightness
Specification for converting camera images into contour images. – Within range: Pixels with a grey scale threshold between the specified limits are transferred as contour pixels – Outside of range: Pixels with a grey scale threshold outside the specified limits are transferred as contour pixels
Range of brightness
Specification of the minimum and maximum grey scale threshold for defining the image pixels as contour or background pixels.
• Make sure that the value in the second input field is greater than the value in the first input field.
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1
4.2.25 "Page view" window The appearance of printouts can be checked before they are printed. The contents are displayed as appropriate to the active window via the [File] [Page view] menu command.
Figure: "Page view" dialog window Open the "Print" dialog window for starting printing Turn to next page Turn to previous page Show two pages Zoom in (enlarge display) Zoom out (reduce display) Close page view Entries from project documentation Appearance of the page Status bar
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Program interface of CheckOpti
4.2.26 "Information on CheckOpti" dialog window The "Information on CheckOpti" dialog window ([Help] [About CheckOpti...]) summarises important information about the current version of CheckOpti. – Program version – Copyright – Supported target devices with firmware versions – Exclusion of liability.
Figure: "Information on CheckOpti" dialog window You can load a new version of the CheckOpti software package using the "Download..." button. An FTP file window with a direct connection to the CheckOpti download directory opens: ftp://ftp.festo.com/Public/PNEUMATIC/CHECKBOX/Software_Tools/CheckOpti/ Please contact your local Festo service centre if you have any technical problems.
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Software-Paket CheckOpti – Version 3.1
4.3
Menu commands
4.3.1
[File] menu
Command
Keyboard command
Meaning
[New]
CTRL+N
Creates a new project. The current project (if changed) will be closed after a prompt to save it.
[Open]
CTRL+O
Opens the "Open" dialog window. You can select and load a saved project in this dialog window. The most recent project (if changed) will be closed first after a prompt to save it.
[Save]
CTRL+S
Saves the current project. If the project is being saved for the first time, the "Save as" dialog window appears so that you can enter the project name.
[Save as ...]
Saves the current project. The "Save as" dialog window appears so that you can enter the project name.
• Enter a new name for the project. [Import]
Opens the "Import" dialog window where you can select the desired data type. The file types provided for selection depend on the set target device.
• Select the required file in the "Open" dialog window. The following data can be imported: – Project documentation – Sample parts – Test parts – Camera images of sample parts – Camera images of test parts – Check program – Coordinate transformation data [Export]
Opens the "Export" dialog window. You can select the data to be exported in this dialog window. The data provided for selection depends on the set target device as well as the current project.
• Enter a file name in the "Save as" dialog window. The following data can be exported (provided this data is present in the project): – Project documentation – Sample parts – Features of sample parts (Excel) – Test parts – Features of test parts (Excel) – Check program – Camera image of the displayed part – Camera images of the sample parts – Camera images of the test parts – Coordinate transformation data [Printer setup]
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Opens the default "Printer setup" dialog window.
Program interface of CheckOpti Command
Keyboard command
[Page view]
Opens a window displaying the print preview.
[Print]
4.3.2
Meaning
CTRL+P
Prints information on the current window. Check the settings in the "Print" dialog window and start printing with "OK".
[1 ...] [2 ...] [3 ...] etc.
The most recently opened projects are shown as menu commands and can be opened directly.
[Close]
Closes CheckOpti.
[Edit] menu
Command
Keyboard command
Meaning
[Undo]
1)
CTRL+Z
Reverses the most recent change in the current check program.
[Redo]
1)
CTRL+Y
Restores the situation before the most recent Undo command in the current check program.
[Cut]
CTRL+X
Deletes the element selected in the current window and stores it on the clipboard.
[Copy]
CTRL+C
Copies the element selected in the current window to the clipboard.
[Paste]
CTRL+V
Pastes the contents of the clipboard to the selected position in the current window.
[Delete]
Delete
Deletes the element selected in the current window.
[Move up]
Moves the selected object (tool, data output, etc.) up (with SBO...-Q only).
[Move down]
Moves the selected object (tool, data output, etc.) down (with SBO...-Q only).
[Tool properties]
Opens the "Tool properties" window for configuring the current tool and its features.
[Part properties]
Opens the "Part properties" dialog window for changing the properties of the selected parts.
[Properties of selected part type]
Opens the "Properties of the selected part type" dialog window for changing the name of the selected part type.
[Check program properties]
Opens the "Check program properties" dialog window for changing the properties of the selected check program.
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Software-Paket CheckOpti – Version 3.1
[Assign orientation and type...] [Ignore parts during teach process]
CTRL+0
Defines the sample parts selected in the "Part list" window as invalid. These will consequently not be taken into account when the teach data is ascertained.
[Use parts during teach process]
CTRL+1
Defines the sample parts selected in the "Part list" window as valid parts. These will consequently be taken into account when the teach data is ascertained.
[Assign orientation #]
CTRL+1 CTRL+2 CTRL+3 etc.
Assigns the desired orientation to the sample parts selected in the "Part list" window. This command can only be used if orientation separation has been enabled in the project properties.
[Assign type #]
CTRL+SHIFT+1 CTRL+SHIFT+2 CTRL+SHIFT+3 etc.
Assigns the desired part type to the sample parts selected in the "Part list" window (only with devices with type separation, e.g. with CHB-SB-..., SBO...-Q). This command can only be used if type separation has been enabled in the project properties.
SHIFT+CTRL+ ALT+A
Assigns suitable standard references to the configured features section:Standard reference.
[Assign standard references...] [Automatic assignment of standard references] [Reset all assigned standard references]
Deletes all assignments as a standard reference.
[Assign W ...]
SHIFT+CTRL+W
[Assign H ...]
SHIFT+CTRL+H
[Assign X ...]
SHIFT+CTRL+X
[Assign Y ...]
SHIFT+CTRL+Y
[Assign Z ...]
SHIFT+CTRL+Z
[Assign Rx ...]
ALT+CTRL+X
[Assign Ry ...]
ALT+CTRL+Y
[Assign Ra ...]
ALT+CTRL+A
[Assign A ...]
SHIFT+CTRL+A
Assigns the respective standard reference to the selected feature. Meaning of the letters section: Standard reference.
[Assign Blo ...] [Assign Bup ...] [Assign Clo ...] [Assign Cup ...] 1) Command only available when tool properties, teach data and data outputs are changed as well as when the name of check programs and part types are changed.
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Program interface of CheckOpti
4.3.3
[View] menu
Command
4.3.4
Keyboard command
Meaning
[Project properties]
ALT+J
Shows the "Project properties" dialog window.
[Part list]
ALT+L
Shows the "Part list" window.
[Part contour]
ALT+K
Shows the "Part contour" window (CHB) or "Part contour" window (SBO...Q) as appropriate to the preset target device.
[Teach data]
ALT+T
Shows the "Teach-Data" window (only with projects with quality check).
[Tool properties]
ALT+S
Shows the "Tool properties" window.
[Feature graph]
ALT+G
Shows the "Feature graph" window.
[Data output]
ALT+D
Shows the "Data output" window (only for SBO...-Q with firmware version 3.5 or later).
[Project documentation]
ALT+O
Shows the "Project documentation" window.
[Check program manager]
ALT+M
Shows the "Check program Manager" window.
[Communication Manager]
ALT+C
Shows the "Communication Manager" window.
Keyboard command
Meaning
[Device] menu
Command [Connect or disconnect from device]
Establishes a connection with the device in accordance with the settings of CheckOpti or clears the connection. This may change the device's time response since additional data is transferred.
[Operating mode]
Disables the transfer of the features, contour images and camera images (grey scale or colour images) and places the device in operating mode.
[Diagnostic mode]
Enables the transfer of the features and places the device in diagnostic mode.
[Record parts without contour images]
Disables the transfer of the contour images. The transfer of the camera images (grey scale or colour images) is additionally disabled with devices of the type SBO...-Q.
[Record parts without 1) camera images]
Disables the transfer of the camera images.
[Record sample parts via connection]
CTRL+T
Establishes a connection with the device if necessary and accepts the parts transferred from the device to CheckOpti as sample parts. The entire teach and check process is updated upon receipt of a new sample part.
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Command
[Record test parts via connection]
Keyboard command
Meaning
CTRL+A
Establishes a connection with the device if necessary and accepts the parts transferred from the device to CheckOpti as test parts. Upon receipt of a new test part it is compared against the teach data.
[Record received parts to file]
Opens the "Log parts to file" dialog window for starting part logging.
[Download parts 1) recorded in device]
If there is a connection with the device and the device signals that there are parts in its internal memory, the parts are downloaded from the device using this command and inserted into the current parts buffer. The parts are then used for the teach or check process.
[Delete parts recorded in 1) device]
If there is a connection with the device and the device signals that there are parts in its internal memory, the parts in the device are deleted with this command.
[Send trigger signal / 1) create part(s)]
F5
[Send error 1) acknowledgement]
If there is a connection with the device and the device signals an error, this command simulates an "error acknowledgement signal".
[Send accept check 1) program signal]
If there is a connection with the device, this command simulates a "send accept check program signal".
[Send data of coordinate 1) transformation]
If there is a connection with the device, this command transfers the coordinate transformation data saved in the project to the device.
[Receive data of coordinate 1) transformation]
If there is a connection with the device, this command transfers the coordinate transformation data saved in the device to the CheckOpti project.
1) Command is only supported by SBO...-Q.
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If there is a connection with the device and the device is not in "Fixed framerate" evaluation mode, this command simulates a trigger signal. This causes the device to create an image that is then received by CheckOpti.
Program interface of CheckOpti
4.3.5
[Action] menu
Command
Keyboard command
Meaning
[Create new parts...] [...]
Creates new parts from the selected parts by means of the corresponding operation and adds these to the current parts buffer. – [Mirror at vertical axis] 2) – [Mirror at horizontal axis]
[Create new parts...] [...]
Creates new parts from overlay of the selected parts ( section:Editing sample and test parts). – [Create new part using "OR" operation on selected parts] – [Create new part using "XOR" operation on selected parts] – [Create new part using "AND" operation on selected parts]
[Edit contour images (all 1) parts)...] [...]
Edits the test and sample parts in accordance with the parameters with which you can influence the recorded part contours in CheckKon ( CheckKon manual). The result of these settings can therefore be judged in CheckOpti, without the need for parts with the new settings to be learnt or checked again ( section: Editing sample and test parts). To enable these settings on CHB, the settings must be made accordingly with CheckKon.
[Edit camera images (all 2) parts)...] [...]
Deletes the camera images in all test and sample parts. This enables the size of the project file to be greatly reduced if not using tools that use these images.
[Add tool] [...]
Creates a new tool of the selected type in the active "Part contour" window. The tools available for selection depend on the project settings.
[Add data output] [...]
Creates a new data output when the "Data output" 2) window is enabled. Types of data output: – EtherNet/IP data output – CIP object – Telnet data output - SBO...-Q Data Collection – Telnet data output - SBO...-Q Part Detector – Telnet data output – XML – CST data output – CheckKon Viewer – WebViewer data output
[Start CheckKon]
ALT+P
Starts the CheckKon program (in accordance with the settings in the "Options" dialog window).
1) Only supported for CHB 2) Only supported for SBO...-Q.
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4.3.6
[Wizards] menu
Command [Project wizard]
1)
Keyboard command
Function
CTRL+W
Starts the project wizard.
[Wizard for manual project creation]
Opens an additional window containing the wizard for manual project creation directly via the status bar.
[Optimisation of type or 1) orientation detection]
Starts the wizard for optimising type or orientation detection.
[Statistical evaluation of a feature]
Starts the wizard for statistical evaluation of a feature.
[Calibration of coordinate 2) transformation]
Starts the wizard for calibrating the coordinate transformation.
1) Only supported for CHB 2) Only supported for SBO...-Q. Information on using the wizards can be found in the corresponding sections of the chapter "Wizards".
4.3.7
[Navigate] menu
Command [Switch between teach and test data]
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Keyboard command
Function
CTRL+U
Switches between displaying teach and test data.
[Switch between contour 1) and camera image]
Switches between displaying contour and camera images.
[Previous check program]
Switches to the previous check program.
[Next check program]
Switches to the next check program.
[Previous part type]
Switches to the previous part type.
[Next part type]
Switches to the next part type.
[Previous part]
ARROW LEFT
Switches to the previous part.
[Next part]
ARROW RIGHT
Switches to the next part.
[Goto part no.]
CTRL+G
Opens a dialog window for entering the number of a part to be selected and, if applicable, displayed (only possible in the "Feature graph", "Part list" and "Part contour" windows).
[10 parts back]
HOME
Switches 10 parts back.
[10 parts forward]
END
Switches 10 parts forward.
[Previous orientation]
PAGE UP
Switches to the previous orientation.
[Next orientation]
PAGE DOWN
Switches to the next orientation.
Program interface of CheckOpti
[Previous tool]
Switches to the first feature of the previous tool.
[Next tool]
Switches to the first feature of the next tool.
[Previous feature]
ARROW UP
Switches to the previous feature.
[Next feature]
ARROW DOWN
Switches to the next feature.
[Previous data output]
Switches to the previous data output.
[Next data output]
Switches to the next data output.
1) Only supported for SBO...-Q.
4.3.8
[Extra] menu
Command
Function
[Options]
Opens the "Options" dialog window where global settings for CheckOpti are made.
4.3.9
[Window] menu
Command
Function
[Cascade]
Cascades the windows in CheckOpti.
[Arrange icons]
Arranges the windows in CheckOpti.
[1 ...] [2 ...] etc.
All open windows in CheckOpti are shown here and can be activated in this way.
4.3.10 [Help] menu Command
Function
[Help Topics]
Opens the online help for CheckOpti.
[About CheckOpti]
Shows information on the current program version of CheckOpti.
4.4
Key assignment
You can use the following keys on your PC keyboard for simple navigation in the various windows of CheckOpti, depending on the active window: Key
Function
Arrow left
Previous part
Arrow right
Next part
Home
10 parts back
End
10 parts forward
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Key
Function
Page up
Previous orientation
Page down
Next orientation
Arrow up
Previous feature
Arrow down
Next feature
4.5
Colour conventions
In CheckOpti, the type of parts, their properties and the orientation are shown throughout in corresponding colours. Colours for the type of parts (when showing the part contour): Type of parts
Colour
Sample parts
Dark green
Test parts
Grey
Colour code for properties or features: Property/feature
Colour
Good part/feature within tolerance
Light green
Bad part/feature outside tolerance
Red
Feature directly at tolerance limit
Yellow
Colour code for orientation: Orientation
Colour
1
Light green
2
Magenta
3
Light blue
4
Dark blue
5
Yellow
6
Blue
7
Orange
8
Pink
Part is disabled
Black
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5
Working with CheckOpti
5.1
Procedure for working with CheckOpti
The list below provides an overview of the steps normally carried out with CheckOpti. 1. Start CheckOpti as described in the section "Starting CheckOpti". – Select the "Create new project" option in the "Welcome ..." window. Then click "Next". – Identify the connected target device in the "Project properties" window. This defines the target device. Specify further project properties. Then click "OK". 2. Record sample parts via the connection ( section: Teach process). – Record good parts using the target device in order to use these as sample parts in CheckOpti. 3. Record test parts via the connection ( section: Check process). – Record test parts using the target device. The test parts should include both good and bad parts so that the full range of test parts is represented. The registered parts are transferred to CheckOpti, where they can be checked and displayed (test parts). 4. Create and optimise the check program. – Define how the sample parts are to be checked. – To do this, add tools and features to the check program and adapt these to your checking task. – Optimise the tools and features by adapting them manually. – Optimise the part check by adapting the features or by using additional tools ( section: Setting up and optimising the check program). 5. Check features. – Check the features ascertained from sample parts or the value ranges identified from these features in the teach data. The teach data can be edited if necessary (e.g. in the "Teach-Data" window or in the "Part list" window by deleting incorrectly taught sample parts). 6. Evaluate the part detection function and teach data with regard to reliability (evaluation, section: Evaluating the check program). – Use the classification of the test parts into good and bad for this purpose as well as the features ascertained in the course of the check (e.g. C value, deviation). 7. Set up data outputs for further processing of the check and feature results in controllers or for a graphical visualisation. 8. Document your work ( section: Documenting the project). 9. Transfer the check program to the target device ( section: Transferring a check program to the target device). 10. Save the project. •
Alternatively start one of the following wizards: – The Project Wizard guides you interactively through the main steps of creating a project (only with CHB, section: Working with the Project Wizard). – The wizard for manual project creation shows you the main steps interactively in the form of a checklist ( section: Wizard for manual project creation).
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5.2
Defining the target device and the project properties
The check functions available in the CheckOpti project must also be supported by the device used. This is ensured by defining the device type as well as the firmware version of the device. This synchronisation is performed in the "Project properties" dialog window. Carry out synchronisation: – for each new project, – each time the firmware of the device is changed. The data ascertained or entered is saved in the current project. •
Open the "Project properties" dialog window either by: – Selecting the "Create new project" option in the "Welcome..." dialog window. The "Project properties" dialog window appears when you click "Next". – Selecting the [Project properties] command in the [View] menu. You can accept the ascertained properties into the project documentation.
• To synchronise the CheckOpti project and the connected device, check the "Insert device properties into project description" box in the "Project properties" dialog window.
Figure: "Project properties" dialog window •
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Carry out the synchronisation with the connected device: – Click one of the "Identify ..." buttons as appropriate to the device. A connection with the device is then established in order to ascertain the properties of the target device type. The properties are entered in the project properties automatically. – If the device is not available or another device, another firmware version or a firmware add-in is to be simulated, make the settings yourself by selecting or entering the correct data. The dialog window only permits settings that are actually available.
Working with CheckOpti Note Only devices or firmware versions that were known when CheckOpti was being finalised are offered in the project properties.
• If you have another device or a newer firmware version, please contact your local Festo service centre to obtain an update of CheckOpti. Note The GSLO-S1 firmware add-in is only available for Compact Vision Systems SBO...-Q as of firmware version 3.4 (not for SBO...-Q-R2C). •
Define the additional project properties. – If different part types occur independently of each other (e.g. after converting the system), these must be assigned to a separate check program. - Check the "Project with multiple check programs" box for this or - Create a separate check program for each part type. – Check the "Project with quality inspection" option if, for example, you want to determine the dimensional accuracy of test parts. Disable this option if all you want to do is register the position of a test part (e.g. for gripping operations by a robot that do not require any additional quality check). – If the test parts have one or more discrete, stable orientations (not to be confused with free turning position) that are to be separated from each other as such, enable the "Project with orientation separation (preferred orientation)" option. – Enable the "Project with type separation" option if you want to feed a mixture of part types to the device or different part types are to be sorted. – When the "Project with automatic coordination transformation of features" option is enabled, some of the feature values that are in pixels will be converted to the unit defined during the most recent calibration of the coordinate system. These additional values are available as alternative feature values (transformed value) for further processing. Calibration of the coordinate transformation must have been performed first for correct conversion. – Enable the "Calculate tools as default on camera image" option if you want to set up new tools that are mainly to use the camera image. If this option is not enabled, new tools will be preset with "Calculate on contour image" as standard.
•
Accept your entries with "OK".
5.3
Teaching parts with CheckOpti
5.3.1
Preparing the target device
The device is prepared as follows: 1. Assemble the device. Make sure that it is operational. 2. Switch on the power supply for the device. 3. Connect the device to the PC ( section:Establishing the communication connection). 4. If necessary, first adapt the device using CheckKon to the parts to be checked ( CheckKon manual). 5. Device stopped (with CHB) or ready to operate (with SBO...-Q). 6. Start CheckOpti (if not already started). – Select the "Create new project" option in the "Welcome ..." dialog window. – Carry out identification of the connected target device ( section: Defining the target device). 7. Provide suitable sample parts with the following properties: – The sample parts exhibit all the characteristics that a part classified as "good" should possess. Check the parts for adherence to the specifications by means of suitable measurements. – Use different sample parts with a usual scatter of the features. With the scatter of the sample parts you can define the extent to which test parts classified as "good" may later deviate from each other.
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5.3.2
Teach process Note The teach process does not take place on the connected device; it is carried out by CheckOpti on the PC.
• Note that the device will not therefore supply correct check results during creation of the check program in CheckOpti. The teach process only becomes effective on the device after transfer of the check program (with SBO...-Q) or the teach data (with CHB) to the device ( section: Transferring a check program to the target device).
Note If the transfer of the contour or camera images is disabled when recording parts ( icon in the tool bar), the tools cannot be processed or can only be processed to a limited extent in CheckOpti. The teach process is started once the target device has been prepared: 1. Open the "Communication Manager" window.
Figure: "Communication Manager" window .
2.
Establish a connection with the device if there is not one already
3.
In the "Record parts via connection" area alternatively use this button:
4.
, select the "record contour images" option. With SBO...-Q, select In the "Record images" area "record contour and camera images" if you also want the camera image to be checked.
5.
of the parts you want to subsequently record (only with projects Set the orientation or part type with orientation or type separation). Have the sample parts registered one after the other by the target device in accordance with the set orientation or part type. The data of the parts is transferred to CheckOpti during this process and accepted into the project.
6.
, select the "sample parts for teach" option or
• Wait to present the next part until the data has been transferred in full (this will be indicated by the display or a signal tone, section: "Options" dialog window).
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Working with CheckOpti Recommendations on the positioning of the sample parts •
Position the sample parts exactly like the parts to be subsequently checked. You do not need to be very careful when placing the parts on the conveyor belt.
•
Carry out the teach process as realistically as possible. Use, for example, the conveyor device (for supply), handling systems, etc. intended for this purpose.
•
With projects with orientation separation: if particularly different variations of the ascertained part contour (view) are permitted or possible in an orientation, you should show the "extreme" variations in particular or as many different variations as possible during the teach process.
•
With projects without orientation separation: if parts can occur in any turning position, you should record as many different turning positions of the parts as possible during the teach process.
• Register at least 10 parts per orientation, in the case of turning positions at least 3 parts of the current part type every 15° increment. Use different parts if possible.
Note The transfer of the parts can change the target device's time response and signal behaviour because it increases the processing time.
• Note that with CHB, parts may not be blown down correctly and bad parts may reach the good parts position without being checked. 6. 7.
Repeat steps 4 and 5 for all the orientations and part types. Conclude the teach process with the "none" option under "Record parts via connection" in the "Communication Manager" window
.
The taught sample parts are shown in the "Part list" window. •
Add tools to the check, i.e. for calculating the required features ( section: Adding or editing tools).
•
Start the part check ( section:Check process).
•
Review the completed teach process with respect to part type, orientation and quality ( section: Evaluating the check program). You can edit the teach data if necessary.
•
Document your work ( section:Documenting the project).
•
Transfer the check program (with SBO...-Q) or the teach data (with CHB) to the device.
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Software-Paket CheckOpti – Version 3.1
5.4
Recording test parts with CheckOpti
By recording test parts with CheckOpti you can review the quality of the check program directly as well as monitor the check process or evaluate it with respect to correct detection. This offers the following possibilities: – Displaying the tested parts with their grading using the check programs created in CheckOpti (good part, bad part, orientation). – Displaying the tools used on the test parts and their features. Requirements for recording test parts: The target device must be prepared as described under "Teaching parts with CheckOpti": – Device stopped (with CHB) or ready to operate (with SBO...-Q). Suitable test parts must be available ( section: Check process).
–
5.4.1
Recording test parts Note The check process using the test parts does not take place on the connected device; it is carried out by CheckOpti on the PC.
• Note that the device will not therefore supply correct results during creation of the check program in CheckOpti. The evaluation only takes place on the device once you have transferred the check program to the device ( section: Transferring a check program to the target device).
Note If the transfer of the contour or camera images is disabled when recording parts ( icon in the tool bar), the tools cannot be processed or can only be processed to a limited extent in CheckOpti. The recording of test parts is started once the target device has been prepared: 1. Open the "Communication Manager" window.
Figure: "Communication Manager" window 2.
Establish a connection with the device if there is not one already
3.
In the "Record parts via connection" area button:
82
.
, select the "test parts" option or alternatively use this
Working with CheckOpti 4.
5.
In the "Record images" area , select the "record contour images" option. With SBO...-Q, select "record contour and camera images" if you also want the camera image to be checked. Place the test parts on the conveyor belt one after the other. Wait to present the next part until the data has been transferred in full (this will be indicated by the display or a signal tone, section: "Options" dialog window).
Recommendations on the positioning of the sample parts •
Use test parts that correspond approximately in their composition to the parts to be tested later, i.e. good, bad and incorrectly oriented parts or different part types.
•
The test parts should be positioned exactly like the parts to be tested later. You do not need to be very careful when presenting the parts. Use, for example, the conveyor device, handling systems, etc. intended for this purpose.
• Test a sufficient number of parts to obtain a reproducible result. For example show 6 parts recognised as good as well as 6 bad parts per orientation.
Note The transfer of the parts can change the target device's time response and signal behaviour because it increases the processing time.
• Note that with CHB, parts may not be blown down correctly and bad parts may reach the good parts position without being checked. 5. 6.
Conclude the recording of parts on the target device once you have recorded enough parts in CheckOpti. Conclude the test process with the "none" option under "Record parts via connection" in the "Communication Manager" window
.
The test parts are shown in the "Part list" window. If you have already set up test tools, review the grading of the parts according to good parts, bad parts or according to their orientation here. Otherwise set up these tools ( section: Setting up and optimising the check program). Review the check program with respect to orientation and quality ( section: Evaluating the check program). You can optimise the tools, their features or the teach data if necessary ( section: Optimising the check program). Document your work ( section: Documenting the project).
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Software-Paket CheckOpti – Version 3.1
5.5
Setting up and optimising the check program
Tools and features can be added to the check program in order to define the check to be carried out or optimise the result of the check. The options available for doing this depend on the set target device. You have the following options, for example: – Editing sample and test parts – Adding or editing tools – Editing features. A description of the individual methods or criteria for evaluation can be found in the following sections. Always review whether the optimisation has been successful. Do this by evaluating the check program again (section: Evaluating the check program). Carry out the following steps once you have successfully set up or optimised the check program: Document your work ( section: Documenting the project). 1. Transfer the check program (with SBO...-Q) or the teach data (with CHB) to the device.
5.5.1
Editing the sample and test parts
The sample and test parts can be edited in the "Part list" window:
• Change the orientation of incorrectly supplied or assigned sample parts.
• Change the part type of incorrectly supplied or assigned sample parts. • Delete incorrect or unfavourable parts or
• Invalidate sample parts using the "Ignore selected parts during teach process" button. These parts will consequently be ignored when ascertaining the teach data (indicated by a red "T," orientation "0" or "Part is ignored").
• Accept characteristic test parts as sample parts if necessary or vice versa (copy or move).
• In special cases it can be helpful to edit existing parts or use them as a basis for creating new parts. The commands for this can be found in the [Action] menu.
5.5.2
Adding or editing tools
If no tools have been added yet to the check program or the existing tools and their features are insufficient for reliable detection of the parts, the option exists of enabling additional features in the existing tools or adding further tools to the check program. Add suitable features or tools as required. The maximum number of features or tools is dependent on the set target device. •
Use additional tools or features if, for example: – The differences in the image are too small to reliably detect the orientation and/or quality using the existing features. – The reliability of the check is to be improved. – A (quality) check for a specific, small region in the image is to be defined; this is based on the check criteria of the respective part. Tools calculate the defined features using the image (or other data). The features of the sample parts are used in the teach process to define the value ranges. The features of the test parts are checked in the check process for adherence to the defined value ranges (plus tolerance).
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Working with CheckOpti Note Tools contained in the check program are not lost during a teach process on the device; the value ranges are simply retaught (adapted). To remove tools from the check program on the device, you must delete the check program on the device or replace it with another one using CheckOpti or CheckKon. Note Appropriate settings are required to carry out a check irrespective of the orientation of the parts. With SBO...-Q: – Orientations can also be interpreted as the turning position of the part. The tool must be set so that it is aligned in accordance with the turning position or orientation. With CHB: – Each orientation must be checked using a separate tool. Tools can be automatically aligned when they are added (after copying) for this purpose. Selection of the correct tool or its features is based on the individual requirements of the check and the images of the parts. •
Consider and compare the contour and camera images for this. Find the image region where the quality is to be checked and position the tool there. A description of the different tool types can be found in the sections: – Tools for CHB – Tools for SBO...-Q. Adding the tools Add the tools in the "Part contour" window. •
To do this, select the required tool type in the [Action] [Add tool] menu or click the appropriate button in the toolbar of the "Part contour" window. The added tool is shown in the "Part contour" window. The position of the tool and the currently selected feature are displayed graphically in the image. The feature values are shown with further information in the feature list. Editing the tools •
Click a tool to select it. The properties of this tool and its features are shown in various colours: Colour
Meaning
Red
Represents the found features of the tool.
Pink
Indicates a selection of one of the features found (e.g. the smallest distance out of several distances).
Yellow
Used for representing help lines or help points (e.g. for dimensioning).
Blue
Used for representing the position and suspension function.
Green
Used for representing measurement points or search lines.
•
Open the associated "Tool properties" window to make the following settings on the tool by doubleclicking the tool area: – Change the name of the tool – Enter a comment for the tool – Change the shape, position, turning position of the tool – Adapt the calculation and detection methods.
•
You can also edit various tool settings using the mouse (e.g. the position). The "Feature graph" window displays the values of the selected feature of all sample or test parts graphically. This makes it easy to evaluate a feature.
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Software-Paket CheckOpti – Version 3.1 Note The features 1. "Length_x" to 12. "Feat_12" are not assigned to a specific tool with CHB and cannot therefore be deleted. These features relate to the image as a whole and are therefore also called "global features".
• Disable the "Feature used for quality decision" option for the features that are not needed or that interfere with the check.
5.5.3
Editing the features
The properties of the features are edited in the "Teach-Data" window. – You can change the name of the features (provided the device supports this). – You can define whether the feature is used for the quality decision during the check. In other words to be assessed as "good", the feature must be within the defined value range (including tolerance) during the check. – You can define the influence of the tolerance on this feature. This enables you to adjust how the tolerance affects the value range. – Small value: The feature is toleranced more narrowly and consequently checked more strictly than features with larger tolerance values. – Large value: The values for the feature may deviate to a greater extent. – The permissible value range for the feature (min./max. limits or the mean) can be entered manually, in which case it is no longer determined from the sample parts. – You can specify the desired result of the quality decision if the feature could not be calculated. •
Select the required feature in the "Tool properties" window. Further information on editing the features can be found in the examples of the tools or in the description of the "Tool properties" window. Most features are also represented graphically in the "Part contour" window.
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Working with CheckOpti
5.6
Evaluating the check program
The check program must produce a reliable grading of the parts to be tested according to specific criteria. Examples: – Orientation – Part type – Quality (e.g. dimensional accuracy of the parts). – Position (e.g. repeatability of the position sensing). You must therefore evaluate the check program with respect to its reliability. A description of the individual methods or criteria for evaluation can be found on the following pages: – Visually inspecting the sample parts (correct and complete contour or camera image) – Evaluating the check program – Reviewing the value ranges in the teach data – Differentiating the part types – Differentiating the orientations – Evaluating the feature scatter – Reviewing the bad parts – Influence of the tolerance on the test parts. An evaluation of the teach data by CheckOpti can be displayed in the "Properties / evaluation of Teach-Data" dialog window. To do this, open the dialog window using the "Properties / evaluation of Teach-Data" icon in the toolbar of the "Teach-Data" window. After evaluating the check program, carry out one of the following steps as appropriate to the result: If necessary repeat the teach process or add further sample parts ( Teach process). •
If the evaluation of the check program reveals an unsatisfactory result, improve it with the following steps: – Add further tools – Edit existing tools – Edit the settings of the quality criteria and value ranges of the features ( "Teach-Data" window). More detailed information can be found in the section "Setting up and optimising the check program". •
Document your work ( section:Documenting the project).
•
Load the check program (with SBO...-Q) or the teach data (with CHB) into the device ( section: Transferring a check program to the target device).
5.6.1
Visually inspecting the sample and test parts
Sample parts Review the individual sample parts in the "Part contour" window. Pay particular attention here to errors such as: – Incorrect orientation setting (this can, for example, cause the fault E20: "Orientations cannot be distinguished") – Incorrect part type setting (fault E21: "Part types cannot be distinguished") – Inaccurate or incorrect positioning of a part – Incorrect or unsuitable sample parts – Incorrect contour or camera images. Correct the faults as described in the section "Setting up and optimising the check program" ( section: Editing sample and test parts). Test parts Review the test parts in the "Part contour" window, for example according to the following: – Have the orientations or part types been detected correctly? – Is the grading of the parts classified as good correct? – Is the grading of the parts classified as bad correct? If these points are not satisfied you can ascertain the reasons why using the methods or criteria described on the following pages. 87
Software-Paket CheckOpti – Version 3.1
5.6.2
Differentiating the orientations and part types
In projects with orientation separation, the ascertained features for the individual orientations must differ in at least one of their value ranges. In projects with part separation, the features of the individual part types must also differ. It must be possible to distinguish each orientation of a part type from each orientation of the other part types, i.e. the value ranges must differ, exactly as with orientation separation. The "Feature graph" window shows the progression of the various ascertained features. •
Check to see if there is at least one feature in which the various orientations differ from each other to a very large extent (narrow ranges of the coloured bars with large gaps between).
•
Make sure in particular that orientation 1 (the "good orientation") differs to a very large extent from all other orientations in at least one feature. You must optimise the check program if these criteria are not satisfied ( section: Setting up and optimising the check program), for example by: – Adding tools – Editing the features.
Example of differentiating the orientations The following screenshot shows an example of orientation separation. Range, min./max. limits of the feature in the individual orientations Ranges of the feature for orientations 1 and 2 Ranges of the feature for orientation 3 Parts with orientation 3 Parts with orientation 2 Parts with orientation 1
Figure: "Feature graph" window – differentiation of the orientations The range of orientation 1 and 2 differs considerably from orientation 3. However, this is not the case between orientations 1 and 2. The check program must be optimised, for example by adding a tool, if no other feature satisfies this criterion.
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Working with CheckOpti Example of differentiating the part types The following screenshot shows an example of differentiating the part types.
Figure: "Feature graph" window – differentiation of the part types Ranges of the feature for: Part type 3 and orientation 2
Parts with part type 3 and orientation 2
Part type 1 and orientation 2
Parts with part type 3 and orientation 1
Part type 1 and orientation 1
Parts with part type 2 and orientation 2
Part type 2 and orientation 1
Parts with part type 2 and orientation 1
Part type 2 and orientation 2
Parts with part type 1 and orientation 2
Part type 3 and orientation 1
Parts with part type 1 and orientation 1
Range, min./max. limits of the feature for the various part types in the individual orientations
The ranges of the orientations for part type 1 differ considerably from those of part types 2 and 3. However this is not the case for orientation 1 of part types 2 and 3 (the "bars" 2/1 and 3/1 overlap). The teach data must be optimised, for example by adding a tool, if no other feature satisfies this criterion. In the "Teach-Data" window, the entries in the "Separates" column show which features are best suited for separating the orientations or part types. If orientations or types cannot be separated, this is also shown in the "Teach-Data" window.
5.6.3 •
•
Evaluating the feature scatter
Review the progression of the feature scatter (C value) in the "Teach-Data" window. – A "jump" in the C value indicates an incorrectly taught part. – Optimum: the progression of the C values rises at first, then evens out. If there are irregularities in the C values, review the taught sample parts ( Visually inspecting the sample and test parts). Review in particular the sample part where the jump occurred.
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5.6.4
Reviewing the bad parts
Check the test parts with regard to their grading. •
To do this, display the individual parts in the "Part contour" window: – Review whether the grading of the parts is correct. – With bad parts, the features that led to this grading are marked. The relevant icons indicate the direction of the deviation, for example. – If you have also checked faulty parts, review whether these have also been detected as bad parts. – Check the deviation of the bad parts from the sample parts. The greater the deviation, the more reliably the bad parts can be differentiated from the good parts and the more reliable the check process. With deviations approaching 100% you should optimise the check program.
Figure: "Feature graph" window with selected bad part
5.6.5 •
Influence of the tolerance
Review the influence of the tolerance on the grading of the test parts.
•
To do this, vary the tolerance in the "Teach-Data" window. Minor changes to the tolerance (e.g. ±2 steps) should not change the grading of the parts in the "Part list" window. This can be rated as a stability criterion of the test. The standard tolerance setting is 5%.
5.7
Setting up a data output
If required for the application, select a suitable data output and add it to the check program ( section:"Adding a data output"). •
Summarise the required data on the appropriate tab.
•
Specify further information and settings on the tabs.
•
Check the output of the data on the "Result" tab (if available).
The data will be output differently by the device depending on the type of data output and further settings: – On request from outside (e.g. read command by a controller) – Automatically after a part check is completed. One or both options may be available depending on the data output. When using a read request by a recipient, the recipient needs the communication name or communication instance number of the required data output. Note Communication IDs cannot be used twice within a check program.
• Make sure that all data outputs in the check program have different communication names or communication instance numbers.
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Working with CheckOpti
5.8
Documenting the project
Document your edited projects in the "Project documentation" window. Enter all relevant information in order to simplify the later assignment of the individual projects. When synchronising with the target system in the "Project properties" dialog window, use the "Insert device properties into project description" option. This enables information on the target system to be incorporated into the project documentation. More detailed information can be found in the section "Project documentation" window. If required, you can print out the relevant information for clear archiving.
5.9
Importing and exporting data
Various components of the current project can be imported or exported to swap them between projects or use them again in other programs (e.g. in CheckKon or Microsoft Excel). Component
Contents
Format
Usual application
System documentation (only text)
Contents of the project documentation
Only text (*.txt)
Exporting for text processing
Sample parts
Contour data of the sample parts
Only text (*.txt)
Importing contour files from CheckKon
Sample parts
Log file (*.cbl) Log file (*.sbl)
Importing log files
Features of sample 1) parts as per Excel
Sample parts
Excel file (*.xls)
Exporting for table calculation
Test parts
Contour data of the test parts
Only text (*.txt)
Importing contour files from CheckKon
Test parts
Log file (*.cbl) Log file (*.sbl)
Importing log files
Test parts
Excel file (*.xls)
Exporting for table calculation
Check program containing teach data and tools (no parts)
Binary file (*.sbc)
Data exchange with CheckKon
Teach data with tools
Binary file (*.typ) Binary file (*.cbt)
Data exchange with CheckKon
Bitmap (*.bmp) Bitmap (*.jpg)
Importing/exporting to/from image processing tool
(*.sbtr)
Exchange between 4) check programs
Features of test parts as per Excel Check program
Teach data
2)
3)
Camera image
2)
Displayed part
1)
Sample parts
4)
4)
Test parts Coordinate transformation 2) data
Coordinate transformation settings and data
1) Export only
3) CHB only
2) SBO...-Q only
4) For swapping between the CheckKon and CheckOpti software packages
1. 2. 3.
Select the [Import] or [Export] command in the [File] menu. Select the required component in the following dialog window. Select the required file(s) in the "Open" dialog window or enter a file name in the "Save as" dialog window. Additional settings must be made for importing camera images (ď&#x192;¨ section: "Import of camera images" dialog window).
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5.10 Transferring a check program to the target device Transferring a check program installs the data created using CheckOpti (e.g. the configured tools) on the target device. The device then uses this check program, provided it has been preselected, to check all further parts ( CheckKon, system parameters). Note The check program must be set up or optimised again if at least one of the following system parameters has been changed, for example using CheckKon: – Exposure time, gain, filter, grey scale threshold, mask image – Relationship between encoder frequency and line frequency (CHB only) – Image field or field of vision limits – Conveyor belt speed (without encoder, CHB only) Parameters in "Advanced image parameters" ( CheckKon).
Note Tools, data outputs and special settings in the check programs that are transferred to the target devices are retained on the target device even after a new teach process. The teach process adapts only the permissible value ranges in the teach data. Any installed tools and settings do not change until the check program is transferred again. The defined tools and settings can also be deleted directly using the Check program Manager.
Note Only transfer check programs if the set target device matches the connected device. Carry out the synchronisation if necessary in the "Project properties" window. Load the check program on the target device as follows: 1. Open the "Check program Manager" dialog window ([View] [Check program manager]) for transferring the check programs and settings to the target devices. 2. If necessary establish a connection with the target device to which you want to transfer one or more check programs. 3. Start the transfer using the "Copy to device >" button or delete the check program on the target device using the "Delete >" button. 4. Please observe the warnings or instructions shown.
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6
Wizards
6.1
Project Wizard This wizard is only used for devices from the Checkbox family (CHB).
6.1.1
Function of the Project Wizard
The Project Wizard guides you interactively through all the steps required for a simple teach, check and optimisation process for orientation detection using CheckOpti. The functionality of the steps carried out corresponds to a large extent to the procedure described in the section "Procedure for working with CheckOpti".
Figure: Project Wizard The Project Wizard provides a easy, quick and user-friendly way of working with CheckOpti for even inexperienced users.
6.1.2
Starting the Project Wizard
The Project Wizard can be started as follows: â&#x20AC;˘ Select the [Project wizard] command in the [Wizards] menu. Within the Project Wizard you can navigate between the individual steps with the "Next" and "Back" buttons. If the "Next" button is inactive it means that an entry is missing in the current step. This entry is necessary to continue. A lot of steps, for example adapting the Checkbox to CHB, are carried out automatically by the Project Wizard.
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6.2
Wizard for manual project creation
CheckOpti offers the option of creating and editing projects manually using a check list. The [Wizard] [Wizard for manual project creation] menu command displays a check list in the lower part of the CheckOpti window containing all the necessary editing steps. The suggested editing steps are dependent – on the set target system, – on the set project properties, – on the status of the individual editing steps.
Figure: Wizard for manual project creation The symbol indicates the status of the editing step ( table) Description of the editing step or additional information
By double-clicking an entry in the check list you can open the appropriate window or dialog window where you can carry out the relevant editing step. The status of the individual editing steps and information is indicated by a symbol: Symbol
Meaning
Grey spanner
Editing step is still to be carried out.
Green tick
Editing step has been carried out successfully.
Green tick with red "?"
Editing step that cannot be checked by CheckOpti.
Yellow tick
Editing step has been carried out, the result however is not optimum ( information).
Small red "X"
Editing step has been carried out, the result however is not optimum and should be improved by further editing ( information).
Large red "X"
Editing step has been carried out, the result however is incorrect and must be improved by further editing ( information).
3 dots
Information on the editing step or the problems that occurred.
Yellow "i"
Information, without judgement.
The editing steps listed give an overview of the general procedure. Depending on the task, the necessary steps may also differ from the check list.
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Wizards
6.3
"Optimisation of type or orientation detection" wizard
CheckOpti supports the optimisation of orientation or part type detection with a wizard. This checks the teach data and, if necessary, adds suitable tools. This wizard is only used for devices from the Checkbox family (CHB).
Figure: "Settings for Optimizing" wizard Specification of the maximum time for the optimisation Grid size for carrying out the optimisation Starts the optimisation process Progress display of the optimisation Continues to the result of the optimisation
Proceed as follows: 1. In the "Part contour" window, check whether the sample parts have been assigned the correct orientation or part type and whether the recorded contours are OK. 2. Start the wizard with the [Wizards] [Optimisation of type or orientation detection] menu command. 3. Enter the maximum time in minutes available for the optimisation. A longer time can lead to better results. 4. Set the optimisation grid. The more precise the details of the part contour, the more precise you should select the optimisation grid. However, more time will be required for optimisation if the grid is very precise. 5. Then click "Start Optimization". The end of the optimisation process will be indicated under the progress display by the message "Processing is finished, click 'Next'". 6. Switch to the display of the optimisation results with "Next".
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Figure: Results of the optimisation Information on the teach process and the automatic optimisation Back to the settings for the optimisation Concludes the automatic optimisation
Check the displayed results. These are marked with an appropriate symbol as with the wizard for manual project creation ( section:Wizard for manual project creation). If the results do not meet your expectations (red "X" or yellow tick): •
Click "Back" to switch back to the settings for the optimisation.
Improvement options: •
Select a more precise grid.
•
Provide more time for the optimisation process.
•
In the case of difficult parts with a precise grid, it may be sensible to set longer times (e.g. 60 min.).
•
Register more parts, if applicable, for the teach process.
If the results meet your expectations: •
Conclude the wizard with "Finish".
6.4
"Statistical evaluation of a feature" wizard
The "Statistical evaluation of a feature" wizard can be used to ascertain the resolution, the repeatability (accuracy) and the repetition accuracy during the part check and to create nominal value ranges in the teach data. Ascertained value
Description
Resolution
Measured value (e.g. length in mm) divided by the mean feature value (number of pixels).
Repetition accuracy
Measuring uncertainty (deviation of measured value) with repeated measurement of a measured value with mean and maximum error as well as the test equipment repetition accuracy indices Cgm and Cgmk.
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Wizards Ascertained value
Description
Uncertain assignment
Percentage of the parts where the current repetition accuracy does not permit clear assignment of the part (yellow range of the graph in step 3 of the wizard). These parts may possibly be returned during the part check. The part throughput will then drop.
Before starting the wizard, proceed as follows: 1. Measure a single selected sample part as accurately as possible, for example with a calliper gauge or other suitable tool. 2. Register the measured part at least 50 times in succession using the target device so that the part exists at least 50 times as a sample part with orientation 1, part type 1 in the "Part list" window. The normal working conditions must prevail for recording so that all influences are taken into consideration during the evaluation. 3. Create a feature that carries out the required measurement. 4. Start the wizard with the [Wizard] [Statistical evaluation of a feature] menu command. â&#x20AC;&#x201C; If there are fewer than 50 parts in the required orientation, this will be reported in the dialog window. In this case close the wizard and register further parts. 5. Continue to the next step with "Next". The resolution and the accuracy of the parts received are ascertained here. 6. Select the feature to be evaluated in the drop-down list. Lengths, distances, heights and angles in particular are normally suitable for this. â&#x20AC;&#x201C; If this selected feature had a valid value less than 50 times, this will be displayed. In this case close the wizard and - register further parts or - make appropriate changes to the feature or tool.
Figure: Wizard for statistical evaluation of a feature â&#x20AC;&#x201C; step 2 Feature to be evaluated Arithmetic mean of the actually measured values of the feature Values ascertained by CheckOpti
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Software-Paket CheckOpti – Version 3.1 7.
Enter the value that you determined using the measuring tool on the actual part under "Measured value (mean)". – Use a dot as the decimal point. – The statistical values ascertained from this value are shown in the image region underneath. 8. Continue to the next step with "Next". Here you determine the share of parts with uncertain assignment or the tolerance range. – The statistical distribution is made on the basis of a normal distribution of the feature value to be checked. – It is also assumed that 2 x sigma of the normally distributed process corresponds to the tolerance limits. The appropriate ranges are shown in colour in the information graph: Range
Meaning
Explanation
Green
Definitely good
If the value of the feature to be checked falls in this range, the measurement is good despite measuring uncertainty within the tolerance range. (The range is derived from the tolerance range less 0.5 x measuring uncertainty at the tolerance limits).
Yellow
Uncertain range, can be good or bad
Two ranges at the tolerance limits with the breadth of the measuring uncertainty. If the value of the feature to be checked falls in one of these ranges, the measuring uncertainty means that a clear result is not possible. The part can be subjected to another check in order to arrive at a clear result.
Red
Definitely bad
The ranges outside of the measuring uncertainty plus the measuring uncertainty. If the value of the feature to be checked falls in one of these ranges, the part is graded as bad.
Figure: Wizard for statistical evaluation of a feature – step 3: Calculation method: "Tolerance range" Description Selection of the calculation method
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Wizards Nominal value ( "Measured value (mean)" in the previous step) Default value for "Acceptable tolerance range" Resulting percentage of parts with uncertain assignment
9.
Select the calculation method to be used for the evaluation. You can specify the following values depending on the selection: – Tolerance range: the basis of the evaluation is the specification of the permitted tolerance, starting from the nominal value. The values can be adapted here. The resulting percentage of parts with uncertain assignment is shown under "Amount of uncertain parts". – Amount of uncertain parts: the basis for the evaluation is the percentage of parts with uncertain assignment. The resulting tolerance range is shown underneath (see below).
Figure: Wizard for statistical evaluation of a feature – step 3: Calculation method: "Amount of uncertain parts" The test equipment repetition accuracy indices "Cgm" and "Cgmk" are calculated on the basis of the nominal value and the previously calculated variables. The calculation is carried out in accordance with the stipulations according to GMPT EMS [50] or Bosch Edition 10 [58]:
Reference value Mean of the measurement series Standard deviation of the measured value series Feature tolerance 10. Continue to the next step with "Next". A summary of the statistical evaluation is shown here.
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Figure: Wizard for statistical evaluation of a feature – step 4 Description Summary of the specifications and results of the statistical evaluation Button for copying the text of the summary to the clipboard Checkbox for two additional orientations with "uncertain" feature values
allows you to create the "certain" range as well as two The "Create the ranges as Teach-Data" option additional (artificial) orientations that can serve as "uncertain" ranges (yellow range of the normal distribution). – Test parts that fall into the "uncertain" ranges or orientations will be returned as incorrect orientations for remeasuring. This can improve the reliability of the measurement. The "Create the ranges as Teach-Data" option is only available with projects with orientation separation.
Note The changes in the wizard cannot be undone once the "Create the ranges as Teach-Data" option is enabled. 11. Conclude the wizard with "Finish". If the relevant checkbox is enabled, the wizard will then create the ranges in the teach data as well as "pseudo parts" that are required for the additional orientations.
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Wizards
6.5
"Calibration of coordinate transformation" wizard Note Changes to the coordinate transformation cannot be undone.
6.5.1
Overview
Transformation between the coordinate system of the device (image coordinates) and the actual world coordinates is only supported by the Compact Vision System SBO...-Q. Use this wizard: – when using tools of the type "Coordinate transformation", – when the project property "Project with automatic coordinate transformation" is enabled. Use the coordinate transformation: – if coordinates detected in the image by the device (e.g. the position of a part) are to be used for operations in the real world (e.g. gripping the part), – if errors due to distortion of the lens are to be corrected for accurate measurements. The transformation takes the following influencing factors into consideration: – Twisting of the device relative to the world coordinate system – Device and world coordinate systems are not parallel (device alignment is skewed) – Position in Z direction during transformation – Distortions caused by the lens. In the world coordinate system, the Z-axis is perpendicular to the X/Y-axes. The positive direction is pointing towards the camera. The Z-axis cannot be changed or swapped with the X/Y directions. Device Part
Figure: Device in the world coordinate system
Note In addition to the X, Y coordinates to be transformed, their Z world coordinate (Z position above the calibration plane) must also always be specified for correct calculation of the coordinate transformation. Otherwise the results of the transformation will not be correct. The wizard provided for calibrating the coordinate transformation offers the following options: – Automatic calibration through presentation of a calibration pattern. – Manual calibration through entry of at least 8 calibration points in any image (e.g. if the calibration pattern cannot be used).
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6.5.2
Prerequisites for calibration
The device is attached mechanically at the designated position and all visual settings have already been made. A calibration pattern with good and precisely detectable calibration points is available ( Calibration pattern for automatic calibration). The calibration pattern used should be recorded in full size by the device if possible. – The calibration pattern is flat (e.g. no wrinkles or bulges) and exactly parallel with the X/Y world plane. – The position of the calibration pattern or calibration points in Z direction is or will be Z=0 after calibration. – The X/Y world coordinates of the calibration points are known or can be ascertained. – The device is configured (e.g. using CheckKon) so that the calibration points of the calibration pattern are visible in the camera and contour image. The camera image is used for manual calibration, the contour image for automatic calibration. – A connection has been established with the device using CheckOpti and the project properties have been adapted to the device. Start the wizard using the [Wizard][Calibration of coordinate transformation] menu command. The wizard is then displayed. –
Figure: "Calibration of coordinate transformation" wizard Automatic calibration through presentation of a calibration pattern and entry of a calibration point and the length of a line plotted on the calibration pattern. Automatic calibration through presentation of a calibration pattern and entry of two calibration points of the calibration pattern. Manual calibration through entry of at least eight calibration points in the image. Selection of the unit for displaying the coordinate transformation calculations. Next: shows the selected type of calibration. Cancel: closes the wizard. 1. 2. 3.
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Choose the required type of calibration. Enter the reference points required for the calibration if necessary. Select a suitable unit for the world coordinate system or enter the unit manually.
Wizards The unit is informal and is only used to display feature results.
You proceed to the next page of the automatic or manual calibration using the "Next" button.
6.5.3
Automatic calibration of the coordinate transformation
The calibration pattern used by this wizard is designed for easy execution of automatic calibration. This pattern (in particular the calibration points) can, for example, be printed, stamped or milled for use while precisely maintaining its proportions.
Figure: Calibration pattern The calibration pattern for automatic calibration is stored as the file "SBO Calibration Pattern.tif" in the installation directory of CheckOpti and can also be accessed via the Windows Start menu in the "Festo Software" group.
â&#x20AC;˘ If printing out the calibration pattern to use, make sure that the printout is of high quality without any distortion. Otherwise the transformation will be incorrect.
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Figure: "Calibration of coordinate transformation" wizard – Automatic calibration Record new calibration image: registers a new image using the target device and carries out the calibration. Invert X-direction: enables the X direction of the world coordinate axis to be adapted. Invert in Y-direction: enables the Y direction of the world coordinate axis to be adapted. Shows the direction of the world coordinate axes (blue). Automatically detected calibration points with assigned X/Y world coordinates. Result of the calibration – Red = calibration could not be successfully carried out – Green = calibration successfully carried out Estimate of the transformation accuracy. Back: returns to the start page of the wizard. Finish: shows the selected type of calibration. Cancel: closes the wizard.
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Wizards Procedure for automatic calibration Note The wizard uses only the contour image for automatic calibration of the coordinate transformation. The system parameters of the Compact Vision System must be set appropriately for this.
• Check the settings of the system parameters in the section "Camera image and preprocessing" ( CheckKon, System Parameter window). Example: "Pre-processing and contour image" system parameter = On •
•
Click "Record new calibration image" to record the calibration pattern. The wizard then starts an image on the device; this image is transferred to CheckOpti. – The wizard searches the contour image for the calibration points of the calibration pattern for automatic calibration. – The larger calibration points at least must be detected for successful calibration. – The small calibration points should also be detected by the wizard for a calibration with the least possible number of transformation errors. If detection is not possible, check the prerequisites again ( section: Prerequisites for calibration). Conclude the calibration with the "Finish" button.
6.5.4
Manual calibration of the coordinate transformation
Figure: "Calibration of coordinate transformation" wizard – Manual calibration Manually entered calibration points with assigned X/Y world coordinates. List of calibration points with assigned world and image coordinates as well as deviation in the current transformation. + / - zoom in image. Record image: starts a new image on the device and displays it.
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Software-Paket CheckOpti – Version 3.1 Add point: opens the "Coordinates of calibration point" dialog window for entering the associated world coordinates. Delete point: deletes the selected entry in the list of calibration points. Edit point: opens the "Coordinates of calibration point" dialog window for editing the entry selected in the list of calibration points. Copy points as text: copies all points and deviations in the list as text to the clipboard. Back: returns to the start page of the wizard. Finish: concludes the type of calibration. Cancel: closes the wizard.
Procedure for manual calibration •
Click the "Record image" button to record an image. The wizard then starts an image on the device; this image is transferred to CheckOpti and displayed.
•
Select points in the image using the mouse (left mouse button) and correct the position (red crosshair) if necessary using the arrow keys on the keyboard. Click the "Add point" button to accept a new calibration point. Enter the world coordinates for the image point in the "Coordinates of calibration point" dialog window ( section: "Coordinates of calibration point" dialog window). The new calibration point is added to the list.
•
Add at least eight points to the list. These calibration points can be used to ascertain the coordinate transformation data.
•
Enter as many calibration points as possible. The calibration points should be distributed uniformly over the image. – Place the calibration points in the image as exactly as possible. – Use the enlargement options offered by the "Zoom +/-" buttons for this. – Enter the respective associated world coordinates as exactly as possible.
•
To review your entries, evaluate the values in the "Error" column in the list of calibration points.
•
Conclude the calibration with the "Finish" button.
Further entry or editing options: •
Move new and existing calibration points with the help of the mouse.
•
If necessary carry out fine correction of the point selected in the image (red crosshair) with the mouse using the arrow keys on the keyboard.
•
Move existing calibration points also with the help of the mouse. The coordinate transformation data on the target device is valid for all check programs. The coordinate transformation is independent of the check programs. It is vital that the coordinate transformation data is transferred to the device after a new or changed calibration so that the device can transform the pixel coordinates to world coordinates correctly. The data is transferred to the device once the wizard is finished.
• Confirm the corresponding prompt with "OK". • Transfer the data of the open CheckOpti project to the device if applicable. Use the [Device] [Send data of coordinate transformation] menu command for this.
Note Test results of the target device when using the coordinate transformation are only correct – if the calibration of the coordinate transformation has been carried out exactly and – if these are used in the CheckOpti project and on the device. When transferring a check program with coordinate transformation, CheckOpti checks whether the data of the coordinate transformation in the CheckOpti project and on the device are identical. CheckOpti displays a message if any deviations are found.
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Wizards
6.5.5
"Coordinates of calibration point" dialog window X coordinate of the calibration point in the image Y coordinate of the calibration point in the image X coordinate of the calibration point in world coordinates Y coordinate of the calibration point in world coordinates Z coordinate of the calibration point in world coordinates, always assumed to be 0 OK: accepts the entries Cancel: rejects the entries Figure: "Coordinates of calibration point" dialog window
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7
Tools and features for CHB
7.1 – – – – –
General information on devices from the Checkbox family (CHB) Tools are added to the check program by the user (e.g. in the "Part contour" window). Tools calculate features for the check. The user must adapt the properties of the tools in accordance with the requirements of the check. The available functions, input options, adaptation options, etc. are displayed on tabs in the "Tool properties" window and can be edited there. The position (if available) can be changed using the mouse in the contour window (e.g. moving the tool). The features 1. "Length_x" to 12. "Feat_12" are not assigned to a specific tool with CHB and cannot therefore be deleted. These features relate to the image as a whole and are therefore also called "global features".
• Disable features that interfere with the check or that are not needed. To do this, remove the check from the "Feature used for quality decision" box in the "TeachData" window.
A maximum of 32 checks can be performed simultaneously per check program (as of firmware version 3.2). – 12 features are preset and cannot be deleted (global features). – 20 features can be additionally defined with CheckOpti.
7.1.1
Description of the global features
Feature
Meaning
1.
Length_x
Length of the registered contour surface (X direction).
2.
Height_y
Height of the registered contour surface (Y direction).
3.
Area
Surface area of the registered contour surface.
4.
Circumference
Circumference of the registered contour surface.
5.
Area-x/2
Surface area of the registered contour surface from start to half length.
6.
Area-y/2
Surface area of the registered contour surface from below to half height.
7.
CG_co_x
X-coordinate of the centre of area.
8.
CG_co_y
Y-coordinate of the centre of area.
9.
Pol.min
Minimum polar distance, smallest distance between centre of area and outer contour.
10.
Pol.max
Maximum polar distance, greatest distance between centre of area and outer contour.
11.
Feat_11
Special contour check feature.
12.
Feat_12
Special contour check feature.
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Tools and features for CHB
7.2
Overview of tools and features for CHB
The following tools are available: Tool
Feature
Typical application
ROI (Region Of 1) Interest)
Region. Contour area of a part: 1) – Within a rectangular region – Within an ellipse or between a 2) rectangle and an ellipse
– Differentiation of different
VStrip 1) (Vertical Strip)
Area of a vertical strip.
– Quality check of a certain strip, for
CTool 1) (Contour Tool)
Contour tool: – Difference in height, mean height, 1) curved length of part contour – Maximum or minimum height, angle of fitting line
– Quality check of a contour section
Distance 2) measurement
Distance parallel to alignment or pointto-point distance between two contour points.
– Quality check of a contour section
Multiple distance 2) measurement
Multiple distances parallel to alignment or point-to-point distances between two contour points.
Distance measurement 2) (vertical)
Vertical distance between two contour points.
– Quality check of a contour section
Angle 2) measurement
Angle to horizontal, to alignment of the tool or around the centre point of the tool.
– For example angle of a bezel.
Multiple angle 2) measurement
Multiple angles between contour points.
– Measurement of an angle
Counting 2) measurement
Number of transitions between contour and background.
– For example in order to check the
Feature 2) combination
Links features together.
– Combination of several features.
Externally calculated feature
Feature recorded by an external sensor.
– For example weight or colour of a
2)
orientations. – Quality check of a certain region.
example to determine whether there is a groove or a seal. (e.g. thread or recess, angle).
(e.g. width of a groove).
(e.g. depth of a groove).
irrespective of the part alignment.
number of pins of a plug.
part ascertained by sensors.
1) Available for CHB with Config firmware as of firmware version 1.2. 2) Available for certain CHB devices with Config firmware as of firmware version 3.1.
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7.3
Area-based tools
7.3.1
ROI The ROI tool calculates the area of the part contour within a parallelogram or an ellipse, or between a parallelogram and an ellipse. Like the other features, this area then provides an additional check feature.
Figure: ROI tool The size of the ROI tool is defined by its width, height and by the angle to the horizontal. The position of the ROI tool is determined by horizontal and vertical references. The references are represented in the case of a selected displayed ROI tool as blue, horizontal bars; the calculated area is marked in red. â&#x20AC;˘
Set the area to be measured in the "Tool properties" window. Name of the tool Feature calculated using this tool Schematic diagram of the area to be measured
Figure: "Tool properties" window - "Function" tab
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Tools and features for CHB You define the size, position and reference as well as the alignment (angle) of the tool on the "Position" tab. Information on the position Setting defining whether values are specified in pixels (absolute) or in tenths of a percent (relative to the part length) (only for devices with Config firmware version 3.2 or later) Width and height of the tool Horizontal position and reference Vertical position and reference Alignment (angle) to the horizontal
Figure: "Tool properties" window â&#x20AC;&#x201C; "Position" tab The size as well as the positions are entered in pixels. These values can also be entered in tenths of a percent relative to the part length (width and horizontal position) or part height (height and vertical position) as of Config firmware version 3.2. The position of the ROI tool can be defined by means of various references (see below). Defining the horizontal position and the width The position of the tool in the horizontal is defined by the distance to a reference. The width of the ROI tool joins on at this position in the direction specified. Enter the width in the "Width" field. â&#x20AC;˘
Select the reference of the distances under "Horiz. reference":
Horizontal reference
Meaning
absolute from left (part begin = 0)
The position of the tool refers to the absolute start of the part 2) (always x = 0).
The contour section to be examined lies left of the centre.
1.2
absolute from right (part end)
The position of the tool refers to the end of the part (corresponds to the largest X coordinate of the 2) current contour).
The contour section to be examined lies right of the centre.
1.2
relative from left to horiz. suspension
The position of the tool can adapt itself in the horizontal direction to the current part contour. The "horizontal suspension" can take place "from the left" or "from the right" (relative to the start of the 3) part or end of the part).
The relative position is used, for example, if the feature to be determined moves in the horizontal direction as a function of the part contour (ď&#x192;¨ example of "relative reference" with VStrip tool).
3.1
relative from right to horiz. suspension
Usual application
As of firmware
1)
3.1
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Horizontal reference
Meaning
relative to part center
The position of the tool refers to the part centre (corresponds to the coordinates of half the part length, length_x/2).
relative center of gravity
The position of the tool refers to the centre of gravity of the part (CG_co_x).
Usual application
As of firmware
1)
If there is a significant variation in the registered part length (e.g. when using a CHB in a vibration or centrifugal feeder), features that refer to the centre of the part can be detected with greater success using these references.
3.2
3.2
1) Available for CHB with Config firmware as of the specified firmware version. 2) The absolute position is used, for example, if the feature to be determined is always at the same horizontal position in the part contour. 3) See "Horiz. suspension" tab. This tab is only displayed if at least one relative reference has been selected. If horizontal references are selected relative to a horizontal suspension, this suspension must be defined on the "Horiz. suspension" tab. The region from which the relative reference value is calculated is defined by a vertical strip. This is related to the X-axis (y = 0). A search is then carried out within the region "Begin in line" to "End in line" for the first occurrence of the part contour according to the specification "from left" or "from right". The position found serves as the horizontal reference for the horizontal position of the tool. Defining the vertical position and the height The position of the tool in the vertical is defined by the distance to a reference. The height of the ROI tool joins on at this position in the downward direction. Enter the height in the "Height" field. Relative references have the advantage that the ROI tool can be placed relative to the contour of the part. The ROI tool is therefore less sensitive to fluctuations. The vertical reference is calculated from a region of the upper edge of the contour, similar to the features of the CTool. However it can also be specified absolutely (only with firmware as of version 3.1). Vertical reference
Meaning
relative to maximum of vert. suspension
The upper limit of the tool refers to the maximum of a value 2) calculated from the contour.
For example if the suspension is to refer to a point of the part.
1.2
relative to mean of vert. suspension
The upper limit of the tool refers to the mean of a value calculated 2) from the contour.
For example if the suspension is to refer to a flat contour section.
1.2
relative to minimum of vert. suspension
The upper limit of the tool refers to the minimum of a value calculated 2) from the contour.
For example if the suspension is to refer to a recess.
3.1
relative, alignment parallel to suspension
The upper limit of the tool refers to the fitting line defined by the reference; the tool is tilted using the angle of the fitting line (upper and lower edges).
For example if parts can lie at various angles during recording, but the ROI is not to be dependent on this.
3.1
absolute to bottom
The upper limit of the tool refers to the X-axis (y = 0).
For example if the tool is to be independent of the part position.
112
Usual application
As of firmware
1)
Tools and features for CHB Vertical reference
Meaning
Usual application
relative to part center
The position of the tool refers to the part centre (corresponds to the coordinates of half the part height, height_y/2).
relative center of gravity
The position of the tool refers to the centre of gravity of the part (CG_co_y).
As of firmware
1)
If there is a significant variation in the registered part height, features that are in the centre of the part can be detected with greater success using these references.
3.2
3.2
1) Available for CHB with Config firmware as of the specified firmware version. 2) See "Vert. suspension" tab. This tab is only displayed if at least one relative reference has been selected. Defining the alignment (angle, only with firmware as of version 3.1) The upper and lower edges of the tool can be tilted: â&#x20AC;˘
Select the "relative, alignment parallel to suspension" entry under "Vertical ref.". The tool is tilted using the angle of the fitting line.
â&#x20AC;˘
Or enter the angle to the horizontal directly in the "Alignment" field. If the vertical reference "relative, alignment parallel to suspension" is defined, the angle specified here will be added to the angle of the fitting line.
No angle
Alignment parallel to suspension
Alignment through entry of an angle Figure: Examples for the alignment (angle) of the ROI tool
113
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Defining the vertical suspension If a relative reference is used for the vertical position, it must be defined on the "Vert. suspension" tab. The region from which the relative reference value is calculated is defined by a left-hand and right-hand limit. These refer to the start of the parts (left in CheckOpti) and/or to the end of the parts (right in CheckOpti). Information on the suspension Contour from which the reference is calculated Start coordinate of the contour and reference of the start coordinate End coordinate of the contour and reference of the end coordinate Graphical representation of the references
Figure: "Tool properties" window â&#x20AC;&#x201C; "Vert. suspension" tab
The contour from which the reference of the tool is calculated can be selected in the "Calculate out of" drop-down list. Calculate out of
Meaning
As of 1) firmware
Top transition
Uses the upper edge of the contour section for the calculation.
1.2
Bottom transition
Uses the lower edge of the contour section for the calculation.
3.1
... edge to bottom
For parts with "gaps": uses the relevant edge of the contour section from below for the calculation
3.1
1) Available for CHB with Config firmware as of the specified firmware version. To define the contour section to be used as the suspension for the ROI tool, set the start and end coordinates as well as the relevant references. The distances between the limits are entered in pixels. The left and right-hand limits of the region to be examined can be defined by means of various definitions. These limits refer to the start of the parts (left in CheckOpti) and/or to the end of the parts (right in CheckOpti). Reference
Usual application
As of 1) firmware
Start
End
absolute from left
absolute from left
The contour section used as reference lies left of the centre.
1.2
absolute from left
absolute from right
In special cases (the width of the contour section used as reference changes with the length of the part).
1.2
114
Tools and features for CHB Reference
Usual application
As of 1) firmware
Start
End
absolute from right
absolute from left
In special cases (the width of the tool changes with the length of the part).
3.1
absolute from right
absolute from right
The contour section to be examined lies right of the centre.
1.2
1) Available for CHB with Config firmware as of the specified firmware version. Possible exception: if, for example, a contour section to the left of the centre is to be checked, but the manufacturing tolerances are measured from the right on the test part and are therefore usually smaller.
â&#x20AC;˘ In this case select "... from right" both for the start and the end, although the ROI tool lies to the left of the centre. The height of the ROI tool joins on at this position in the downward direction. Defining the horizontal suspension If a relative reference is used for the horizontal position, it must be defined on the "Horiz. suspension" tab. The region from which the relative reference value is calculated is defined by a horizontal strip. This refers to the X-axis (y = 0) or to the vertical suspension. Information on the suspension Graphical representation of the references Start coordinate of the contour End coordinate of the contour Reference of start and end coordinates
Figure: "Tool properties" window â&#x20AC;&#x201C; "Horiz. suspension" tab
A search is then carried out within the region "Begin in line" to "End in line" for the first occurrence of the part contour according to the specification "from left" or "from right". The position found serves as the horizontal reference for the horizontal position of the tool. A further two references can be used for the vertical position of the region "Begin in line" to "End in line": Vertical reference
Meaning
Usual application
As of 1) firmware
absolute to bottom
The start and end of the vertical strip refer to the X-axis (y = 0).
For example if the tool is to be independent of the part position.
3.1
115
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Vertical reference
Meaning
Usual application
As of 1) firmware
relative to vertical suspension
The start and end of the vertical strip refer to the vertical suspension. The region moves up or down with the 2) vertical suspension. Note: The start and end can also be negative values. If no vertical suspension of the tool is defined, the start and end of the vertical strip will refer, as with the setting "absolute to bottom", to the X-axis (y = 0)
A reference to the vertical suspension has the advantage that the position of the region (that is used for determining the horizontal suspension) adapts itself to the contour, for example if the suspension is to refer to a recess.
3.1
1) Available for CHB with Config firmware as of the specified firmware version. 2) See "Vert. suspension" tab. This tab is only displayed if at least one relative reference has been selected. If an ROI has been selected, the area within the ROI will be shown in red. The horizontal distance to the reference will be shown as a blue, horizontal bar. The region of the edge of the contour that is used for calculating the upper reference value is also highlighted in blue. Starting from this region, the vertical distance will be shown as a blue vertical bar. If the vertical reference "relative to maximum of suspension" is used, the bar will start at the point which resulted in the maximum coordinate (highest point in the region):
Figure: ROI, horizontal reference "absolute from left," vertical reference "relative to maximum of suspension" If the vertical reference "relative to mean of suspension" is used, the bar will start in the centre of the region and in the "mean" height.
116
Tools and features for CHB
Figure: ROI, horizontal reference "from left," vertical reference "relative to mean of suspension" Example A miniature plug connector is to be moved with the correct orientation to a component placement system. However, only orientation 1 may be used here; all further orientations are to be returned to the conveyor system. The part may be passed to a CHB in four orientations, whereby orientations 1 and 3 (or 2 and 4) are distinguished only by a small chamfer on the upper right-hand (or left-hand) corner of the part.
Good orientation 1 (nominal orientation)
Good orientation 2
Good orientation 3 Figure: Possible orientations
Good orientation 4
117
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 As orientation 1 is the "nominal orientation", this must be distinguished reliably from the other orientations, especially orientation 3. This is accomplished with a small ROI tool that examines the chamfer.
Orientation 2 Figure: The ROI tool in different orientations
Orientation 3
Figure: Feature progression of the ROI tool Orientation 1 Orientation 2
The check of the reliability of the orientation separation in the "Feature graph" window shows a clear separation between orientation 1 (parts 1 to 10) and the remaining orientations (parts 11 to 37).
118
Tools and features for CHB Case study A parts-reversing station, which can reverse the parts according to the signals from the CHB, is fitted in the path from a CHB to the components fitting installation. In order to separate further orientations reliably from each other (orientation 2 from 3 and orientation 2 from 4), further tools can be set up with CheckOpti. This could be accomplished with an ROI tool with the appropriate settings in the upper left-hand corner, for example.
Figure: ROI tool for differentiating the orientations With this further tool, the feature progression is as follows:
Figure: Feature progression of the ROI tool Orientation 1 Orientation 2 Orientation 3 Orientation 4
All orientations could therefore be separated from each other just with this tool.
119
Software-Paket CheckOpti – Version 3.1
7.3.2
VStrip The VStrip tool calculates the area of the part contour within a horizontally limited region. This results in a vertical strip.
Like the other features, this area then provides an additional check feature.
Figure: VStrip tool •
Make the settings for the corresponding tool in the "Feature properties" window. Name of the tool Brief description and schematic representation of the feature calculated using this tool
Figure: "Feature properties" window – "Function" tab
120
Tools and features for CHB Information for ascertaining the position of the feature Start coordinate of the vertical strip with reference of the start coordinate End coordinate of the vertical strip with reference of the end coordinate Graphical representation of the references
Figure: "Feature properties" window â&#x20AC;&#x201C; "Position" tab The distances between the references and the limits are entered in pixels. The limits of the area, i.e. the left and right-hand limits, can be defined by means of various references (ď&#x192;¨ following table). The distances to the references are represented in the case of a selected displayed VStrip tool as blue, horizontal bars; the calculated area is highlighted in red. Horizontal reference
Meaning
Usual application
As of 1) firmware
absolute from left (part begin = 0)
The position of the tool refers to the absolute start of the part (always x = 0).
1.2
absolute from right (part end)
The position of the tool refers to the end of the part (corresponds to the largest X coordinate of the current contour).
The absolute position is used, for example, if the feature to be determined is always at the same horizontal position in the part contour.
relative from left to horiz. suspension
The position of the tool can adapt itself in the horizontal direction to the current part contour. The "horizontal suspension" can take place "from the left" or "from the right" (relative to the start of the 2) part or end of the part).
The relative position is used, for example, if the feature to be determined moves in the horizontal direction as a function of the part contour (ď&#x192;¨ diagram in the "relative reference" example).
3.1
relative to part center
The position of the tool refers to the part centre (corresponds to the coordinates of half the part length, length_x/2).
relative center of gravity
The position of the tool refers to the centre of gravity of the part (CG_co_x).
If there is a significant variation in the registered part length (e.g. when using a CHB in a vibration or centrifugal feeder), features that refer to the centre of the part can be detected with greater success using these references.
relative from right to horiz. suspension
1.2
3.1
3.2
3.2
1) Available for CHB with Config firmware as of the specified firmware version. 2) See "Horiz. suspension" tab. This tab is only displayed if at least one relative reference has been selected.
121
Software-Paket CheckOpti – Version 3.1 If horizontal references are selected relative to a horizontal suspension, this suspension must be defined on the "Horiz. suspension" tab. The region from which the relative reference value is calculated is defined by a horizontal strip. This is related to the X-axis (y = 0). A search is then carried out within the region "Begin in line" to "End in line" for the first occurrence of the part contour according to the specification "from left" or "from right". The position found serves as the horizontal reference for the horizontal position of the tool. Figure: "Feature properties" window – "Horiz. suspension" tab Information for ascertaining the horizontal suspension Start and end coordinates of the horizontal strip for ascertaining the start coordinate of the VStrip tool Start and end coordinates of the horizontal strip for ascertaining the end coordinate of the VStrip tool Graphical representation of the references
Figure: "Feature properties" window – "Horiz. suspension" tab
Examples for references
Usual application
As of 1) firmware
Start
End
... from left
... from left
The contour section to be examined lies left of the centre.
1.2
... from left
... from right
Special case - the width of the tool changes with the length of the part.
1.2
... from right
... from left
Special case - the width of the tool changes with the length of the part.
3.1
... from right
... from right
The contour section to be examined lies right of the centre.
3.1
1) Available for CHB with Config firmware as of the specified firmware version. Possible exception: if, for example, a contour section to the left of the centre is to be checked, but the manufacturing tolerances are measured from the right on the test part and are therefore usually smaller.
• In this case select "... from right" both for the start and the end, although the VStrip tool lies to the left of the centre.
122
Tools and features for CHB Example of absolute reference: Before a QS plug connector is forwarded to the automatic packing machine, a check is to be made to ascertain whether a seal has been fitted and whether it is positioned correctly. In this case the orientation is not important. A check is made of the quality. The part can be in two orientations:
Orientation 1 (good)
Orientation 2 (good)
Orientation 2 (bad) Figure: Orientations with VStrip tool The following tools are defined: â&#x20AC;&#x201C; Left-hand VStrip tool (references "absolute from left" and "absolute from left"). â&#x20AC;&#x201C; Right-hand VStrip tool (references "absolute from right" and "absolute from right"), all other settings identical to the left-hand VStrip tool.
123
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Tip for creating symmetric suspensions: Highlight the tool using the mouse and create a copy of the tool on the clipboard with the [Edit] [Copy] command. Open the "Paste options for tool" dialog window using the [Edit] [Paste] command. â&#x20AC;˘
Select the "Mirror horizontally" option and confirm with "OK". The new tool will be inserted symmetrically on the other side of the part.
Checking the reliability of the orientation check:
Figure: Orientation check The good parts of orientations 1 and 2 are clearly and reliably separated by means of the feature Area-x/2 (area left of part centre). This is not at all important for the task in question. However, as the features of the tools must be compared with the correct set of teach data (orientations 1/2), the orientations must be correctly detected. If this is not the case, a part with orientation 1, for example, could be wrongly checked with the teach data for orientation 2.
Note Even if only the quality is to be checked, it will not suffice to learn only one orientation in which both alignments of the tool are shown. In this case the ranges of the feature values, normally separated by the orientation, would be grouped together. This would significantly impair the reliability of the quality check. If possible, the individual orientations must always be taught separately.
124
Tools and features for CHB Checking the reliability of the quality check:
Figure: Quality check of orientation 1 – – –
Orientation 1 (parts 1 to 5 with seal ring) is reliably detected (feature values are clearly within the permitted range). The feature values of parts 6 to 12 (without seal ring) are clearly outside the permitted range. The same applies to orientation 2 (parts 13 to 17 without seal ring, parts 18 to 22 with seal ring):
Figure: Quality check of orientation 2 –
The required check is therefore possible.
125
Software-Paket CheckOpti – Version 3.1 Example of relative reference: A recess on a rotary part is to be checked irrespective of any burr that remains when it is cut off. Settings on the "Position" tab: – Start in row: – Horiz. position: 106 (pixels) – Horiz. reference: relative from the left to horiz. suspension – End in row: – Horiz. position: 125 (pixels) – Horiz. reference: relative from left to horiz. suspension The suspension of the VStrip tool is laid on a burr-free region of the start of the part, for example if the total diameter of the parts ranges from approx. 80 to 240 in the upper (flat) region of the front surface. Settings on the "Horiz. suspension" tab: – Horizontal suspension for "Start in row" and "End in row": – Begin in line: 180 (pixels) – End in line: 240 (pixels) A search is then executed within this region for the first occurrence of the part contour according to the specification "from left" or "from right". This position serves as the horizontal reference for the horizontal position of the feature. The resulting position of the tool is calculated as follows. – Resulting start of the tool = 106 + X with X = X coordinate of the first contour element in the vertical strip between y = 180 and y = 240 – Resulting end of the tool = 125 + X with X = X coordinate of the first contour element in the vertical strip between y = 180 and y = 240 In this way the VStrip tool always refers to the front of the part, irrespective of any burr.
Without burr Figure: VStrip tool – relative reference
126
With burr
Tools and features for CHB
7.3.3
CTool The CTool calculates features from an edge of the contour of a part.
Features calculated using this tool: Feature
Meaning
Typical application
As of firmware
Height difference
Determines the maximum difference in height within the horizontally limited region along the contour.
For example checking a recess.
1.2
Determines the maximum height within the horizontally limited region along the contour.
For example checking the height in a certain region.
3.1
Determines the average height within the horizontally limited region along the contour.
For example local height check.
1.2
Determines the minimum height within the horizontally limited region along the contour.
For example checking the height in a certain region.
3.1
Angle of fitted line
Determines the angle of the fitting line within the horizontally limited region along the contour.
For example checking an angle in a certain region.
1.2
Scalar length (arc length)
Determines the length along the contour within the horizontally limited region.
For example making sure there is a thread.
1.2
Maximum value
1)
Mean value
Minimum value
1)
1)
1)
1) Available for CHB with Config firmware as of the specified firmware version.
Figure: Examples of features ascertained by the CTool â&#x20AC;˘
Make the settings for the corresponding tool in the "Feature properties" window. 127
Software-Paket CheckOpti – Version 3.1 Name of the tool Feature calculated using this tool Schematic representation of the feature Reference edge for the calculation
Figure: "Feature properties" window – "Function" tab –
–
Only one function (a calculated feature) can be selected per tool. The selected function then calculates the feature value of the tool. Like the other features, it then provides an additional check feature. The contour from which the CTool is calculated can be selected in the "Calculate out of" drop-down list:
Calculate out of
Meaning
As of firmware
Top transition
Uses the upper edge of the contour section for the calculation.
1.2
Bottom transition
Uses the lower edge of the contour section for the calculation.
3.1
... edge to bottom
For parts with "gaps": uses the relevant edge of the contour section from below for the calculation
3.1
1)
1)
1) Available for CHB with Config firmware as of the specified firmware version. •
Set the start and end coordinates as well as the respective references on the "Position" tab. Information on the settings on the tabs Start coordinate of the contour with reference of the start coordinate End coordinate of the contour with reference of the end coordinate Graphical representation of the references
Figure: "Feature properties" window – "Position" tab
128
1)
Tools and features for CHB The distances between the limits are entered in pixels. The left and right-hand limits of the region to be examined can be defined by means of various definitions ( following table). – The references are represented in the case of a selected displayed CTool as blue, horizontal bars; the outer contour examined is highlighted in red. –
Horizontal reference
Meaning
Usual application
As of 1) firmware
absolute from left (part begin = 0)
The position of the tool refers to the absolute start of the part (always x = 0).
1.2
absolute from right (part end)
The position of the tool refers to the end of the part (corresponds to the largest X coordinate of the current contour).
The absolute position is used, for example, if the feature to be determined is always at the same horizontal position in the part contour.
relative from left to horiz. suspension
The position of the tool can adapt itself in the horizontal direction to the current part contour. The "horizontal suspension" can take place "from the left" or "from the right" (relative to the start of the 2) part or end of the part).
The relative position is used, for example, if the feature to be determined moves in the horizontal direction as a function of the part contour ( example of "relative reference" with VStrip tool).
3.1
relative to part center
The position of the tool refers to the part centre (corresponds to the coordinates of half the part length, length_x/2).
relative center of gravity
The position of the tool refers to the centre of gravity of the part (CG_co_x).
If there is a significant variation in the registered part length (e.g. when using a CHB in a vibration or centrifugal feeder), features that refer to the centre of the part can be detected with greater success using these references.
relative from right to horiz. suspension
1.2
3.1
3.2
3.2
1) Available for CHB with Config firmware as of the specified firmware version. 2) See "Horiz. suspension" tab. This tab is only displayed if at least one relative reference has been selected. If horizontal references are defined relative to a horizontal suspension, this suspension must be defined on the "Horiz. suspension" tab. The region from which the relative reference value is calculated is defined by a vertical strip. This is related to the X-axis (y = 0). A search is then carried out within the region "Begin in line" to "End in line" for the first occurrence of the part contour according to the specification "from left" or "from right". The position found serves as the horizontal reference for the horizontal position of the tool.
129
Software-Paket CheckOpti – Version 3.1 Information for ascertaining the horizontal suspension Start and end coordinates of the horizontal strip for ascertaining the start coordinate of the CTool Start and end coordinates of the horizontal strip for ascertaining the end coordinate of the CTool Graphical representation of the references
Figure: "Feature properties" window – "Horiz. suspension" tab
Examples for references
Usual application
As of 1) firmware
Start
End
... from left
... from left
The contour section to be examined lies left of the centre.
1.2
... from left
... from right
Special case - the width of the tool changes with the length of the part.
1.2
... from right
... from left
Special case - the width of the tool changes with the length of the part.
3.1
... from right
... from right
The contour section to be examined lies right of the centre.
3.1
1) Available for CHB with Config firmware as of the specified firmware version. Possible exception: if, for example, a contour section to the left of the centre is to be checked, but the manufacturing tolerances are measured from the right on the test part and are therefore usually smaller.
• In this case select "... from right" both for the start and the end, although the CTool lies to the left of the centre. The horizontal reference is usually specified absolutely. This setting is available for all Config firmware as of version 1.2.
130
Tools and features for CHB Example of absolute reference: A hollow bolt is to be checked for orientation and quality. The following is checked in orientation 1: – Is there a thread (scalar length)? – Is the depth of the recess correct (height difference)? Parts with orientation 2 are to be rejected when they are passed through again. The task can be solved with three CTools: – Scalar length (arc length) – Height difference – Mean value
Orientation 1, everything OK
Orientation 2, everything OK Figure: Example CTool
131
Software-Paket CheckOpti – Version 3.1
7.4
Measuring tools
7.4.1
General
The following measuring tools are available for certain CHB devices with Config firmware as of firmware version 3.1: Tool
Function
Typical applications
Distance measurement
Distance parallel to alignment or point-to-point distance between two contour points
– Quality check of a contour section
(e.g. width of a groove)
Multiple distance measurement
Multiple distances parallel to alignment or point-to-point distances between two contour points
Distance measurement (vertical)
Vertical distance between two contour points
– Quality check of a contour section
Angle measurement
Angle to horizontal, to alignment of the tool or around the centre point of the tool
– For example angle of a bezel
Multiple angle measurement
Multiple angles between contour points
– Measurement of an angle
Counting measurement
Number of transitions between contour and background
– For example in order to check the
(e.g. depth of a groove)
irrespective of the part alignment number of pins of a plug
These tools ascertain the transition points between the background and contour along one or two search lines. Function of the measuring tools The measuring tools are used to measure distances, angles, etc. Transition points between the background and part contour are used as measuring points. The transition points are derived from an analysis of the contour along a defined path (the "feature shape"), for example of a line. Different feature shapes are available depending on the firmware version: – 1 line (as of firmware version 3.1) – 2 lines (as of firmware version 3.1) – Ellipse (as of firmware version 3.2) A distance or angle can then be calculated for each set of two selected points. The selection of the points that belong together can be accomplished through direct specification of the point number (with single measurement) or through the type of transition (with multiple measurement: background -> part contour or part contour -> background). 1. Feature shape "1 line" Start and end points are on one line.
Figure: Feature shape "1 line", measuring direction from left to right 1 line
132
Tools and features for CHB 1st transition point: background -> part contour 2nd transition point: part contour -> background 3rd transition point: background -> part contour 4th transition point: part contour -> background Part contour
The position and alignment of the line are defined by the suspension and the vertical reference. â&#x20AC;&#x201C; Distances can be measured parallel to the alignment of the tool, parallel to the vertical or as a point-topoint distance (depending on the tool used). 2. Feature shape "2 lines" Start and end points are on two separate lines. Measurements can optionally also take place along two lines in the case of the tools "Distance measurement", "Multiple distance measurement", "Distance measurement (vertical)" and "Counting measurement". Two separate lines are always required for the tools "Angle measurement" and "Multiple angle measurement".
Figure: Feature shape "2 lines", alignment parallel to suspension, measuring direction from left to right 2nd line (3 transition points) 1st line (4 transition points) Part contour
The position and alignment of the two lines are defined by the suspension and the vertical reference. â&#x20AC;&#x201C; Distances can be measured parallel to the alignment of the tool, parallel to the vertical or as a point-topoint distance (depending on the tool used). â&#x20AC;&#x201C; Angles can be measured with reference to the alignment of the tool or to horizontals.
Figure: Example of point-to-point distance and parallel distance, measuring direction from left to right Point-to-point distance Parallel distance Part contour
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Software-Paket CheckOpti – Version 3.1
Figure: Example of point-to-point distance and parallel distance (vertical), measuring direction from left to right 2 lines Point-to-point distance Parallel distance (vertical measurement) Part contour
3. Feature shape "Ellipse" Start and end points are on an ellipse. The transition points can also be determined along an ellipse in the case of the tools "Distance measurement", "Multiple distance measurement", "Angle measurement", "Multiple angle measurement" and "Counting measurement". This ellipse is defined by means of the settings on the "Position" tab.
Figure: Feature shape "ellipse", measuring direction from left to right Region used to define the ellipse (similar to an ROI) Ellipse (30 transition points) Angle measurement relative to the centre point or the alignment Distance measurement Part contour The position and alignment of the ellipse are defined by the suspension and the vertical reference. – Distances can be measured parallel to the alignment of the tool, parallel to the vertical or as a point-topoint distance (depending on the tool used). – Angles can be measured with reference to the alignment of the tool, to the horizontals or between two points relative to the centre point. The transition points are always numbered in clockwise direction. With the measuring direction "from left to right", the numbering starts with the 1st transition point to the left ( figure above, "Feature shape "Ellipse", measuring direction from left to right"). With the measuring direction "from right to left", the numbering starts with the 1st transition point to the right (point 16 in the above illustration would therefore be point 1). 134
Tools and features for CHB
The speed of the conveyor unit and the exposure time of the camera mean that the registered contour images are usually distorted in the X and Y directions. – To achieve uniform angular proportions, the ellipse must be distorted in the same proportion. – To achieve uniform length proportions along the ellipse, the speed of the conveyor unit must be in due proportion with the exposure time of the camera.
• Make the appropriate settings using CheckKon. Position and suspension of the measuring tools With all measuring tools, the position and size of the tool are defined on the "Position" and "Vert. suspension" tabs.
Figure: "Feature properties" window – "Position" tab Information on the position Width of the region to be examined Height of the region to be examined (not with feature shape "1 line") Horizontal position and reference Vertical position and reference Alignment (angle) to the horizontal is added, if necessary, to the angle of the suspension
The size as well as the positions are entered in pixels. These values can also be entered in tenths of a percent relative to the part length (width and horizontal position) or part height (height and vertical position) as of Config firmware version 3.2.
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Defining the horizontal reference and the width The position of the line or ellipse in the horizontal is defined by the distance to the horizontal reference. Select the reference of the distances under "Horiz. reference": Horizontal reference
Meaning
Usual application
As of 1) firmware
absolute from left
The left-hand limit of the tool refers to the start of the parts.
The contour section to be examined lies left of the centre.
1.2
absolute from right
The right-hand limit of the tool refers to the end of the parts.
The contour section to be examined lies right of the centre.
1.2
relative to part center
The position of the tool refers to the part centre (corresponds to the coordinates of half the part length, length_x/2).
3.2
relative center of gravity
The position of the tool refers to the centre of gravity of the part (CG_co_x).
If there is a significant variation in the registered part length (e.g. when using a CHB in a vibration or centrifugal feeder), features that refer to the centre of the part can be detected with greater success using these references.
3.2
1) Available for CHB with Config firmware as of the specified firmware version. The width of the tool (line or ellipse) joins on at this position in the direction specified. Enter the width in the "Width" field. Defining the vertical position and the height Feature shape "1 line" or "2 lines" With the feature shape "1 line" or "2 lines", the position of the upper line in the vertical is defined by the distance to a reference. The vertical position of the second line joins on at this position in the downward direction (if defined). â&#x20AC;˘
Enter the distance to the first line in the "Height" field.
Feature shape "Ellipse" With the feature shape "Ellipse", the upper limit of the ellipse is defined by the distance to a reference. The height of the ellipse joins on at this position in the downward direction. â&#x20AC;˘ Enter the distance to the upper limit in the "Height" field. Relative references have the advantage that the tool can be placed relative to the contour of the part. The measuring tools are therefore less sensitive to fluctuations. The vertical position of the tool is calculated from a region of an edge of the contour, similar to the features of the CTool. However, it can also be specified absolutely (only with firmware as of version 3.1). Vertical reference
Meaning
Usual application
As of firmware 1)
relative to maximum of vert. suspension
The vertical position refers to the maximum of a value calculated from the contour. 2)
For example if the suspension is to refer to a point of the part.
3.1
relative to mean of vert. suspension
The vertical position refers to the mean of a value calculated from the contour. 2)
For example if the suspension is to refer to a flat contour section.
3.1
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Tools and features for CHB Vertical reference
Meaning
Usual application
As of firmware 1)
relative to minimum of vert. suspension
The vertical position refers to the minimum of a value calculated from the contour. 2)
For example if the suspension is to refer to a recess.
3.1
relative, alignment parallel to suspension
The vertical position refers to the fitting line defined by the reference; the tool is tilted using the angle of the fitting line.
For example if parts can lie at various angles during recording, but the measuring tools are not to be dependent on this.
3.1
absolute to bottom
The vertical position refers to the Xaxis (y = 0).
For example if the tool is to be independent of the part position.
3.1
relative to part center
The vertical position of the tool refers to the part centre (corresponds to the coordinates of half the part height, height_y/2).
3.2
relative center of gravity
The vertical position of the tool refers to the centre of gravity of the part (CG_co_y).
If there is a significant variation in the registered part height, features that are in the centre of the part can be detected with greater success using these references.
3.2
1) Available for CHB with Config firmware as of the specified firmware version. 2) See "Vert. suspension" tab. Defining the alignment (angle) The feature can also be tilted (in accordance with the upper and lower edges in the ROI tool): â&#x20AC;˘
Select the "relative, alignment parallel to suspension" entry under "Vertical reference". The feature is tilted using the angle of the fitting line.
â&#x20AC;˘
Enter the angle to the horizontal in the "Alignment" field. If the vertical reference "relative, alignment parallel to suspension" is defined, the angle specified here will be added to the angle of the fitting line.
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Defining the vertical suspension If a relative reference is used, it must be defined on the "Vert. suspension" tab. The region from which the relative reference value is calculated is defined by a left-hand and right-hand limit. These refer to the start of the parts (left in CheckOpti) and/or to the end of the parts (right in CheckOpti). Information on the suspension Contour from which the reference is calculated Start coordinate of the contour and reference of the start coordinate End coordinate of the contour and reference of the end coordinate Graphical representation of the references
Figure: "Feature properties" window â&#x20AC;&#x201C; "Vert. suspension" tab The contour from which the reference of the tool is calculated can be selected in the "Calculate out of" drop-down list. Calculate out of
Meaning
Top transition
Uses the upper edge of the contour section for the calculation.
Bottom transition
Uses the lower edge of the contour section for the calculation.
... edge to bottom
For parts with "gaps": uses the relevant edge of the contour section from below for the calculation.
In order to define the contour section to be used as the suspension for the search lines, set the start and end coordinates as well as the respective references. The distances between the limits are entered in pixels. The left and right-hand limits of the region to be examined can be defined by means of various definitions. These limits refer to the start of the parts (left in CheckOpti) and/or to the end of the parts (right in CheckOpti). Reference
Usual application
Start
End
absolute from left
absolute from left
The contour section used as reference lies left of the centre.
absolute from left
absolute from right
Special case - the width of the contour section used as reference changes with the length of the part.
absolute from right
absolute from left
Special case - the width of the tool changes with the length of the part.
absolute from right
absolute from right
The contour section to be examined lies right of the centre.
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Tools and features for CHB Possible exception: if, for example, a contour section to the left of the centre is to be checked, but the manufacturing tolerances are measured from the right on the test part and are therefore usually smaller.
â&#x20AC;˘ In this case select "absolute from right" for both references, even though the measuring tool lies left of the centre. If a measuring tool has been selected, the measuring variables ascertained will be shown in red. With multiple tools the extremes being sought will be shown in pink. The feature shape (lines or ellipse) will be shown in green. The region of the edge of the contour used for calculating the reference, the fitting line and the distances to the references are also shown in blue. Help lines are shown in yellow.
7.4.2
Distance measurement (horizontal) The Distance measurement tool can be used to measure parallel distances or point-to-point distances (ď&#x192;¨ "Example..." diagrams).
Figure: "Feature properties" window â&#x20AC;&#x201C; "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 line, 2 lines or an ellipse) Feature calculated using this tool (depending on
)
Schematic diagram of the distance to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the number of the transition for the start point and the end point of the measurement Scaling of the measurement result (e.g. in order to convert pixels to mm)
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Transition points 1 to 4 Line Ascertained distance between the 1st and 2nd transition points
Figure: Example: measuring the distance between the 1st and 2nd transition points
Region used to define the ellipse (similar to an ROI) Ellipse (2 transition points) Distance measurement Part contour
Figure: Example: measuring the distance on an ellipse between the 1st and 2nd transition points You define the reference of the line or ellipse for the measuring tool on the "Position" and "Vert. suspension" tabs (ď&#x192;¨ section:Position and suspension of the measuring tools).
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Tools and features for CHB
7.4.3
Multiple distance measurement (horizontal) The Multiple distance measurement (horizontal) tool can be used to ascertain the shortest or longest distance of several parallel distances or point-to-point distances ( "Example..." diagrams).
Figure: "Feature properties" window – "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 line, 2 lines or an ellipse) Feature calculated using this tool (depending on
)
Schematic diagram of the distance to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the type of transition for the start and end transitions Scaling of the measurement result (e.g. in order to convert pixels to mm)
Transition points 1 to 4 Line Ascertained minimum distance – Start transition: background to part contour – End transition: part contour to background Figure: Example: ascertaining the minimum distance
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Region used to define the ellipse (similar to an ROI) Ellipse (30 transition points) Distance measurement for example minimum point-topoint distance Part contour
Figure: Example: measuring a distance on an ellipse
You define the reference of the line or ellipse for the measuring tool on the "Position" and "Vert. suspension" tabs (ď&#x192;¨ section:Position and suspension of the measuring tools).
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Tools and features for CHB
7.4.4
Distance measurement (vertical) The Distance measurement (vertical) tool can be used to measure vertical distances ( "Example..." diagrams).
Figure: "Feature properties" window – "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 or 2 lines) Feature calculated using this tool (depending on
)
Schematic diagram of the distance to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the type of transition for the start and end transitions Scaling of the measurement result (e.g. in order to convert pixels to mm)
Transition points 1 and 2 Ascertained distance Line
Figure: Example: measuring a vertical distance You define the reference of the line for the measuring tool on the "Position" and "Vert. suspension" tabs ( section:Position and suspension of the measuring tools).
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1
7.4.5
Angle measurement The Angle measurement tool can be used to measure the angle to the alignment of the tool, to the horizontal, or, in the case of ellipses, the angle around the centre point (see "Example..." diagrams).
Figure: "Feature properties" window â&#x20AC;&#x201C; "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 line, 2 lines or an ellipse) Feature calculated using this tool (depending on
)
Schematic diagram of the angle to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the type of transition for the start and end transitions Scaling of the measurement result (e.g. in order to convert pixels to mm)
Figure: Example: angle measurement 2nd transition point of the 2nd line 2nd transition point of the 1st line Measuring the angle to the alignment: - Start point: 2nd transition point of line 1 - End point: 2nd transition point of line 2
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Tools and features for CHB
Region used to define the ellipse (similar to an ROI) Ellipse (2 transition points) Angle measurement around the centre point Part contour
Figure: Example: angle measurement You define the reference of the line or ellipse for the measuring tool on the "Position" and "Vert. suspension" tabs (ď&#x192;¨ section:Position and suspension of the measuring tools).
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Software-Paket CheckOpti – Version 3.1
7.4.6
Multiple angle measurement The Multiple angle measurement tool can be used to ascertain the smallest or largest of several angles.
Figure: "Feature properties" window – "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 line, 2 lines or an ellipse) Feature calculated using this tool (depending on
)
Schematic diagram of the angles to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the type of transition for the start and end transitions Scaling of the measurement result (e.g. in order to convert pixels to mm)
You define the reference of the line or ellipse for the measuring tool on the "Position" and "Vert. suspension" tabs ( section:Position and suspension of the measuring tools).
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Tools and features for CHB
7.4.7
Counting measurement The Counting measurement tool can be used to ascertain the number of transition combinations (start/end of measurement) between the background and part contour along the line or ellipse.
Figure: "Feature properties" window â&#x20AC;&#x201C; "Function" tab Name of the tool Definition of the feature shape (whether the start and end points are on 1 line, 2 lines or an ellipse) Feature calculated using this tool (depending on
)
Schematic diagram of the number to be ascertained Definition of the measuring direction (direction in which the contour transitions are numbered) Selection of the type of transition for the start and end transitions Scaling of the measurement result (e.g. in order to convert pixels to mm)
You define the reference of the line or ellipse for the measuring tool on the "Position" and "Vert. suspension" tabs (ď&#x192;¨ section:Position and suspension of the measuring tools).
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1
7.5
Special tools
7.5.1
Feature combination The Feature combination tool (available as of firmware version 3.1) can be used to create an additional feature from the mathematical combination of existing features.
Name of the tool Brief description of the tool Select feature 1 Select feature 2 Feature calculated using this tool as selection of the mathematical function for combining the features Scaling of the measurement result
Figure: "Feature properties" window â&#x20AC;&#x201C; "Function" tab Description of the combinations Combination
Description
Addition (F1 + F2)
The feature of the tool is derived from the addition of feature 1 and feature 2.
Subtraction (F1 - F2)
The feature of the tool is derived from the subtraction of feature 2 from feature 1.
Multiplication (F1 * F2)
The feature of the tool is derived from the multiplication of feature 1 by feature 2.
Division (F1 / F2)
The feature of the tool is derived from the division of feature 1 by feature 2 (if F2 = 0, the result is also = 0).
Less than-equal to (F1 <= F2)
Logic operation: the feature has the value 1 if F1 is less than or equal to F2. The feature has the value 0 if F1 is greater than F2.
Greater than (F1 > F2)
Logic operation: the feature has the value 1 if F1 is greater than F2. The feature has the value 0 if F1 is less than or equal to F2.
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Tools and features for CHB Examples Example 1 A certain angle on a part is to be checked. The part can be in various alignments during the part check. The different alignments when measuring the relevant angle can be compensated by combining two suitable angles. Example 2 Any desired conveyor is used with CHB. If the parts are checked at different speeds, a direct comparison of the actual part lengths is not possible. You can compensate for this with a feature combination of the type "Division" of CG_co_x (centre of gravity coordinate in X direction) related to the Length_x (length of the part).
7.5.2
Externally calculated feature (sensor) This tool can be used to record a value ascertained by an external sensor as an additional feature. This function is only available with special variants of CHB. Further information on using the Externally calculated feature (sensor) tool can be obtained from Festo Technical Support. Name of the tool Brief description of the tool Type or ID of the externally calculated feature (byte value, 8 bits) Values a) ... c) (integer values, 16 bits) Value e) (float value, 32 bits) Values f) ... m) (byte values, 8 bits) Values n) ... q) (integer values, 16 bits)
Figure: "Feature properties" window &endash; "Function" tab
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Tools and features for SBO...-Q
8.1
General information on Compact Vision Systems SBO...-Q
Tools are added to the check program by the user (e.g. in the "Part contour" window). – Tools calculate features for the check. – The user must adapt the properties of the tools in accordance with the requirements of the check. – The available functions, input options, adaptation options, etc. are displayed on tabs in the "Tool properties" window and can be edited there. – The position (if available) can be changed using the mouse in the "Part contour" window (e.g. moving the tool). The mode of operation and handling of the tools for SBO...-Q differ from CHB in the following points: – SBO...-Q does not have any (preset) global features like CHB. – The placement of a tool is not calculated within the tool or defined with respect to global features as with CHB; instead it is derived from values of previously calculated features. The reference to another feature is called a feature reference. – The placement of the tools is determined by a position, rotation and turning. This enables a tool to be placed without any restrictions. – Multiple features can be calculated at the same time using one tool (with CHB, only one feature can be calculated per tool). – Features can be of the type "value feature" (i.e. they can represent a number) or of the type "text feature (i.e. they can represent a text or letters). – Tools can be used on the contour image or on the camera image (grey scale or colour image). – Feature names can be changed by the user. – Features for which a result could not be calculated are assigned the status "Invalid feature". This status is used for further calculations and checks. –
A different number of check features can be defined per check program depending on the firmware version of the Compact Vision Systems. – Max. 64 features with firmware versions 3.2 and 3.3 – Max. 256 features with firmware versions 3.4 and 3.5. The following data for calculating the feature values is available in principle to the tools: – Image data from the contour image of a recorded part. – Image data from the camera image of a recorded part (colour or grey scale image). – Values of previously calculated features (by previously created tools in the check program). – Constant values or data preset by the user in the check program, generally in the form of settings in the "Tool properties" window. The tools can be divided into three groups based on the data used to calculate the features: – Tool uses either contour or camera image data. – Tool uses camera image data only. – Tool does not use image data. The tools can be divided into the following groups based on the method used to calculate the features: – Area-based tools (ROI, CTool, Blob finder, etc.). – Measuring tools (Single measurement, Multiple measurement, Ray tool, etc.). – Mathematical tools (Math/logic function, Geometry function, Coordinate transformation, etc.). – Camera image-based features (Pattern matching, Brightness detection, Colour detection, etc.).
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Tools and features for SBO...-Q
8.2
Overview of tools and features for SBO...-Q
The following tools are available: Tool
Feature
Typical application
ROI
Area and contour-based features without object coherence analysis in a contour image.
Reference for other tools; simple, quick checks.
CTool
Outer contour-based features in a contour image.
Reference for other tools; simple, quick checks.
Edge finder2)
Coordinate, angle and quality features resulting from edge search.
Reference for other tools.
Circle finder2)
Centre points, diameters and quality features resulting from circle edge search.
Reference for other tools.
Blob finder
Area and contour-based features with coherence analysis and object selection in a contour image.
Reference for other tools; simple, quick checks; object localisation and counting.
Pattern matching 2)
Coordinates, name, number and match strength of the found object.
Reference for other tools; object localisation.
Single measurement
Distance, angle and coordinate features resulting from a single distance measurement.
Measurement of distances and angles for quality checks.
Multiple measurement
Distance, angle and coordinate features resulting from multiple distance measurements.
Measurement of recurring distances and angles for quality checks.
Ray tool2)
Distance, angle and coordinate features resulting from multiple distance measurements.
Measurement of recurring distances and angles for quality checks.
Brightness detection
Brightness and contrast-based features in the camera image.
Simple presence check; reference for threshold of other tools.
Colour detection
Colour-based features in the camera image.
Threshold reference for other tools; type differentiation based on colour.
Math/logic function
Features resulting from mathematical and logic functions (calculation without image data).
Reference for other tools or quality check by combining, selecting or calculating features.
Geometry function
Intersections, centre points, lines resulting from geometric combination (calculation without image data).
Flagword access 2)
Reading and writing flagwords (calculation without image data).
Configuration of system parameters as a function of check programs, data exchange or storage.
I/O access2)
Functions for accessing I/Os of the device (calculation without image data).
Output of results that are not covered by the standard I/O functionality.
Coordinate transformation1)
Features resulting from transformation between world and image coordinates (calculation without image data).
Calculation of part positions for actuator activations (robots).
Datamatrix code reader/checker1) 3)
Text and evaluation features of a datamatrix code.
Reading and checking of datamatrix codes.
Bar code reader1) 3)
Text and evaluation features of a bar code.
Reading of bar codes.
Text recognition (OCR) 2) 3)
Text content.
Reading of characters.
1) Available for SBO...-Q devices with firmware as of version 3.3. 2) Available for SBO...-Q devices with firmware as of version 3.4. 3) Available for SBO...-Q devices with installed SBO...-Q Tools Add-In licence (type GSLO-S1).
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Software-Paket CheckOpti – Version 3.1
8.3
General mode of operation of the tools
8.3.1
Feature reference
Check programs are created by adding tools. As part of this process, you select the features to be calculated by the tools. At the same time, this defines an order for the tools and their features in the check program. When a part is checked, the tools and their features are calculated in this defined order. The feature results are added to the feature list for the part by the tool immediately after calculation. These feature results are immediately available to the subsequent tools. If a tool uses values of a previously calculated feature for its own settings or calculations, this is called a feature reference. This enables the settings or calculations to be made dynamically as a function of the feature values previously ascertained from the part. It is therefore important that you pay attention to the order of the tools when creating a check program. The higher a feature appears in the feature list, the earlier it will be calculated and then available to the subsequent tools as a reference feature. Using feature references Feature references are frequently used as follows in the "Tools properties" window: constant value + reference feature * multiplication factor Any feature calculated using a previous tool can be used as a reference feature. CheckOpti recommends features that are suitable for use as references. – Example: All calculated X coordinates are initially displayed in the drop-down list for X positions. All features that were calculated before the selected tool are listed after the dividing line. To perform a calculation with a feature reference: •
Select the appropriate reference feature in the drop-down list.
Figure: Drop-down list with reference features Note A feature can be of the type "value feature" or "text feature".
• Make sure that the reference feature used matches the anticipated type. If the reference feature is of the wrong type, the tool that uses the feature reference (and therefore also its features) will become invalid. To perform a calculation without a feature reference: • Select "absolute" in the drop-down list. With this selection only the constant value is used for the setting or calculation. Moving feature references A tool together with all features ( section:"Part contour" window) can only be moved if the feature references permit this. – A tool cannot be moved above (in front of) the reference feature it uses. – A tool cannot be moved below (after) tools that use its features as reference features.
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Tools and features for SBO...-Q Replacing feature references Reference features that are used by multiple tools can be easily replaced. Use the "Replace reference to feature" dialog window for this ( context menu in the "Part contour" window).
8.3.2
Standard reference
When tools are added to a check program, the associated standard references are entered in the feature references of the new tool if these references were previously defined. This makes assigning feature references easier and quicker ( section: Feature reference). Frequently used feature references can be defined as standard references to this end or changed via the corresponding menu or keyboard commands. The following abbreviations are displayed for assigned standard references in the "S.Ref." column in the "Part contour" window. Abbreviation
Feature reference (depending on the tool used)
Keyboard command
W (Width)
Width/length/diameter 1
SHIFT+CTRL+W
H (Height)
Height/distance/diameter 2
SHIFT+CTRL+H
X
X coordinate centre
SHIFT+CTRL+X
Y
Y coordinate centre
SHIFT+CTRL+Y
Z
Z coordinate centre
SHIFT+CTRL+Z
Rx
X coordinate rotation point
ALT+CTRL+X
Ry
Y coordinate rotation point
ALT+CTRL+Y
Ra
Angle α of rotation around rotation point
ALT+CTRL+A
A
Angle α of turning around centre point
SHIFT+CTRL+A
Blo (Brightness low)
Lower threshold for brightness
Bup (Brightness upper)
Upper threshold for brightness
Clo (Color low)
Lower threshold for colour
Cup (Color upper)
Upper threshold for colour
The feature references of a new tool remain "absolute" after adding if: – no associated standard reference has been defined, – the associated standard reference is further down in the feature list than the position where the new tool is added.
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Software-Paket CheckOpti – Version 3.1 Assigning standard references 1. 2.
Highlight the feature that you want to specify as a standard reference for further tools in a "Part contour" or "Teach-Data" window. Open the associated submenu using the [Edit] [Assign standard references...] command or the right mouse button in the context menu and select the standard reference to be assigned for the feature. Alternatively assign the standard reference using the appropriate keyboard command ( Feature references table – "Keyboard command" column). The standard reference assignments for all features in the check program can be deleted using the [Edit] menu or the context menu ( [Reset all assigned standard references]). You will also find a function there for automatically assigning standard references ( Automatically assigning standard references).
Note Standard references can only be used by subsequent features in the tool/feature list.
• Move tools whose features are used as standard references to the top of the feature list if possible. Automatically assigning standard references This function can be used to run through the feature list from the currently selected feature down and search for suitable features for assigning standard references. – Example: For the standard reference X ("X coordinate center"), the first feature that corresponds to the feature type "X coordinate" is selected. The search starts with the currently selected feature and continues with the subsequent features. Features that are in front of the selected feature are ignored.
Note All existing assignments are replaced or deleted when standard references are automatically assigned. To automatically assign standard references: 1. Start by using the mouse to select the first feature in the tool/feature list as of which a standard reference is to be assigned. 2. Open the context menu using the right mouse button and select the [Assign standard references...] [Automatic assignment of standard references] command or use the keyboard command: SHIFT+CTRL+ALT+A.
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Tools and features for SBO...-Q
8.3.3
Shape and size of a tool region
Tools that access the image data of a test part to calculate features generally need to be told the image section (the so-called "tool region") to be used for this. A tool region is defined by means of: – Shape – Size – Placement.
Figure: Tool region The following tools or settings do not include any input options for the placement: – Tools that do not use image data for the calculation and therefore do not have a tool region – Tools with the setting: Shape = "Entire image" that therefore use the entire image as the tool region. The tool region is defined using the following properties ( section:"Tool properties" window). Property
Description
Shape
Selection of the shape of the tool region (depending on the tool), for example – Entire image – Rectangular region – Circular region – Annular region – Line(s) – Circle(s) "Function" tab
Size (depending on the type and shape of the tool region)
Definition of sizes and lengths – Height and width in pixels (only for rectangular region) – Diameter in pixels (only for circular region) – Length in pixels (with a line) – Length and distance in pixels (with two lines) – Diameter (with a circle) – Diameter 1 and 2 in pixels (with two circles) "Position" tab
Placement of the tool
Definition of sizes and lengths – Position, rotation, turning "Position" and "Rotation" tabs
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Software-Paket CheckOpti – Version 3.1 If the shape "Entire image" is specified, the following values are automatically preset: Property
Presetting
Position
– X coordinate = ½ sensor width – Y coordinate = ½ sensor height
Size
– Shape of the tool = rectangular – Height = sensor width – Width = sensor height
Rotation
– Rotation angle = 0° (i.e. no rotation)
Turning
– Turning angle = 0° (i.e. no turning)
The specification for the size is generally made using constant values. If the tool region is to adapt its size dynamically to the test part, this can be achieved through the use of appropriate feature references. Example During a measurement, the measuring section (measuring line) is to adapt its length to the part to be tested. The approximate length has been previously ascertained using another tool (here: "Tool1") and the feature (here "approx. length"). This feature is used to determine the length of the measuring line as a feature reference.
Figure: Using a reference reference; here: "approx. length" of Tool1 The length of the measuring line is derived in this example from – length = 25 + feature value of (Tool1:approx.length) * 1
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Tools and features for SBO...-Q
8.3.4
Placement of a tool region
If a tool uses a tool region to calculate features, this region of the task must be placed accordingly in the image. The following tools do not include any input options for the placement: – Tools that do not use image data for the calculation and therefore do not have a tool region – Tools with the setting: Shape = "Entire image" that therefore use the entire image as the tool region. •
Define the placement of the tool region using the following properties ( section:"Tool properties" window). Property
Description
Position
– X coordinate in pixels – Y coordinate in pixels
(reference to the centre point of the tool region in each case) "Position" tab Rotation
– X coordinate in pixels of the rotation point – Y coordinate in pixels of the rotation point – Rotation angle in degrees
"Rotation" tab Turning
– Turning angle in degrees
(turning of the tool region around its centre point) "Rotation" tab
The placement of the tool region is calculated as follows: 1. The validity of the reference features used is checked 2. All references (see above) are calculated in accordance with the following formula: – constant value + reference feature * multiplication factor 3. The X/Y centre point of the tool region is determined – Position X – Position Y – Rotation of [position X/Y] around [rotation point X/Y] with angle [rotation angle] 4. The tool region is turned (e.g. the corner points): – turning at [tool centre point X/Y] by angle [rotation angle] + [turning angle] Display The input values used for the placement are displayed graphically insofar as possible and can be edited in the "Part contour" window for SBO...-Q using the mouse. The available displays and editing options using the mouse can be found in the section Adapting the size and placement of tools using the mouse. Example The diameter at one end of a rotary part is to be checked. The rotary part can appear in front of the device at slightly different positions and in different turning positions. The X and Y coordinates as well as the turning position of the part must be known for correct placement of the measuring tool in the image. These values are ascertained by means of features of an additional tool that is placed in the order before the actual measurement. 1. 2.
Start by creating a new ROI tool. A new name for the tool describes the purpose: "Find part Pos. and Rot.".
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Enable the following features: – X coord. center of gravity – Y coord. center of gravity – Angle of inertia axis
Figure: Position of the part as X/Y coordinates of the centre of gravity Note Features 1 - 3 are only used in this example as feature references for placing the check tool. These features are therefore not used in determining the quality of the test part.
• You should therefore disable the "Feature used for quality decision" option ( "Teach-Data" window) for these three features. Alternatively use the corresponding command in the context menu or the key combination CTRL+D in other windows.
Figure: Turning position of the part as the angle of the inertia axis 4. 5. 6.
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Create a new MEASURE tool. A new name for the tool describes the purpose: "Diameter". Use the calculated features of the "Find part Pos. and Rot." tool as feature references for the position and rotation of the "Diameter" tool.
Tools and features for SBO...-Q The size and position of the tool define a region in which its features are calculated. This enables the tool to be aligned in the image in accordance with, for example, the size and position of the part. – X coordinate of the tool centre point: feature "Find part Pos. and Rot.: X coord. center of gravity" – Y coordinate of the tool centre point: 75 + feature "Find part Pos. and Rot.: Y coord. center of gravity"
Figure: "Tool properties" window – "Position" tab with feature references used The tool can be rotated around the rotation point specified here and/or additionally turned around its centre point. This enables the tool to be aligned in accordance with, for example, the turning position of the part in the image. The rotation of the "Diameter" tool is calculated by means of: – X coordinate of the rotation point: feature "Find part Pos. and Rot.: X coord. center of gravity" – Y coordinate of the rotation point: feature "Find part Pos. and Rot.: Y coord. center of gravity" – Angle of rotation around the rotation point: feature "Find part Pos. and Rot.: Angle of inertia axis"
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Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Figure: "Tool properties" window â&#x20AC;&#x201C; "Rotation" tab with feature references used The measurement is therefore carried out at the required position and alignment:
Figure: Graphical representation of the "Diameter" tool with measurement result
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8.4
General tool properties
The general tool properties can be set on four tabs. These properties are defined by means of position and rotation values as well as thresholds.
8.4.1
"Position" tab
The "Position" tab is only visible if the tool has a tool region.
Figure: "Tool properties" window – "Position" tab The input fields that are displayed depend on the shape of the tool region ("Function" tab). They define the position and size of the tool region among other things. Shape
Visible input fields
Rectangular region
– Width – Height
Circular region
– Diameter
Annular region
– 2 diameters The smaller diameter is automatically used as the inner diameter; the larger diameter as the outer diameter.
1 search line
– Length
2 search lines
– Length – Distance
1 search circle
– Diameter
2 search circles
– Diameter for start search circle – Diameter for end search circle
All shapes
– X coordinate center point
1)
– Y coordinate center point
1)
– "Z coordinate for automatic. coordinate trans. (world units)"
2)
1) Not with the "Entire region" shape. 2) Only available with projects with automatic coordinate transformation of the features.
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Software-Paket CheckOpti – Version 3.1 All settings can be used with: – constant values ("absolute") – dynamic values with the help of feature references section:General information on Compact Vision Systems SBO...-Q.
8.4.2
"Rotation" tab
The "Rotation" tab is only visible if the tool has a tool region.
Figure: "Tool properties" window – "Rotation" tab The following input fields contain values required for the rotation and turning of the tool region: – "X coordinate rotation point" – "Y coordinate rotation point" – "Angle of rotation around rotation point" (a value of 0 translates to no rotation) – "Angle of turning around center point" (a value of 0 translates to no turning) All settings can be used with: – constant values ("absolute") – dynamic values with the help of feature references section:General information on Compact Vision Systems SBO...-Q. The same reference features are often used for the X/Y coordinates of the rotation point as for the X/Y coordinates of the centre point on the "Position" tab.
8.4.3
Tool properties - "Threshold" tab (for area-based tools)
The "Threshold" tab of area-based tools provides setting options for binarising grey scale and colour images based on their brightness, colour value or contrast. This tab is available – if the "Calculate on" tool setting is set to "Camera image" (available as of firmware version 3.3) or – if the tool only uses the camera image.
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Tools and features for SBO...-Q For each pixel in the tool region, a check is carried out when calculating the features to see whether or not it satisfies the conditions of the threshold setting. Depending on the result of the threshold function, a pixel is then ... – selected for calculating the feature values, i.e. interpreted as a contour pixel or – not selected for calculating the feature values, i.e. interpreted as a background pixel. If a tool uses the threshold function, the tool carries out its own pre-processing on the basis of the camera image. The result of this pre-processing is a contour image. This contour image is used by this tool only. The threshold function is comparable with the general pre-processing carried out by the device to create the contour image of the part.
Examples of how to use and set thresholds can be found in the Measuring tools sections and following.
Figure: "Tool properties" window – "Threshold" tab The following threshold types are available: 1. Range of brightness (as of firmware version 3.3) 2. Range of brightness and color (available as of firmware version 3.4) 3. Edge image (Sobel filter) (available as of firmware version 3.5) Description 1. "Range of brightness" threshold type: When using this threshold type you can define a brightness range and choose whether or not pixels whose brightness is within or outside of this range should be used for calculating the features. – Within range: pixels whose brightness is within the "Brightness range (from / to)" setting are used for the further calculation (e.g. converted to black pixels (contour pixels)). – Outside of range: pixels whose brightness is outside of the "Brightness range (from / to)" setting are used for the further calculation (e.g. converted to black pixels (contour pixels)).
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Software-Paket CheckOpti – Version 3.1 The limits for "Brightness range (from / to)" can be specified as: – constant values ("absolute") – dynamic values with the help of feature references section:General information on Compact Vision Systems SBO...-Q. A histogram of the brightness distribution within the tool region is shown to make it easier to enter the limits. The displayed limits can be moved using the mouse. The brightness values range from 0 to 255. 2. "Range of brightness and color" threshold type: With images from Compact Vision Systems that create colour images (SBO...-Q-..R...C), the pixel colour can be selected in addition to the pixel brightness. The colour values range from 0 to 192. Pixels to be used for the calculation must satisfy both selection criteria.
As with the brightness range, with the colour range you can also choose whether the colour of the pixels should be within or outside of the range: – Within range: pixels whose colour is within the "Color range (from / to)" setting are used for the further calculation (e.g. converted to black pixels (contour pixels)). – Outside of range: pixels whose colour is outside of the "Color range (from / to)" setting are not used for the further calculation (e.g. converted to black pixels (contour pixels)). The limits for "Color range (from / to)" can be specified as: – constant values ("absolute") – dynamic values with the help of feature references section:General information on Compact Vision Systems SBO...-Q. A histogram of the colour distribution within the tool region is shown to make it easier to enter the limits. The displayed limits can be moved using the mouse. 3. "Edge image (Sobel filter)" threshold type: With images from Compact Vision Systems that create grey scale images (SBO...-Q-..R...B), the threshold type "Edge image (Sobel filter)" for detecting object edges is available as of firmware version 3.5. •
Set the strength as of which an edge should be recognised as such using the minimum edge strength (contrast).
This threshold type enables edges on unevenly illuminated surfaces to be emphasised, for example: – for detecting the edges of the test part, – for detecting scratches. The threshold type "Edge image (Sobel filter)" only selects edges of an object and no other regions. – Minor brightness transitions in the image are not detected as edges. – Sharp and high-contrast brightness transitions, on the other hand, are reliably interpreted as edges. The edges ascertained in this way can be interrupted by image interference or object overlays. As a result, this threshold is of limited suitability for use with the Blob finder tool.
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8.4.4
Tool properties - "Threshold" tab (for search lines)
The "Threshold" tab provides setting options for finding transitions for tools with search lines. This tab is shown – if the "Calculate on" tool setting is set to "Camera image" (available as of firmware version 3.3) or – if the tool only uses the camera image. For each pixel along a search line, a check is carried out to see whether or not it satisfies the conditions of the threshold setting. A pixel is then interpreted as a transition or not as the case may be (e.g. transition from background to contour or from contour to background). Examples of how to use and set thresholds can be found in the Measuring tools sections and following.
Figure: "Tool properties" window – "Threshold" tab There are four ways (threshold types) of ascertaining the transitions to search lines in the camera image. 1. Dynamic threshold: this method detects changes in brightness (contrasts) and uses them as a transition (available as of firmware version 3.5). 2. Range of brightness: a transition occurs as a result of two consecutive pixels. To this end, one pixel must be within the brightness range and the other pixel must be outside of the brightness range. 3. Change in brightness absolute: a transition occurs if a pixel deviates by (at least) a certain amount with respect to the mean brightness value from the last n pixels (n = 1..10). The following is calculated: [change] = abs( [current pixel] – [mean value of n pixels] ) 4. Change in brightness with sign: a transition occurs if a pixel deviates by (at least) a certain amount (+/– is noted) with respect to the mean brightness value from the last n pixels (n = 1..10). The following is calculated: [change] = [current pixel] – [mean value of n pixels] Description 1. – –
Settings for "Dynamic threshold": Minimum edge strength: measure for the change in contrast or brightness for evaluation as a transition. Edge smoothing / noise reduction to restrict the edge strength: – Low settings mean that even narrow edges with weak contrast spanning just a few pixels will be detected. Image noise can result in misdetections.
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High settings mean that only wide edges with strong contrast where the change in brightness spans several pixels will be detected. Misdetections due to image noises are minimised accordingly.
2. Settings for "Range of brightness": When using this threshold type you can define a brightness range and choose whether or not pixels whose brightness is within or outside of this range should be evaluated as a contour. The measuring tool will detect a transition wherever there is a switch between contour and background. 3. Settings for "Change in brightness absolute": With this threshold type transitions are defined by changes in brightness occurring along the search line. The changes in brightness are taken into consideration without a sign ( no distinction is made between increasing and decreasing brightness). 4. Settings for "Change in brightness with sign": With this threshold type transitions are defined by changes in brightness occurring along the search line. The changes in brightness are taken into consideration with a sign (a distinction is made between increasing and decreasing brightness). section:Measuring tools. General settings for "Range of brightness" and "Change in brightness ...". – Enter constant values ("absolute") within the brightness range 0 ... 255. – Transfer dynamic values with the help of feature references. section:General information on Compact Vision Systems SBO...-Q. The brightness distribution within the tool region is shown on the "Threshold" tab (histogram) for easier entry of the limits. The progression of the brightness values along the search line(s) is also shown. The displayed limits can be moved using the mouse.
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8.4.5
"Measure" tab
The "Measure" tab is only visible if one of the following tools has been selected: – Single measurement – Multiple measurement – Ray tool
Figure: "Tool properties" window – "Measure" tab Subpixel calculation method (only with calculation in camera image). Selection of the transition number for the start/end point of the measurement. Selection of the search direction for the start/end point of the measurement (not with paired selection). Selection of the transition type for the start/end point of the measurement. Setting of the minimum distances for the start/end transition of the measurement.
Selecting the transitions for calculating features Certain transitions from the valid transitions are then selected for the subsequent calculation of features. A distinction is made between: – Selection based on transition numbers (Single measurement, Ray tool) – Paired selection (Multiple measurement). Example of feature values that can be calculated from the transitions: – If one transition is selected, its coordinates (X/Y), for example, can be used. – If two transitions are selected, the distances or angles between them, for example, can be used. – If transitions are selected in pairs, the smallest (biggest) from all found distances or angles, for example, can be used. – If multiple transitions are selected, statistical values can be ascertained. Selection based on transition numbers: When using transition numbers as the basis for selection, the number for the start and end point (or start and end points) must be specified. These numbers determine one transition each on the associated search line (the associated search circle). The point with the transition number "0" is the point from which the search is started.
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Software-Paket CheckOpti – Version 3.1 Paired selection: The only determination made with paired selection is which types of transitions form a start point/end point pair and are used for calculating features. In order to synchronise start and end points it is possible to stipulate that an end point is only valid if a start point has been previously found.
8.4.6
"Data points" tab
The "Data points" tab is only visible if one of the following tools has been selected: – Edge finder – Circle finder
Figure: "Tool properties" window – "Data points" tab Subpixel calculation method (only with calculation in camera image). Selection of the transition number of the data points. Selection of the search direction for the data points. Selection of the transition type of the data points.
Selecting the transitions for calculating features The data points for the calculation must be selected from the valid transitions. •
Enter a suitable transition number. The point with the transition number "0" is the point from which the search is started.
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8.5
General feature properties
8.5.1
Automatic coordinate transformation
With Compact Vision Systems SBO...-Q as of firmware version 3.5, a value transformed into world coordinates (e.g. mm) can - insofar as is practical - be calculated in addition to the feature value. This value in world coordinates is saved as an alternative value for the feature and is available as a result. The alternative value is calculated using the coordinate transformation data ( section:"Calibration of coordinate transformation" wizard). The value "Z coordinate for automatic. coordinate trans. (world units)" from the "Position" tab is used for the transformation. The following feature results can be calculated as an alternative value using the coordinate transformation: – X coordinates – Y coordinates – Angles (if these can be assigned to a coordinate) – Point-to-point distances. The feature also contains information about whether the alternative value can be used as a valid result. Prerequisites in the check program: – Automatic coordinate transformation must be enabled ( "Project properties" dialog window) Each additional alternative value increases the evaluation time: – Per transformed coordinate pair: by approx. 0.15 ms – Per transformed angle: by approx. 0.2 ms •
Use the "Coordinate transformation" tool instead of automatic coordinate transformation under the following conditions: – If the time available for the evaluation is limited – When transforming just a few features from the check program.
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8.6
Standard tools
8.6.1
ROI The ROI tool calculates area and contour-based features in a tool region. The pixel coherence is not analysed during this process, i.e. all pixels in the tool region are used for calculating the features. The tool calculates coordinates, angles, areas, circumference and further shape-based features.
Figure: ROI good
Figure: ROI bad
Available as of: – Firmware version 3.2 Tool type: – Area-based – Uses all pixels in the tool region (no coherence analysis) Name (tool name): – Default name: ROI Shape (of the tool region): – Entire image – Rectangular region – Circular region (full circle only, no circle section, as of firmware version 3.3) – Annular region (full annulus only, no ring section, as of firmware version 3.5) The tool region is set on the "Position" and "Rotation" tabs. Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab)
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Figure: "Tool properties" window â&#x20AC;&#x201C; "Function" tab for ROI tool Features: The following features can be calculated by the tool within the tool region. The features refer to all contour pixels within the tool region. No.
Name
Description
As of firmware ...
1
X coord. left
1)
X coordinate of the leftmost (bottom) contour pixel in the tool region.
3.2
2
Y coord. left
1)
Y coordinate of the leftmost (bottom) contour pixel in the tool region.
3.5
3
X coord. top
1)
X coordinate of the topmost (left) contour pixel in the tool region.
3.5
4
Y coord. top
1)
Y coordinate of the topmost (left) contour pixel in the tool region.
3.2
5
X coord. right
1)
X coordinate of the rightmost (bottom) contour pixel in the tool region.
3.2
6
Y coord. right
1)
Y coordinate of the rightmost (bottom) contour pixel in the tool region.
3.5
7
X coord. bottom
1)
X coordinate of the bottommost (left) contour pixel in the tool region.
3.5
8
Y coord. bottom
1)
Y coordinate of the bottommost (left) contour pixel in the tool region.
3.2
9
X coord. center
1)
X coordinate of the centre point between the leftmost and rightmost contour pixels. Derived from (X coordinate right + X coordinate left) / 2.
3.3
10
Y coord. center
1)
Y coordinate of the centre point between the topmost and bottommost contour pixels. Derived from (Y coordinate top + Y coordinate bottom) / 2.
3.3
11
Length x
The horizontal distance between the leftmost and rightmost contour pixels. Derived from (X coordinate right - X coordinate left).
3.2
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Name
Description
As of firmware ...
12
Height y
The vertical distance between the topmost and bottommost contour pixels. Derived from (Y coordinate top - Y coordinate bottom).
3.2
13
Area
Number of contour pixels in the tool region.
3.2
14
X coord. center of 1) gravity
X coordinate of the centre of area of all contour pixels in the tool region (when considering a pixel as a mass point).
3.2
15
Y coord. center of 1) gravity
Y coordinate of the centre of area of all contour pixels in the tool region (when considering a pixel as a mass point).
3.2
16
Inertia x
Moment of inertia when turning around the axis through the centre of gravity.
3.2
17
Inertia y
Moment of inertia when turning around the axis through the centre of gravity.
3.2
18
Inertia xy
Moment of inertia when turning around the axis through the centre of gravity.
3.2
19
Angle of inertia 1) axis
Angle in degrees to the horizontal of the inertia main axis (when considering a pixel as a mass point). Important: Angle is not unique by +/-180° since a unique determination is not possible.
3.2
20
Circumference
Total length of the outer contour formed within the tool region by the contour pixels. Note: Holes in the contour also contribute to the circumference. Note: The circumference does not include pixels that touch the limits of the tool region.
3.2
21
Area x/2
Number of contour pixels in the tool region between "X coord. left" and "X coord. center".
3.2
22
Area y/2
Number of contour pixels in the tool region between "Y coord. bottom" and "Y coord. center".
3.2
23
X coord. pol. min
1)
X coordinate of the outer contour pixel in the tool region that resulted in the pol. min. distance.
3.3
24
Y coord. pol. min
1)
Y coordinate of the outer contour pixel in the tool region that resulted in the pol. min. distance.
3.3
25
Pol. min. 1) distance
Shortest distance from the centre of gravity to an outer contour pixel in the tool region.
3.2
26
Angle pol. min
Angle to the horizontal of the line through the centre of gravity (X/Y) and pol. min. (X/Y).
3.3
27
X coord. pol. 1) max
X coordinate of the outer contour pixel in the tool region that resulted in the pol. max. distance.
3.3
28
Y coord. pol. 1) max
Y coordinate of the outer contour pixel in the tool region that resulted in the pol. max. distance.
3.3
29
Pol. max. 1) distance
Longest distance from the centre of gravity to an outer contour pixel in the tool region.
3.2
30
Angle pol. max
Angle to the horizontal of the line through the centre of gravity (X/Y) and pol. max. (X/Y).
3.3
1)
1)
1) Feature supports automatic coordinate transformation as of firmware version 3.5
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Tools and features for SBO...-Q Application examples: – Simple quality checks – Presence check – Orientation detection – Position/rotation reference for other tools Calculation time: – Short – Medium, if feature: Circumference, Pol. min/max are used – Additional calculation time with shape = Circular region – Additional calculation time with shape = Annular region – Additional calculation time with calculate on = Camera image Example for the ROI tool
Figure: Rotary part good – O-ring mounted
Figure: Rotary part bad – O-ring missing
Task: To check whether an O-ring has been correctly mounted on a rotary part. Solution: In the contour image of the rotary part to be checked, the area at the point where the O-ring is expected is measured. The ROI tool is used for the measurement. The measured area on a rotary part with the O-ring missing is less than on a rotary part with the O-ring mounted and is therefore outside the permitted tolerance for good parts. Settings in the "Tool properties" window – "Function" tab – Shape: Rectangular region – Calculate on: Contour image – Feature: Area In order to prevent the measurement of the area being influenced by small fluctuations in the position of the rotary part, the ROI must not be permanently positioned (using absolute coordinates). The area must instead be calculated as a function of other features of the rotary part (e.g. the centre of gravity).
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8.6.2
CTool The CTool calculates features on the basis of part edges that run horizontally in the image. It does this by searching for transitions between the background and contour, but only in a vertical direction (including when turning or rotating the tool area). The transitions are numbered and only the transition number selected in the tool properties is used for calculating the features.
Figure: CTool Available as of: – Firmware version 3.2 Tool type: – Area-based – Uses only selected pixels in the tool region (outer contour pixels only) Name (tool name): – Default name: CTOOL Shape (of the tool region): – Entire image – Rectangular region – Circular region (full circle only, no circle section, as of firmware version 3.3) – Annular region (full annulus only, no ring section, as of firmware version 3.5) The tool region is set on the "Position" and "Rotation" tabs. Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab)
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Figure: "Tool properties" window – "Function" tab for CTool Features: The following features can be calculated by the tool within the tool region: No.
Name
Description
As of firmware ...
1
Height difference
Difference between the maximum and minimum values of the Y coordinate
3.2
2
X coord. minimum 1) value
X coordinate of the bottommost transition pixel
3.3
3
Y coord. minimum 1) value
Y coordinate of the bottommost transition pixel
3.2
4
X coord. maximum 1) value
X coordinate of the topmost transition pixel
3.3
5
Y coord. maximum 1) value
Y coordinate of the topmost transition pixel
3.2
6
Y coord. mean value
Mean Y coordinate of all transitions
3.2
7
Angle of fitted line
Angle of the regression line ascertained from all transitions
3.2
8
Scalar length
Contour length along the transitions found
3.2
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Calculate on: Transitions are derived from the search for the nth contour transition from the search direction: – 1. to 7. Transition Search direction: Defines the direction (vertical only) from which a search is to be performed for transitions – From top – From bottom Application: – Simple, quick alternative to the Edge finder (with horizontal edges) – Simple quality checks on the outer contour (e.g. recesses, chamfers, etc.) – Position/rotation reference for other tools
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Software-Paket CheckOpti – Version 3.1 Calculation time: – Short – Additional calculation time with shape = Circular region – Additional calculation time with shape = Annular region – Additional calculation time with calculate on = Camera image Example for the CTool
Figure: Axis with recess, good part
Figure: Axis with no recess, bad part
Task: To check an axis for the presence of a recess. Solution: •
Backlight the axes to be checked. This causes the axes to be shown as dark. Any recess will then be visible with high contrast in the image. This also makes it easier to detect the absence of a recess.
•
Make sure that the part is conveyed so that it is horizontally aligned. This is necessary because the CTool offers only restricted options for the search direction. The tool uses the biggest and smallest Y value from the detected light/dark transitions to calculate the "Height difference" feature. This feature corresponds to the depth of the recess here. If there is no recess, this feature is smaller than if there is a recess. Settings in the "Tool properties" window – "Function" tab – Shape: Rectangular region – Calculate on: Contour image – Feature: Height difference The CTool only supports searches in vertical direction. This direction is permanently defined and independent of the turning or rotation angle of the tool. A CTool searches each column (vertical direction) for changes in the brightness. A transition from light to dark is interpreted in this case as a transition from the background to the part (contour).
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8.6.3
Edge finder This tool finds straight edges and determines their coordinates, angles and other features. An edge is determined by calculating a fitting line through several data points along this edge. Data points that are too far away from the ascertained edge can be filtered out first. All data points are detected along search lines in a parallel or star-shaped arrangement. This is done by examining each search line for transitions (variations in brightness, change between background and contour) and sequentially numbering all of the detected transitions. The shape of the search lines as well as the type of the transitions are set in the "Tool properties" window.
The functionality for detecting circles is integrated in the Circle finder tool as of CheckOpti version 3.1. The Edge finder tool with the features "X/Y coord. of fitting circle" or "Diameter of fitting circle" created in CheckOpti 3.0 is automatically displayed as the Circle finder tool in CheckOpti 3.1. If changes are made to the tool, it is saved in such a way in the project file that it can be subsequently opened again as an Edge finder tool using CheckOpti 3.0 (providing the project properties are not switched).
The Edge finder tool is based on the mode of operation of the measuring tools. Further information can be found in the section Measuring tools.
Figure: Edge finder tool with parallel search lines – feature shown: "Maximum distance" Available as of: – Firmware version 3.4 Tool type: – Measuring tool Name (tool name): – Default name: EDGE Shape: The search lines can be arranged as follows for ascertaining the data points: – Parallel – Star-shaped Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (set on the "Threshold" tab, Measuring tools) Angle and direction of circle section for search circle (only with shape = Star shaped search lines) – Angle = 0 ... 360° – Direction = selection of a reference feature or "absolute"
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Software-Paket CheckOpti – Version 3.1 Number of search lines for sampling: – Max. 2000 with manual entry – Max. 2000 when using a reference Note When using a reference feature with multiplication factor, the number of search lines may exceed the maximum permissible number. All features of the tool will be invalid if this happens.
• Make sure that the maximum number of search lines is not exceeded. Outliers: Outliers are data points that are too far away from a sought edge. Edges can be determined with higher quality if these outliers are filtered out first. Outliers can be dealt with in the following ways: – Do not remove: All data points – including outliers – will be used to determine the edge. – Fast removal: All data points will be examined for statistical deviations. The data points with a deviation greater than the value set under "Allowed deviation" will be regarded as outliers and excluded from further calculation of the fitting lines. This exclusion process can be repeated a number of times. This setting is made using the "Iterations" slider. After the last iteration, all valid data points are evaluated and the found edge determined. – Solid removal: This method always determines the best possible edge from all selected data points. The number of selected data points is set using the "Precision" slider. Data points with a distance greater than the value set under "Allowed distance" will be regarded as outliers and excluded from determination of the edge. The best possible edge is the edge with the greatest number of data points. The calculation time can be shortened by reducing the number of selected data points using the "Precision" slider. Too low a setting for "Precision" can, however, produce inaccurate results. Representation in the camera or contour image: – Green = data points used to determine the edge. – Yellow = outliers, not used to determine the edge.
Figure: "Tool properties" window – "Function" tab for Edge finder
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Tools and features for SBO...-Q Features: The following features can be calculated by the tool for the found edge. These features refer to the selected data points. Distances are specified in pixels, angles in degrees. No.
Name
1
X coord. edge
1)
Y coord. edge
1)
2
1)
Description
As of firmware ...
A fitting line that determines the edge is calculated using all valid data points. This edge is described by the centre point (X/Y coordinates) of all valid data points and an angle.
3.4 3.4
3
Angle of edge
3.4
4
Number of valid points
Number of valid data points used to determine the edge.
3.5
5
Number of outliers
Number of data points that are outside the found edge and were not used to determine the edge.
3.5
6
X coord. most distant 1) point
X/Y coordinate of the most distant data point (valid or outlier) from the edge.
3.5
7
Y coord. most distant 1) point
8
X coord. projection of 1) most distant point
9
Y coord. projection of 1) most distant point
10
Maximum distance
11
12
3.5 X/Y coordinate of the edge onto which the most distant data point (valid or outlier) is vertically projected.
3.5
Distance (perpendicular to the edge) of the most distant data point (valid or outlier) from the edge.
3.5
Standard deviation of all points
Standard deviation of the distances (perpendicular to the edge) of all ascertained data points (valid or outlier).
3.5
Standard deviation of valid points
Standard deviation of the distances (perpendicular to the edge) of all valid data points.
3.5
1)
3.5
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Application: – Position/rotation reference for other tools – Detection of the deviation of the object edge from the fitting line – Alternative to CTool Calculation time: – Short – Medium if long search lines are being used – Medium if the "Solid removal" method is used for outliers – Long if the "Iterations" parameter is set to a high value with the "Fast removal" method for outliers – Long if a large number of search lines are being used – Very long if a high precision value is set with the "Solid removal" method for outliers and a large number of search lines are being used – Additional calculation time with shape = Circular region – Additional calculation time with calculate on = Camera image – Additional calculation time with subpixel calculation method = On – Additional calculation time with threshold type = Dynamic threshold
179
Software-Paket CheckOpti – Version 3.1 Example for the Edge finder tool
Figure: Valve housing – turning position detection
Figure: Valve housing – turning position detection
Task: A valve housing is to be gripped using a robot arm. The turning position of the valve housing has to be ascertained in order to align the robot arm. The use of incident light is prescribed. Solution: The turning position of the valve housing is determined using the angle of housing's top edge. The Edge finder tool is used to ensure reliable measurement of the turning position. It is placed approximately above the centre of gravity of the valve housing. The "Outlier" setting of the tool is set to the "Fast removal" value to prevent unevenness in the housing edge distorting the measurement result. Settings in the "Tool properties" window – "Function" tab Option
Setting
Shape
Parallel search lines
Number of search lines for sampling
15
Outliers
Fast removal
Allowed deviation
Set to medium
Iterations
Set to medium
Data points that have been detected as the edge of a part are shown in green. If an option to remove the outliers is set, it means that some data points can be identified as not belonging to the edge. These outliers are shown in yellow and are not used in calculating the position and turning position of the edge.
180
Tools and features for SBO...-Q
8.6.4
Circle finder This tool finds circles and circle sections and determines their centre points, diameters and other features. A circle is ascertained by analysing multiple data points along the circle edge. Data points that are too far away from the sought circle edge can be filtered out first. All data points are detected along search lines in a parallel or star-shaped arrangement. This is done by examining each search line for transitions (variations in brightness, change between background and contour) and sequentially numbering all of the detected transitions. The shape of the search lines as well as the type of the transitions are set in the "Tool properties" window.
The functionality for detecting circles is integrated in the Edge finder tool up to CheckOpti version 3.0. The Edge finder tool with the features "X/Y coord. of fitting circle" or "Diameter of fitting circle" created in CheckOpti 3.0 is automatically displayed as the Circle finder tool in CheckOpti 3.1. If changes are made to the tool, it is saved in such a way in the project file that it can be subsequently opened again as an Edge finder tool using CheckOpti 3.0 (providing the project properties are not switched).
The Circle finder tool is based on the mode of operation of the measuring tools. Further information can be found in the section Measuring tools.
Figure: Circle finder tool with star-shaped search lines – feature shown: "Maximum distance" Available as of: – Firmware version 3.4 (some of the features are available in the Edge finder tool in CheckOpti 3.0) Tool type: – Measuring tool Name (tool name): – Default name: CIRCLE Shape: The search lines can be arranged as follows for ascertaining the data points: – Parallel – Star-shaped Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (set on the "Threshold" tab, Measuring tools)
181
Software-Paket CheckOpti – Version 3.1 Angle and direction of circle section (only with shape = "Star shaped search lines") – Angle = 0 ... 360° – Direction = selection of a reference feature or "absolute" Number of search lines for sampling: – Max. 2000 with manual entry – Max. 2000 when using a reference Note When using a reference feature with multiplication factor, the number of search lines may exceed the maximum permissible number. All features of the tool will be invalid if this happens.
• Make sure that the maximum number of search lines is not exceeded. Outliers: Outliers are data points that are too far away from a sought circle edge. Circle edges can be determined with higher quality if these outliers are filtered out first. Outliers can be dealt with in the following ways: – Do not remove: All data points – including outliers – will be used to determine the circle edge. – Remove: All data points will be examined for statistical deviations. The data points with a deviation greater than the value set under "Allowed deviation" will be regarded as outliers and excluded from further calculation of the circle. This exclusion process can be repeated a number of times. This setting is made using the "Iterations" slider. After the last iteration, all valid data points are evaluated and the found circle determined. Representation in the camera or contour image: – Green = valid data points used to determine the circle. – Yellow = outliers, not used to determine the circle.
Figure: "Tool properties" window – "Function" tab for Circle finder tool
182
Tools and features for SBO...-Q Features: The following features can be calculated by the tool for the found circle. These features refer to the selected data points. Distances are specified in pixels, angles in degrees. No.
Name
Description
As of firmware ...
1
X coord. center of 1) circle
3.4
2
Y coord. center of 1) circle
The sought circle is determined by analysing all valid data points along the circle edge. This circle is described by its centre point (X/Y coordinates) and its diameter.
3
Diameter of circle
4
Number of valid points
Number of valid data points used to determine the circle.
3.5
5
Number of outliers
Number of data points that are outside the found circle and were not used to determine the circle.
3.5
6
X coord. most distant 1) point
3.5
7
Y coord. most distant 1) point
X/Y coordinate of the most distant data point (valid or outlier) from the circle edge. The data point can be both inside and outside the circle.
8
X coord. projection of 1) most distant point
3.5
9
Y coord. projection of 1) most distant point
X/Y coordinate of the circle onto which the most distant data point (valid or outlier) is vertically projected. The data point can be both inside and outside the circle.
10
Maximum distance
Distance from the most distant data point (valid or outlier) to the circle edge. The data point can be both inside and outside the circle.
3.5
11
X coord. most distant 1) point inside circle
3.5
12
Y coord. most distant 1) point inside circle
X/Y coordinate of the most distant data point (valid or outlier) from the circle edge. The data point must be inside the circle in this case.
13
X coord. projection of most distant point inside 1) circle
3.5
14
Y coord. projection of most distant point inside 1) circle
X/Y coordinate of the circle onto which the most distant data point (valid or outlier) is vertically projected. The data point must be inside the circle in this case.
15
Maximum distance of 1) points inside circle
Distance from the most distant data point (valid or outlier) to the circle edge. The data point must be inside the circle in this case.
3.5
16
X coord. most distant 1) point outside circle
3.5
17
Y coord. most distant 1) point outside circle
X/Y coordinate of the most distant data point (valid or outlier) from the circle edge. The data point must be outside the circle in this case.
18
X coord. projection of most distant point 1) outside circle
3.5
19
Y coord. projection of most distant point 1) outside circle
X/Y coordinate of the circle onto which the most distant data point (valid or outlier) is vertically projected. The data point must be outside the circle in this case.
1)
1)
3.4 3.4
3.5
3.5
3.5
3.5
3.5
3.5
183
Software-Paket CheckOpti – Version 3.1 No.
Name
Description
As of firmware ...
20
Maximum distance of 1) points outside circle
Distance from the most distant data point (valid or outlier) to the circle edge. The data point must be outside the circle in this case.
3.5
21
Standard deviation of all points
Standard deviation of the distances (perpendicular to the circle edge) of all ascertained data points (valid or outlier).
3.5
22
Standard deviation of valid points
Standard deviation of the distances (perpendicular to the circle edge) of all valid data points.
3.5
1) Feature supports automatic coordinate transformation as of firmware version 3.5
Application: – Position reference for other tools – Detection of the deviation of the object edge from the fitting circle Calculation time: – Long – Very long if the "Iterations" parameter is set to a high value – Very long if a large number of search lines are being used – Additional calculation time with shape = Star shaped search lines – Additional calculation time with calculate on = Camera image – Additional calculation time with threshold type = Dynamic threshold – Additional calculation time with subpixel calculation method = On
184
Tools and features for SBO...-Q Example for the Circle finder tool
Figure: Both clamping jaws OK
Figure: Left-hand clamping jaw defective
Task: The clamping jaws of a device are presented to the Compact Vision System already aligned and need to be examined for manufacturing errors. Backlighting is used for more precise detection of the part contour. Solution: The centre of gravity and the exact angle of the clamping device are determined first in the image. The Circle finder tool can then be precisely positioned in the opening between the clamping jaws based on this information. The option to remove the outliers is enabled and the feature "Maximum distance" (of a point from the circle edge) is calculated. In the case of parts without any manufacturing errors, the opening must be circular and therefore all data points of the tool must be on the circle edge. In the case of parts with manufacturing errors, on the other hand, there will be a significant deviation in the distance between a number of points and the circle edge. Settings in the "Tool properties" window â&#x20AC;&#x201C; "Function" tab Option
Setting
Shape
Star shaped search lines
Angle and direction of circle section for search circle
280
Number of search lines for sampling
90
Outliers
Remove
Allowed deviation
Set to medium
Iterations
Set to medium
Data points that have been detected as a circle edge are shown in green. If the option for outliers is set to "Remove", it means that some data points can be identified as not belonging to the circle edge. These outliers are shown in yellow and are not used in calculating the position and diameter of the circle.
185
Software-Paket CheckOpti – Version 3.1
8.6.5
Blob finder The Blob finder tool calculates area and contour-based features in a tool region. The pixel coherence is analysed before the features are calculated. Pixels that touch are condensed into blobs (objects). Blobs can be counted and a limited number selected and sorted for calculating their own features. The tool calculates coordinates, angles, areas, circumference and further shape-based features of the blobs.
Good
Good
Bad
Bad
Figure: Blob finder for detecting three blue seals Available as of: – Firmware version 3.2 Tool type: – Area-based – Uses only objects resulting from a coherence analysis Name (tool name): – Default name: BLOB Shape (of the tool region): – Entire image – Rectangular region – Circular region (full circle only, no circle section, as of firmware version 3.3) The tool region is set on the "Position" and "Rotation" tabs.
186
Tools and features for SBO...-Q Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab) Blob-Type: – Background blobs (4-connected pixels): tool searches for (coherent) holes, i.e. completely surrounded with contour; the pixels in the background region are 4-connected pixels – Contour blobs (8-connected pixels): tool searches for (coherent) contour regions; the pixels are 8connected pixels
Figure: "Tool properties" window – "Function" tab for Blob finder Features: Features for all blobs that match the settings on the "Filter" tab: No.
Name
Description
As of firmware ...
1
Number of all blobs
Number of all blobs that match the filter criteria
3.2
2
Area of all blobs
Total area of all blobs that match the filter criteria
3.2
Individual features for selected blobs: The blobs selected are those that match the settings on the "Filter" and "Selection" tabs. The following features are calculated a number of times as appropriate to the number of blobs selected and are added to the feature list. No.
Name
Description
As of firmware ...
1
Area
Number of all pixels belonging to the blob (contour/background).
3.2
2
X coord. left
1)
X coordinate of the leftmost pixel belonging to the blob (contour/background).
3.2
3
Y coord. left
1)
Y coordinate of the leftmost pixel belonging to the blob (contour/background).
3.5
187
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 No.
Name
Description
As of firmware ...
4
X coord. top
1)
X coordinate of the topmost (left) pixel belonging to the blob (contour/background).
3.5
5
Y coord. top
1)
Y coordinate of the topmost (left) pixel belonging to the blob (contour/background).
3.2
6
X coord. right
1)
X coordinate of the rightmost pixel belonging to the blob (contour/background).
3.2
7
Y coord. right
1)
Y coordinate of the rightmost pixel belonging to the blob (contour/background).
3.5
8
X coord. bottom
1)
X coordinate of the bottommost (left) pixel belonging to the blob (contour/background).
3.5
9
Y coord. bottom
1)
Y coordinate of the bottommost (left) pixel belonging to the blob (contour/background).
3.2
10
X coord. center
1)
X coordinate of the centre point between the leftmost and rightmost pixels belonging to the blob (contour/background). Derived from (X coordinate right + X coordinate left) / 2.
3.3
11
Y coord. center
1)
Y coordinate of the centre point between the topmost and bottommost pixels belonging to the blob (contour/background). Derived from (Y coordinate top + Y coordinate bottom) / 2.
3.3
12
X coord. center of 1) gravity
X coordinate of the centre of area of the pixels belonging to the blob (contour/background) (when considering the pixel as a mass point).
3.2
13
Y coord. center of 1) gravity
Y coordinate of the centre of area of the pixels belonging to the blob (contour/background) (when considering the pixel as a mass point).
3.2
14
Angle of inertia axis
Angle in degrees to the horizontal of the inertia main axis (when considering a pixel as a mass point). Attention: Angle is not unique by +/-180° since a unique determination is not possible.
3.2
15
Circumference
Total length of the outer contour formed by the pixels belonging to the blob (contour/background). Note: Holes in the contour or contours in holes also contribute to the circumference. Note: The circumference also includes pixels that touch the borders of the tool region.
3.4
17
Compact
Relationship between circumference and area (circle = 100, square = 127) (100 * circumference*circumference) / ( 4Pi * area)
3.4
18
Pol. min. distance
Shortest distance from the centre of gravity to an outer contour pixel of the blob.
3.4
19
X coord. pol. min
1)
X coordinate of the outer contour pixel belonging to the blob that resulted in the pol. min. distance.
3.4
20
Y coord. pol. min
1)
Y coordinate of the outer contour pixel belonging to the blob that resulted in the pol. min. distance.
3.4
21
Angle pol. min
Angle to the horizontal of the line through the centre of gravity (X/Y) and pol. min. (X/Y).
3.4
22
Pol. max. distance
Longest distance from the centre of gravity to an outer contour pixel of the blob.
3.4
23
X coord. pol. max
X coordinate of the outer contour pixel belonging to the blob that resulted in the pol. max. distance.
3.4
188
1)
1)
1)
1)
1)
Tools and features for SBO...-Q No.
Name
24
Y coord. pol. max
25
Angle pol. max
1)
1)
Description
As of firmware ...
Y coordinate of the outer contour pixel belonging to the blob that resulted in the pol. max. distance.
3.4
Angle to the horizontal of the line through the centre of gravity (X/Y) and pol. max. (X/Y).
3.4
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Note Differences in computing accuracy between the PC (CheckOpti) and Compact Vision System can lead to deviations between the results. Application: – Position/rotation reference for other tools or for gripping tasks (robot) – Presence check for multiple identical objects in the image Calculation time: – Medium – Long if feature: Circumference, Compact, Pol. min/max are used – Optimised calculation time with 1st filter = Area – Additional calculation time with shape = Circular region – Additional calculation time with calculate on = Camera image – The calculation time is greatly dependent on the image contents: It is longer if there are a large number of blobs or complex blobs in the image (e.g. due to bad pixels in the image). The calculation time can be shortened by – setting the tool threshold to the optimum value, – using the "Camera image filter" system parameter ( CheckKon), – restricting the tool region. Mode of operation of the Blob finder tool: 1. Coherence analysis The coherence of the pixels is checked when the image is examined. The coherent contour pixels or the coherent background pixels are condensed into a blob as appropriate to the settings on the "Function" tab. The contour or camera image (after application of the threshold) is used as the image. 2. Filtering blobs The blobs found are checked for adherence with filter criteria. If the properties of a blob (e.g. its area) do not match the filter criteria, the blob is excluded from the further examination and feature calculation. The filters are specified by the user on the "Filter" tab in the "Tool properties" window. 3. Selecting blobs A maximum of 16 blobs from those that match the filter criteria can be selected and sorted. The selection and sorting are specified by the user on the "Selection" tab. 4. Determining features The features of the selected blobs are added to the feature list. Description 1. Coherence analysis: The coherence analysis looks at which (contour/background) pixels border each other. – Contour blobs: 8-connected pixels belong together (condition: pixels touching at the edges and/or corners) – Background blobs: only 4-connected pixels belong together (condition: pixels touching at the edges only) All (contour/background) pixels that border each other in accordance with one of the above-mentioned rules belong together and form a blob.
189
Software-Paket CheckOpti – Version 3.1 Note The memory space provided for this coherence analysis is limited, which means that the number of blobs that can be detected is limited. If insufficient memory is available for the analysis, it is aborted and all results (features) of the tool are set to invalid. In order to get around this restriction, ineligible blobs are ignored during analysis and filtering and memory that is no longer needed is shared. A theoretical statement on how many blobs can be analysed is therefore not possible. 2. Filtering blobs: Depending on the image content, the coherence analysis will also find blobs for which no further evaluation is desired, for example blobs with just a few pixels produced by dust or reflections. These blobs would interfere with or slow down the further evaluation. The aim of filtering is to leave only blobs that are of interest for the further steps. To ensure fast processing and save memory:
• Use the "Area" feature as the first filter. • Select the highest possible setting there for the lower filter limit (it should be just high enough that the required blobs are still reliably detected).
Figure: "Tool properties" window – "Filter" tab for Blob finder The available filter options are dependent on the firmware version: – Filter (ignore) blobs that touch the border of the tool region – If a contour blob touches or crosses the borders of the tool region, this setting decides whether or not the blob is ignored Only visible if setting: Blob-Type = "Contour blob" ( "Function" tab) – Available as of firmware version 3.3 (with firmware version 3.2: off = no filtering) –
190
Filter number and features – Firmware version 3.2 and 3.3: a filter on the basis of the "Area" feature – As of firmware version 3.4: three filters on the basis of all features calculated by the Blob finder tool
Tools and features for SBO...-Q All features of the Blob finder tool are available for filtering blobs, even if these features have not been enabled for calculating features.
3. Selecting blobs: A maximum of 16 of the blobs remaining after filtering can be selected. The individual features of these blobs alone are calculated and added to the feature list. – Blobs that are not selected are ignored when calculating the individual features. – If fewer blobs are found in the current image than specified here, the individual features of the missing blobs will be set to "invalid". The Blob finder tool therefore always adds the same number of features to the feature list - regardless of how many blobs were actually found. The blobs are selected as follows: 1. First the specified sort feature is calculated. 2. The blobs are then sorted in ascending or descending order (as appropriate to the presetting) in accordance with the value of the sort feature. If two blobs have the same value for the sorting feature, priority will be given to the blob positioned further to the left or further down. 3. The specified number of blobs is selected from this list and used for calculating the individual features. All features of the Blob finder tool are available for selecting blobs, even if these features have not been enabled for calculating features.
Figure: "Tool properties" window – "Selection" tab for Blob finder Number of blobs used for the selection: – Number with firmware version 3.2 = 1 – Number with firmware version 3.3 = 1 ... 8 – Number as of firmware version 3.4 = 1 ... 16 Sort feature – Feature value by which the blobs are sorted
191
Software-Paket CheckOpti – Version 3.1 Sort order – Ascending: The blob with the smallest sort feature value comes first (not available with firmware version 3.2). – Descending: The blob with the biggest sort feature value comes first. 4. Calculating features: The individual features of the selected blobs are calculated and added to the feature list. A search is always carried out for the specified number of blobs and their features calculated, even if not enough valid blobs are found (in which case the features of blobs that are not found are set to invalid). Example for the Blob finder tool
Figure: Biggest part – position
Figure: Biggest part – turning angle
Task: A specific part is to be gripped by a robot from a selection of different parts. To do this, the robot needs the information about the position and turning angle of the required part from the Compact Vision System. Solution: •
Choose backlighting if possible so that the part will be shown with the greatest possible contrast against the surface on which it is resting. This permits easier and more reliable detection. The Blob finder analyses the recorded image for coherent blobs and determines their position (in this case the centre of gravity) and turning angle (in this case the angle of the inertia main axis). Since only the biggest part is to be gripped in this application, the settings on the "Selection" tab in the "Tool properties" window are made accordingly: only the feature for the blob with the largest area are calculated. The robot obtains the features of this blob from the Compact Vision System and uses them for the gripping operation. Settings in the "Tool properties" window – "Function" tab – Shape: Rectangular region – Calculate on: Contour image – Blob-Type: Contour blobs – Individual features: X coord. center of gravity Y coord. center of gravity Angle of inertia axis Settings in the "Tool properties" window – "Selection" tab – Number of blobs to be selected: 1 – Sort feature: Area – Sort order: Descending (biggest value first) The pixel coherence analysis demands that the parts not touch, otherwise they will be regarded as a blob and therefore a (coherent) part.
192
Tools and features for SBO...-Q In applications involving moving parts (e.g. on a conveyor belt), the parts may not be fully visible in the image. The Blob finder tool will then deliver incorrect feature results.
• Use the "Filter (ignore) blobs that touch the border of the tool region" setting to exclude these parts from the evaluation.
The angle of an inertia axis is not a unique value for describing the turning angle of a part, since an inertia axis cannot be uniquely defined by +/-180°. The feature value can jump by +/-180°. If you need the turning angle of the part to be unique
• use the "Angle pol. max" feature instead of the "Angle inertia axis" feature or
• correct the value accordingly with the help of further tools (e.g. with ROI and the logic operation "IF..THEN..ELSE").
193
Software-Paket CheckOpti – Version 3.1
8.6.6
Pattern matching The Pattern matching tool searches the specified region for matches with a previously taught pattern (reference pattern). The features are then calculated for the best matches. The basis for pattern matching (searching for the reference pattern) is an edge image (edge structure of the initial image) that is calculated from the camera image.
Figure: Pattern matching with sorting task; output of the position of up to three part types Patterns are taught with the help of a setup wizard in three steps. 1. Select a region in the current camera image containing the pattern to be found. 2. Adapt the parameters for converting a camera image to an edge image. The purpose of the adaptation is to emphasise important, feature-relevant edges and get rid of disruptive edges (disruptions, noise). 3. Set the permissible turning position, name and reference point of the pattern. Further patterns can be added to the same tool by repeating steps 1-3. Configuration of the tool is concluded by selecting the tool region. In this region the camera image is converted to an edge image (taking into consideration the parameters from step 2) and is searched for all taught patterns. The selected features for the hits with the best match are then calculated and displayed. The pattern matching method used in firmware version 3.5 has been improved compared with version 3.4. This means that the results from both versions may differ. The Pattern matching tools have to be converted to this new pattern matching method. This conversion is done following a request for confirmation: – when importing an older CheckOpti project, – when switching the project properties, – when pasting from the clipboard.
Note Differences in computing accuracy between the PC (CheckOpti) and Compact Vision System SBO...-Q can lead to deviations between the results with firmware version 3.4. The improved pattern matching method mean that these deviations no longer occur in firmware version 3.5.
194
Tools and features for SBO...-Q Available as of: – Firmware version 3.4 Tool type: – Matching: searching for a pattern (reference pattern) in a camera image Name (tool name): – Default name: PMATCH Application: – Tool for searching for and sorting known objects in an image, even if the objects touch or overlap slightly, for example in handling processes – Tool as position/rotation reference for other tools or for gripping tasks (robot) – Presence check for multiple identical objects in the image – Alternative to Blob finder Calculate on: – Camera image (no selection) Calculation time: – Long Note This tool's calculation processes are very time-consuming, which can therefore mean delays even on fast PCs particularly if – the project contains a large number of parts and/or tools, – large patterns in size or number have been created for this tool.
Note Using this tool takes up a lot of memory on the Compact Vision System. For that reason, the number of these tools that can be used per check program is extremely limited. The maximum number of these tools depends on their settings. This means that the memory requirement and therefore the maximum number of tools cannot be determined in advance.
• Determine the maximum number of tools that can be used by means of tests on the Compact Vision System. You may see the error message E46.
195
Software-Paket CheckOpti – Version 3.1 Setup wizard The setup wizard appears as soon as a new pattern or a new Pattern matching tool is added. The wizard is used to: – Select the pattern to be found – Configure the parameters for converting a camera image to an edge image – Set the possible turning position, name and reference point of the pattern. In the first step, the pattern to be found is selected. This is done by copying the currently displayed camera image to the setup wizard. •
Draw a frame around the part using the mouse. Note The following recommendations increase the recognition certainty of a pattern and at the same time reduce the memory requirement to a minimum.
• Use an image in which the part to be found is shown with its longest dimension as horizontal or vertical as possible.
• Draw a tight-fitting frame around the part to be detected using the mouse.
Figure: Setup wizard - 1st step for Pattern matching tool In the second step, the parameters for converting a camera image to an edge image are specified and particularly important features of the pattern are emphasised.
196
Tools and features for SBO...-Q
Figure: Setup wizard - 2nd step for Pattern matching tool Parameter
Setting
Edge suppression
The value for edge suppression should be chosen so that any image noise and disruptive edges are hidden. The edges that are important for the pattern (i.e. edges that describe the pattern) must retain their strength or thickness.
Max. edge strength
The maximum edge strength limits the intensity of the edges produced by strong brightness transitions. With this parameter you can, for example, lessen the effects of non-uniform illumination. If subtle brightness or edge progressions are not relevant for detection, you can set this parameter to the same value as the "Edge suppression" parameter. This can increase the recognition certainty of the pattern matching method, particularly in devices with firmware version 3.4.
Pattern adjustments
Important features of the pattern can be emphasised and irrelevant features can be deleted. A brush function is provided for this purpose that can be used for free-hand editing of the edges in the pattern.
â&#x20AC;˘ Select the "Increase" function and draw over the corresponding edges (features) using the mouse to emphasise them. Irrelevant or disruptive edges are reduced in the same way using the "Soften" or "Ignore" functions. The original edge image can be restored using the "Reset" function. Representation
The edge image can also be displayed in false colours to improve the representation of small differences in brightness.
197
Software-Paket CheckOpti – Version 3.1 Note Settings for suppressing disruptive edges ("Edge suppression") and limiting the edge strength ("Max. edge strength") made in this step apply to: – creating the pattern, – searching for the pattern in all camera images. In the third step, the pattern name is entered and the possible turning position as well as the point and angle of reference defined.
Figure: Setup wizard - 3rd step for Pattern matching tool Parameter
Setting
Pattern name
• Give the pattern a name. This name is output as a feature when the pattern is found.
Matching angle
The matching angle determines the maximum turning position of the pattern in which it can still be detected. If this range is recurring, this can be defined using the "Recurrence of angle range" option. Example: the pattern occurs in the turning positions 0° (+/- 5°) or 180° (+/- 5°).
• Select the value "Recurrence every 180°" here. Note: The size of the check program and therefore the calculation time can be significantly reduced if the matching angle can be restricted. Adjust angle and point of reference
198
The reference point and angle that are output as feature values if a pattern is found can be corrected by a fixed value using these parameters.
Tools and features for SBO...-Q Tool properties – "Function" tab A number of general tool properties and parameters that influence the recognition certainty and calculation time of the Pattern matching tool are configured on this tab.
Figure: "Tool properties" window – "Function" tab for Pattern matching tool Name (tool name): – Default name: PMATCH Shape (of the tool region): – Entire image ("Position" and "Rotation" tabs not displayed) – Rectangular region (the tool region is set on the "Position" and "Rotation" tabs) Note The maximum size of the tool region is restricted to 1600x1200 pixels. Evaluation time: The evaluation time in the Compact Vision System is restricted to the specified value. The evaluation is aborted once this evaluation time is reached. All features of this tool are then invalid. •
Use this option if a preset cycle time must not be exceeded.
Method: The selected method determines the intensity with which a pattern is sought in the current image. The methods are arranged in ascending order according to their calculation time. Level of detail: This parameter is used to set the level of detail applied when storing the pattern for matching. High values greatly increase the size of the check program and the calculation time.
199
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1 Minimum match score: This value defines the minimum match between found and taught patterns. If the match is equal to or higher than the value set here, the found pattern is identified as valid and the feature values are calculated. The value is entered in percent. â&#x20AC;˘
To avoid false matches it is recommended not to set the required minimum match score below 70 percent.
Features of all patterns: The following feature is calculated just once per tool: Name
Description
As of firmware ...
Number of valid patterns
Specifies how many patterns were detected in the current camera image. The maximum number is limited by the "Selection" tab.
3.4
Individual features that are calculated for each found (and selected) pattern: Name
Description
As of firmware ...
Pattern no.
Number of the found pattern
3.4
Pattern name
Name of the found pattern
3.4
Match
Match between a found pattern and the taught pattern in percent
3.4
X/Y coordinates and angle of the found pattern. The values refer to the reference point and reference angle set in the setup wizard.
3.4
X coord.
1)
Y coord.
1)
Angle
1)
3.4 3.4
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Several of the found patterns can be selected and their features added to the feature list.
200
Tools and features for SBO...-Q Tool properties – "Selection" tab Both the number of patterns to be found as well as the feature to be used to select and sort them are defined on this tab.
Figure: "Tool properties" window – "Selection" tab for Pattern matching tool Number: – Number of patterns to be found Min. number = 1; max. number = 16 Sort feature: – Feature value by which the patterns are sorted All features of the Pattern matching tool are available for sorting found patterns, even if these features have not been enabled for calculating features.
Sort order: – Ascending (smallest value first) – Descending (biggest value first)
201
Software-Paket CheckOpti – Version 3.1 Tool properties – "Patterns" tab The "Patterns" tab contains an overview of all taught patterns of the selected tool. New patterns can be added and existing ones edited or deleted.
Figure: "Tool properties" window – "Patterns" tab for Pattern matching tool The following commands are available: – New: starts the setup wizard for teaching a new pattern( section: Setup wizard). – Edit: starts the setup wizard for editing the pattern selected in the table. – Remove: deletes the pattern selected in the table. Example for the Pattern matching tool
Figure: Number and position - separate cable lugs
202
Tools and features for SBO...-Q
Figure: Number and position - touching and overlapping cable lugs Task: To establish the number and position of bulk cable lugs. Solution: The cable lugs are fed individually to the camera by means of a linear conveyor. Despite this it can happen that several parts will be touching or partially overlapping. A Pattern matching tool is used to nevertheless reliably determine the number and position of the parts. •
Backlight the cable lugs to be checked. The parts will then be shown with maximum contrast against the background. The Pattern matching tool is "trained" on an individual cable lug that has good definition and that is not covered.
Figure: Cable lug – pattern The "Number of patterns" must be set to the maximum possible number of cable lugs so that the tool region will be searched for multiple cable lugs. The number of detected cable lugs can be read off from the "Number of valid patterns" feature, their positions from the "X. coord." and "Y coord." features. Settings in the "Create or edit pattern" setup wizard, 2nd step – Edge suppression: 36 – Inner contour of the mounting hole: Traced using the "Increase (200%)" brush function
Figure: Cable lug – edge image of the pattern 203
Software-Paket CheckOpti – Version 3.1
Settings in the "Tool properties" window - "Selection" tab – Number of patterns: 2 The settings relating to the edge image of the pattern are especially important for the Pattern matching tool to work correctly. The settings are made in the pattern matching setup wizard. Edge suppression is very important. On the one hand it must be set high enough that disruptions and noise are completely hidden if possible and on the other hand set low enough that the edges that make up the pattern do not lose their strength (thickness). Especially important edges, for example the inner contour of the mounting hole in this case, should additionally be traced using the "Increase (200%)" brush function and in this way emphasised.
8.7
Measuring tools
8.7.1
General
Measuring tools do not work on the basis of area, instead they search for transitions (e.g. edges) along search lines or search circles in the image.
Figure: Measuring tool, distance measurement example The two search lines start at S0 and E0 respectively and search for transitions from background to contour and contour to background. The transitions found are numbered, producing the points S1, S2, etc. or E1, E2, etc. respectively. In the example shown, the user specification "Measure from S1 to E1" results in the set measurement. The following tools work according to this principle: – Edge finder – Circle finder – Single measurement – Multiple measurement – Ray tool There are six steps involved in calculating a feature in the case of the measuring tools: 1. Placing the tool in the current image 2. Searching for the (next) transition 3. Checking the validity of the transitions with respect to the following parameters: type of the transition, distances to previous transitions 4. Numbering the valid transitions, i.e. all transitions that were not discarded after Step 3 5. Selecting the transitions for calculating features 6. Calculating the feature value.
204
Tools and features for SBO...-Q 1. Placing the tool in the current image The shape and placement of the tool are determined from the specifications in the "Tool properties" window (section: "Tool properties" window): – The type of the search shape and the number of search lines (search circles) from the "Function" tab – The position of the tool centre point as well as length or diameter from the "Position" tab – The turning position or rotation from the "Rotation" tab. 2. Searching for the (next) transition Different shapes and numbers of search lines are offered depending on the measuring tool: – 1 search line – 2 search lines – 1 search circle – 2 search circles – Multiple search lines in a parallel arrangement – Multiple search lines in a star-shaped arrangement. The search for transitions is based on the setting for the search direction on the "Measure" tab of the tool properties. – Begin -> end – End -> begin – Middle -> end (as of firmware version 3.5) – Middle -> begin (as of firmware version 3.5) Example for a search line with search direction = middle -> end
Figure: Representation of the search lines in the "Part contour" window Green dot = beginning of the search line Green arrow = start and direction of the search
Search for the (next) transition in the contour image: A transition is a coordinate (X/Y) on the search line (on the search circle) at which a change takes place. Transitions are detected in the contour image when there is a change from – background to contour, – contour to background. Search for the (next) transition in the camera image (only with SBO...-Q): If the transition search takes place in the camera image, there are additional ways of defining a transition. The transitions are ascertained by comparing or linking brightness values between one or more pixels along the specified search line. The "Threshold" tab is displayed when calculating the tool in the camera image.
205
Software-Paket CheckOpti – Version 3.1 The transitions can be detected using different threshold types: Threshold type
Transition type
Dynamic threshold
– All edges – Edges from light to dark – Edges from dark to light
Range of brightness Change in brightness absolute
– All changes – Changes from background to contour – Changes from contour to background
Change in brightness with sign
Use of the threshold type: "Dynamic threshold" With this threshold type high-contrast changes in brightness (transitions) are defined as – edges from light to dark or – edges from dark to light. On this tab you define the minimum edge strength (contrast) for interpreting an edge.
Figure: "Tool properties" window – "Threshold" tab, threshold type = "Dynamic threshold" The description of the control elements can be found in the section "Threshold" value (for search lines).
206
Tools and features for SBO...-Q Use of the threshold type: "Range of brightness" The background and part are defined by differences in brightness. The grey scale range defined on this tab defines which grey scales are attributed to the part and which are attributed to the background.
Figure: "Tool properties" window â&#x20AC;&#x201C; "Threshold" tab, threshold type = "Range of brightness" The description of the control elements can be found in the section "Threshold" value (for search lines).
Use of the threshold type: "Change in brightness absolute" With this threshold type transitions are defined by changes in brightness occurring along the search line. The changes in brightness are used without a sign.
Figure: "Tool properties" window â&#x20AC;&#x201C; "Threshold" tab, threshold type = "Change in brightness absolute"
207
Software-Paket CheckOpti – Version 3.1 The description of the control elements can be found in the section "Threshold" value (for search lines). Additional settings: – Change in brightness interpreted as end of part: This parameter defines the minimum change in brightness that is interpreted as the end of the part contour. – Change in brightness interpreted as begin of part: This parameter defines the minimum change in brightness that is interpreted as the beginning of the part contour. – Number of previous values for change calculation: Specifies the number of points across which the grey scale is averaged before it is compared with the grey scale of the current point. Display – The top graph shows the distribution of the grey scales on the measuring line (histogram). – The bottom graph shows the change in brightness along the measuring line. The change in brightness is displayed without a sign here. Use of the threshold type: "Change in brightness with sign" With this threshold type transitions are defined by changes in brightness occurring along the search line. Unlike the "Change in brightness absolute" function, the sign for the change in the grey scale is also taken into consideration here.
Figure: "Tool properties" window – "Threshold" tab, threshold type = "Change in brightness with sign" The description of the control elements can be found in the section "Threshold" value (for search lines). Additional settings: – Change in brightness interpreted as end of part: This parameter defines the minimum change in brightness that is interpreted as the end of the part contour. – Change in brightness interpreted as begin of part: This parameter defines the minimum change in brightness that is interpreted as the beginning of the part contour. – Number of previous values for change calculation: Specifies the number of points across which the grey scale is averaged before it is compared with the grey scale of the current point.
208
Tools and features for SBO...-Q Display – The top graph shows the distribution of the grey scales on the measuring line (histogram). – The bottom graph shows the change in brightness along the measuring line. The change in brightness is displayed with a sign. Point to note: Precise determination of transition subpixels: If the search for transitions takes place in the camera image, the position of a transition can be interpolated using the brightness progression along the search line. Prerequisites for this are: – "Calculate on" setting = Camera image ("Function" tab) – "Subpixel calculation method" setting = On ("Measure" tab) With this method transitions are not produced at the binary point of change from contour to background, i.e. at an (integral) pixel coordinate, but rather from the interpolation of 3 pixels before and 3 pixels after the transition (and therefore as averaged coordinates with decimal places). This interpolation is called "subpixeling" in image processing. This can produce more precise measurements under appropriate conditions (optimum lighting, optimum lens, etc.). 3. Checking the validity of the transitions For found transitions it is possible to define conditions that must be fulfilled in order for the transitions to be taken into consideration for the further calculation ( section:"Tool properties" window, "Measure" tab). – Transition type: All/contour to background/background to contour – Minimum distance to last start point – Minimum distance to last end point 4. Numbering the valid transitions
Figure: Search line with start point and two further transitions Valid transitions are numbered 1 ... N Transition 0 (green arrow) represents an exception. It is the start point where the search was started and is not generally a transition. The following information is available for each valid transition: – X coordinate, – Y coordinate, – transition number, – transition type ([background to contour] or [contour to background]). 5. Selecting the transitions for calculating features Certain transitions from the valid transitions are then selected for the subsequent calculation of features. A distinction is made between: – Selection based on transition numbers (with Single measurement, Ray, Edge finder tools) – Paired selection (with Multiple measurement tool).
209
Software-Paket CheckOpti – Version 3.1 Example of feature values that can be calculated from the transitions: – If one transition is selected, its coordinates (X/Y), for example, can be used. – If two transitions are selected, the distances or angles between them, for example, can be used. – If transitions are selected in pairs, the smallest (biggest) from all found distances or angles, for example, can be used. – If multiple transitions are selected, statistical values can be ascertained. Selection based on transition numbers: When using transition numbers as the basis for selection, the number for the start and end point (or start and end points) must be specified. These numbers determine one transition each on the associated search line (search circle). The point with the transition number "0" is the point from which the search is started.
Paired selection: The only determination made with paired selection is which types of transitions form a start point/end point pair and are used for calculating features. In order to synchronise start and end points it is possible to stipulate that an end point is only valid if a start point has been previously found.
Figure: "Tool properties" window – "Measure" tab Subpixel calculation method (only with calculation in camera image). Selection of the transition number for the start/end point of the measurement (not with paired selection). Selection of the search direction for the start/end point of the measurement. Selection of the transition type for the start/end point of the measurement. Setting of the minimum distances for the start/end transition of the measurement.
6. Calculating the feature value The features of the selected transitions are calculated and added to the feature list of the part. The measuring points and their conditions are configured on the "Measure" tab in the "Tool properties" window.
210
Tools and features for SBO...-Q
8.7.2
Single measurement Single measurement involves using two points (a start point and an end point) from the transition points found in the search to calculate features. Features (e.g. distance between the points) are calculated using the coordinates (X1/Y1) and (X2/Y2) of these two points.
Figure: Measuring the angle to the horizontal Available as of: – Firmware version 3.2 Tool type: – Measuring tool – Selection of the measuring points based on transition numbers Name (tool name): – Default name: MEASURE Shape: A search can be carried out for the transitions along the following geometric objects: – 1 search line – 2 search lines – 1 search circle (incl. arc) as of firmware version 3.3 – 2 search circles (incl. arcs) as of firmware version 3.3 Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab) Angle and direction of circle section: – Visible with shape = 1 search circle or 2 search circles (as of firmware version 3.3)
211
Software-Paket CheckOpti – Version 3.1
Figure: "Tool properties" window – "Function" tab Features: The following features can be calculated by the tool on the search shapes. They refer to the selected start and end transitions. No.
Name
Description
As of firmware ...
1
Parallel distance (for alignment of the tool)
Distance between the start and end points (the distance line is parallel to the alignment (turning and rotation) of the tool). Comparable with a calliper.
3.2
2
Point to point 1) distance
Direct distance between the start and end points.
3.2
3
Arc length
Distance between the start and end points along the search circle. Note: This value is invalid in the case of search lines.
3.3
4
Angle to alignment
Angle between – the line through the start and end points, – the alignment (turning and rotation) of the tool.
3.2
5
Angle to 1) horizontal
Angle between – the line through the start and end points, – the horizontal.
3.2
6
Angle around center
Angle between – the line through the start point and the tool centre point, – the line through the end point and the tool centre point.
3.3
1) Feature supports automatic coordinate transformation as of firmware version 3.5
212
Tools and features for SBO...-Q Features for start and end point coordinates: No.
Name
Description
As of firmware ...
1
X coord. start 1) point
X coordinate of the start point used in the case of a valid measurement.
3.2
2
Y coord. start 1) point
Y coordinate of the start point used in the case of a valid measurement.
3.2
3
X coord. end 1) point
X coordinate of the end point used in the case of a valid measurement.
3.2
4
Y coord. end 1) point
Y coordinate of the end point used in the case of a valid measurement.
3.2
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Application: – Frequently used tool for measuring tasks – Quality checks on dimensions and angles – Alternatively as a position/rotation reference for other tools Calculation time: – Short – Medium if long search lines are being used – Additional calculation time with shape = Circular region – Additional calculation time with calculate on = Camera image – Additional calculation time with threshold type = Dynamic threshold – Additional calculation time with subpixel calculation method = On Example for the Single measurement tool
Figure: Length measurement on a bolt Task: To determine the length of a bolt from the end of the thread side to the contact surface. The measurement must take place with a minimum accuracy of +/- 0.05 mm. Solution: •
Backlight the bolts to be checked. The bolts are then shown in black and the background in white.
• Choose a lens with a focal length of 35 mm (this keeps the visual distortion to a minimum). The Blob finder first calculates the position and turning position of the bolt. The ascertained values are then used as reference features for a single measurement. The single measurement measures the distance "End of thread side" to "Start of bolt head" on two measuring lines. The measuring direction is from left to right.
213
Software-Paket CheckOpti – Version 3.1 Settings in the "Tool properties" window – "Function" tab – Shape: 2 search lines – Calculate on: Camera image – Feature: Parallel distance (to alignment) Settings in the "Tool properties" window – "Measure" tab – Start point S: Transition number = 1 – End point E: Transition number = 1 It is recommended to use backlighting for measuring a part. This will prevent fluctuations in the surface quality of the parts influencing the measurement result.
High measuring accuracy requires a lens with the least possible distortion. In general, the greater the focal length of the lens, the more quasi-parallel the emitted light path and the more accurate the measurement.
• Use a telecentric lens together with telecentric lighting for very accurate measurements.
All measuring tools offer the "subpixel calculation method" to increase the accuracy. It only makes sense to use this option, however, if the images recorded by the camera are distortionfree and the test part is positioned in the image with the greatest possible repetition accuracy.
Note
• Make sure that the start and end points of the measurement lie on edges that run perpendicular to the measuring direction. If an edge runs <> 90° to the measuring direction, slight changes in position in the measurements with respect to the test part will result in significant changes in the measured values. Example: The edge on which the start point was found is not perpendicular to the measuring direction. Slight changes in the position of the measuring line will therefore result in a relatively big change in the measurement result.
Figure: Measuring line not perpendicular to the detection edge CheckOpti offers the "Statistical evaluation of a feature" wizard for checking the repeatability of a measurement ( section: Wizards).
214
Tools and features for SBO...-Q
8.7.3
Multiple measurement The Multiple measurement tool uses a start point and an end point from the valid transitions to calculate each feature. This enables you to ascertain, for example, the smallest or biggest of several angles or distances.
Figure: Multiple measurement – plug contacts Available as of: – Firmware version 3.2 Tool type: – Measuring tool – Paired selection of the measuring points (transition type) Name (tool name): – Default name: MEASURE Shape: A search can be carried out for the transitions along the following geometric objects: – 1 search line – 2 search lines – 1 search circle (incl. arc) as of firmware version 3.3 – 2 search circles (incl. arcs) as of firmware version 3.3 Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab) Angle and direction of circle section: – Visible with shape = 1 or 2 search circles (as of firmware version 3.3)
215
Software-Paket CheckOpti â&#x20AC;&#x201C; Version 3.1
Figure: "Tool properties" window â&#x20AC;&#x201C; "Function" tab for Multiple measurement tool Features: The following features can be calculated by the tool. They refer to the start and end transitions selected for the measurement. No.
Name
Description
As of firmware ...
1
Number of transition combinations
Number of valid start/end pairs.
3.2
2
Min. parallel distance (to alignment)
Shortest distance from all valid start/end pairs. The parallel distance is the distance between the start and end points (the distance line is parallel to the alignment (turning and rotation)) of the tool.
3.2
3
Max. parallel distance (to alignment)
Longest distance from all valid start/end pairs. The parallel distance is the distance between the start and end points (the distance line is parallel to the alignment (turning and rotation)) of the tool.
3.2
4
Min. point to point 1) distance
Shortest distance from all valid start/end pairs. The point-to-point distance is the direct distance between the start and end points.
3.2
5
Max. point to 1) point distance
Longest distance from all valid start/end pairs. The point-to-point distance is the direct distance between the start and end points.
3.2
6
Min. arc length
Shortest distance from all valid start/end pairs. The arc length is the distance between the start and end points along the search circle. Note: This value is invalid in the case of search lines.
3.3
7
Max. arc length
Longest distance from all valid start/end pairs. The arc length is the distance between the start and end points along the search circle. Note: This value is invalid in the case of search lines.
3.3
216
Tools and features for SBO...-Q No.
Name
Description
As of firmware ...
8
Min. angle to alignment
Smallest angle from all valid start/end pairs. The angle to the alignment is the angle between – the line through the start and end points, – the alignment (turning and rotation) of the tool.
3.2
9
Max. angle to alignment
Largest angle from all valid start/end pairs. The angle to the alignment is the angle between – the line through the start and end points, – the alignment (turning and rotation) of the tool.
3.2
10
Min. angle to 1) horizontal
Smallest angle from all valid start/end pairs. The angle to the horizontal is the angle between – the line through the start and end points, – the horizontal.
3.2
11
Max. angle to 1) horizontal
Largest angle from all valid start/end pairs. The angle to the horizontal is the angle between – the line through the start and end points, – the horizontal.
3.2
12
Min. angle around center
Smallest angle from all valid start/end pairs. The angle to the centre is the angle between – the line through the start point and the tool centre point, – the line through the end point and the tool centre point.
3.3
13
Max. angle around center
Largest angle from all valid start/end pairs. The angle to the centre is the angle between – the line through the start point and the tool centre point, – the line through the end point and the tool centre point.
3.3
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Features for start and end point coordinates: No.
Name
Description
As of firmware ...
1
X coord. start 1) point
X coordinate of the start points in all measurements that produced a minimum and/or maximum value.
3.5
2
Y coord. start 1) point
Y coordinate of the start points in all measurements that produced a minimum and/or maximum value.
3.5
3
X coord. end 1) point
X coordinate of the end points in all measurements that produced a minimum and/or maximum value.
3.5
4
Y coord. end 1) point
Y coordinate of the end points in all measurements that produced a minimum and/or maximum value.
3.5
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Note The tool starts by calculating the values for each coherent start/end combination. However only the maximum and/or minimum values are accepted for the feature list.
217
Software-Paket CheckOpti – Version 3.1 Application: – Tool for counting recurring part shapes (e.g. pins on an IC) – Tool for measuring tasks, especially with recurring dimensions (e.g. teeth on a gear, contact pins of a plug, etc.) – Quality checks on uniform dimensions and angles Calculation time: – Short – Medium if long search lines are being used – Medium if a large number of measurements result – Additional calculation time with shape = Circular region – Additional calculation time with calculate on = Camera image – Additional calculation time with threshold type = Dynamic threshold – Additional calculation time with subpixel calculation method = On Example for the Multiple measurement tool
Figure: Axial bearing – good part
Figure: Axial bearing – bad part
Task: To check whether all needle rollers are present on an axial needle bearing. Solution: •
Choose the lighting so that the needle rollers are shown as light and the cage is shown as dark. If there is a roller missing in the needle bearing, there will be a hole visible in the cage. The Blob finder first calculates the position of the part in the camera image. This is then used as a reference for the multiple measurement. This tool measures the maximum arc length along a search circle. The start point of the measurement is the transition "contour to background", the end point the transition "background to contour". If needle rollers are missing, the measured arc length will be more than twice the arc length when a needle roller is present; the measurement result will be outside the good part tolerance.
218
Tools and features for SBO...-Q Settings in the "Tool properties" window – "Function" tab – Shape: 1 search circle – Calculate on: Camera image – Feature: Max. arc length Settings in the "Tool properties" window – "Measure" tab – Start point S: Transition type = contour to background – End point E: Transition type = background to contour The tool performs a search for "contour to background" and/or "background to contour" transitions in order to detect the start and end points. Depending on the position of the test part and the measuring line(s)/measuring curve(s), it can happen that the end point is found first and then the start point. This is a help in some checking tasks and a hindrance in others, as is the case here.
• Choose the "End point must be after start point" option on the "Measure" tab to ensure that the search for the end points will only take place after the first start point has been found.
All measuring tools offer the "subpixel calculation method" to increase the accuracy. It only makes sense to use this option, however, if the images recorded by the camera are distortionfree and the test part is positioned in the image with the greatest possible repetition accuracy.
8.7.4
Ray tool The Ray tool carries out multiple measurements on measuring lines in star-shaped or parallel arrangements. Two transition points (one start point and one end point) on each search line can be used for calculating features.
Figure: Ray tool with good O-ring
Figure: Ray tool with bad O-ring
The good/bad decision is made using the "Difference max.-min. distance" feature. Available as of: – Firmware version 3.3 Tool type: – Measuring tool (as of firmware version 3.3) – Selection of the measuring points based on transition numbers Name (tool name): – Default name: RAYTOOL
219
Software-Paket CheckOpti – Version 3.1 Shape: A search can be carried out for the measuring points on the following geometric objects: – Search lines in parallel arrangement – Search lines in star-shaped arrangement Calculate on: – Contour image ("Threshold" tab not displayed) – Camera image (as of firmware version 3.3, set on the "Threshold" tab) Angle and direction of circle section: – Visible with shape = Star shaped search lines
Figure: "Tool properties" window – "Function" tab Features: The following features can be calculated by the tool. They refer to the start and end transitions selected for the measurement. No.
Name
Description
As of firmware ...
1
Minimum distance 1)
Lowest value of all valid start/end measurements (direct distance between start and end points).
3.3
2
Mean distance
Mean value of all valid start/end measurements (direct distance between start and end points).
3.3
3
Maximum distance 1)
Highest value of all valid start/end measurements (direct distance between start and end points).
3.3
4
Difference max.-min. distance
Difference between the maximum and minimum distances.
3.3
220
Corresponds to the scatter range of the distance values.
Tools and features for SBO...-Q No.
Name
Description
As of firmware ...
5
Max. deviation from mean (%)
Maximum of the two differences
3.3
– Maximum distance - mean distance – Mean distance - minimum distance
6
Number of measurements
Number of valid start/end measurements.
3.3
7
Angle at minimum distance 1)
Angle between
3.3
– the line through the start and end points that resulted in
the shortest distance, – the horizontal.
8
Angle at maximum distance 1)
Angle between
3.3
– the line through the start and end points that resulted in
the longest distance, – the horizontal.
9
X coord. start pt. at min. dist. 1)
X coordinate of the start point at which the minimum distance was measured.
3.3
10
Y coord. start pt. at min. dist. 1)
Y coordinate of the start point at which the minimum distance was measured.
3.3
11
X coord. end pt. at min. dist. 1)
X coordinate of the end point at which the minimum distance was measured.
3.3
12
Y coord. end pt. at min. dist. 1)
Y coordinate of the end point at which the minimum distance was measured.
3.3
13
X coord. start pt. at max. dist. 1)
X coordinate of the start point at which the maximum distance was measured.
3.3
14
Y coord. start pt. at max. dist. 1)
Y coordinate of the start point at which the maximum distance was measured.
3.3
15
X coord. end pt. at max. dist. 1)
X coordinate of the end point at which the maximum distance was measured.
3.3
16
Y coord. end pt. at max. dist. 1)
Y coordinate of the end point at which the maximum distance was measured.
3.3
17
X coordinate of point on fitting line through start points 1)
A fitting line (regression line) is laid through all valid start points. This is described by a point (X/Y) and an angle.
3.3
18
Y coordinate of point on fitting line through start points 1)
3.3
19
Angle of fitting line through start points 1)
3.3
20
X coordinate of point on fitting line through end points 1)
21
Y coordinate of point on fitting line through end points 1)
3.3
22
Angle of fitting line through end points 1)
3.3
23
X coord. start pt. fitting circle 1)
24
Y coord. start pt. fitting circle 1)
25
Diameter of fitting circle through start points 1)
A fitting line (regression line) is laid through all valid end points. This is described by a point (X/Y) and an angle.
A fitting circle (regression circle ) is laid through all valid start points. This is described by a centre point (X/Y) and diameter.
3.3
3.3 3.3 3.3
221
Software-Paket CheckOpti – Version 3.1 No.
Name
Description
As of firmware ...
26
X coord. end pt. fitting circle 1)
A fitting circle (regression circle ) is laid through all valid end points. This is described by a centre point (X/Y) and diameter.
3.3
27
Y coord. end pt. fitting circle 1)
3.3
28
Diameter of fitting circle through end points 1)
3.3
1) Feature supports automatic coordinate transformation as of firmware version 3.5
Application: – Tool for measuring tasks, especially with centricity or diameter check – Quality checks on uniform dimensions and angles – Alternatively as a position/rotation reference for other tools – Alternative to CTool Calculation time: – Short – Medium if long search lines are being used – Long if a large number of search lines are being used – Long if the fitting circle feature is being used – Additional calculation time with shape = Circular region – Additional calculation time with calculate on = Camera image – Additional calculation time with threshold type = Dynamic threshold – Additional calculation time with subpixel calculation method = On Example for the Ray tool
Figure: Wooden dowel pin – good part
Figure: Wooden dowel pin – bad part
Task: To check whether the diameter of a wooden dowel exceeds or falls below a certain value along the longitudinal axis. The position and turning angle of the wooden dowel in front of the Compact Vision System can differ slightly. Solution: •
Choose the lighting so that the part is shown with the greatest possible contrast against the surface on which it is resting. This permits easier and more reliable detection.
•
Use an ROI to register the position and turning of the wooden dowel. The following features of the ROI are preset as reference values (references) for the Ray tool for calculating position and rotation: - "X coord. center of gravity" - "Y coord. center of gravity" - "Angle of inertia axis"
222
Tools and features for SBO...-Q The Ray tool measures the diameter of the dowel pin at 15 points. Each of the measurements carried out performs a search for transitions between light and dark image points along the preset section. The first transition is used as the start point, the second transition as the end point. The smallest and biggest values out of these measurements are ascertained. If they are within the permitted ranges the part is classified as a good part, otherwise as a bad part. Settings in the "Tool properties" window – "Function" tab – Shape: Parallel search lines – Calculate on: Contour image – Number of measurements: 15 – Features: Minimum distance, maximum distance Settings in the "Tool properties" window – "Measure" tab – Start point S: Transition number = 1 – End point E: Transition number = 2 The measurements carried out are shown as red lines in the "Part contour" window. The measurement that produced the minimum/maximum distance is shown as a purple line after the respective feature is selected.
8.8
Tools for colour and brightness detection
8.8.1
Brightness detection This tool detects the brightness of the individual pixels in the tool region of the camera image and calculates features from it. The feature values can also be used as reference features for threshold functions of subsequent tools.
Figure: Brightness detection with good/bad bottle cap The decision about whether or not the bottle cap is present is made using the "Brightness mean" feature. Available as of: – Firmware version 3.2 Tool type: – Area-based – For colour and grey scale images Name (tool name): – Default name: BRIGHT
223
Software-Paket CheckOpti – Version 3.1 Shape (of the tool region): – Rectangular region – Circular region – Annular region (full annulus only, no ring section, as of firmware version 3.5) The tool region is set on the "Position" and "Rotation" tabs.
Figure: "Tool properties" window – "Function" tab Procedure: Each pixel is first checked to see whether it is within the set brightness range ("Threshold" tab). If the value of the pixel is within this range, it is valid and the pixel is used for calculating the features. More detailed information on setting the brightness range can be found in the section Tool properties "Threshold" tab (for area-based tools). Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Brightness minimum
Lowest valid brightness value
3.2
2
Brightness mean
Mean valid brightness value
3.2
3
Brightness maximum
Highest valid brightness value
3.2
4
X coord. brightness 1) minimum
X coordinate of the darkest pixel
3.4
5
Y coord. brightness 1) minimum
Y coordinate of the darkest pixel
3.4
6
X coord. brightness 1) maximum
X coordinate of the lightest pixel
3.4
7
Y coord. brightness 1) maximum
Y coordinate of the lightest pixel
3.4
8
Brightness diff. (max-min)
Difference between the maximum and minimum extremes
3.4
9
Brightness contrast (max,min)
Contrast between the darkest and lightest pixel: 100 * ( (max.- min.)/(max.+ min.) )
3.4
10
Brightness contrast statistical
Statistical contrast across all pixels 100 * 1/number * total (brightness value * brightness value - brightness mean * brightness mean)
3.4
1) Feature supports automatic coordinate transformation as of firmware version 3.5 224
Tools and features for SBO...-Q Application: – Tool for checking/detecting brightness – "Brightness mean" feature as a reference calculated in the camera image for the threshold of other tools. – Simple presence check Calculation time: – Medium with grey scale images – Long with colour images – Greatly dependent on the size of the tool region – Additional calculation time with shape = Circular region Example for the Brightness detection tool
Figure: Complete Festo label
Figure: Incomplete Festo label
Task: To detect, under fluctuating lighting conditions, whether the arc is completely filled with Festo labels or whether a number of labels are missing. Solution: Since variable lighting conditions are assumed, the completeness check is performed with the "Brightness contrast statistical" feature of the "Brightness detection" tool. A separate brightness tool is placed on each Festo label in the arc. Regardless of the illumination of the tool region, the tool returns a high value (= good contrast) if the Festo logo is present or a low value if the logo is missing. Settings in the "Tool properties" window – "Function" tab – Shape: Rectangular region – Feature: Brightness contrast statistical A separate brightness detection must be carried out for each Festo label so that the "Brightness detection" tool will reliably detect the absence of individual labels.
With constant lighting conditions, the ROI tool could also be used with the "Area" feature for this solution.
225
Software-Paket CheckOpti – Version 3.1
8.8.2
Colour detection This tool detects the colour values of the individual pixels in the tool region and calculates features from them. There are different methods (colour spaces) available for converting colours into numerical values.
Figure: Colour detection on one of the assembled cables: good
Figure: Colour detection on one of the assembled cables: bad
The decision about whether the cables were mixed up during assembly is made using the "S Comp. mean (HSV)" feature. Colour spaces supported – RGB: colour model in which the colours are described by additive composition of the colours red, green and blue (primary valences). – YUV: colour model in which the colours are each described by one component for brightness (Y) and two components for colour values (U and V). – HSV: colour model in which the colours are each described by one component for shade (H), saturation (S) and brightness (V). The "H Comp. mean (HSV)" feature in particular can also be used as a reference feature for the threshold functions of subsequent tools.
Available as of: – Firmware version 3.2 Tool type: – Area-based – Only valid for colour images Name (tool name): – Default name: COLOR Shape (of the tool region): – Rectangular region – Circular region – Annular region (full annulus only, no ring section, as of firmware version 3.5) The tool region is set on the "Position" and "Rotation" tabs.
226
Tools and features for SBO...-Q
Figure: "Tool properties" window â&#x20AC;&#x201C; "Function" tab Procedure: Each pixel is first checked to see whether it is within the set brightness and colour range ("Threshold" tab). If the value of the pixel is within this range, it is valid and is used for calculating the features. More detailed information on setting the brightness and colour range can be found in the section Tool properties - "Threshold" tab (for area-based tools). Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Red minimum (RGB)
Lowest valid colour value of the R channel when using the RGB colour model
3.2
2
Red mean (RGB)
Mean valid colour value of the R channel when using the RGB colour model
3.2
3
Red maximum (RGB)
Highest valid colour value of the R channel when using the RGB colour model
3.2
4
Green minimum (RGB)
Lowest valid colour value of the G channel when using the RGB colour model
3.2
5
Green mean (RGB)
Mean valid colour value of the G channel when using the RGB colour model
3.2
6
Green maximum (RGB)
Highest valid colour value of the G channel when using the RGB colour model
3.2
7
Blue minimum (RGB)
Smallest valid colour value of the B channel when using the RGB colour model
3.2
8
Blue mean (RGB)
Mean valid colour value of the B channel when using the RGB colour model
3.2
9
Blue maximum (RGB)
Highest valid colour value of the B channel when using the RGB colour model
3.2
10
Y Comp. minimum (YUV)
Lowest valid brightness value Y (luminance) when using the YUV colour space
3.2
11
Y Comp. mean (YUV)
Mean valid brightness value Y (luminance) when using the YUV colour space
3.2
12
Y Comp. maximum (YUV)
Highest valid brightness value Y (luminance) when using the YUV colour space
3.2
227
Software-Paket CheckOpti – Version 3.1 No.
Name
Description
As of firmware ...
13
U Comp. minimum (YUV)
Lowest valid colour value U (chrominance) when using the YUV colour space
3.2
14
U Comp. mean (YUV)
Mean valid colour value U (chrominance) when using the YUV colour space
3.2
15
U Comp. maximum (YUV)
Highest valid colour value U (chrominance) when using the YUV colour space
3.2
16
V Comp. minimum (YUV)
Lowest valid colour value V (chrominance) when using the YUV colour space
3.2
17
V Comp. mean (YUV)
Mean valid colour value V (chrominance) when using the YUV colour space
3.2
18
V Comp. maximum (YUV)
Highest valid colour value V (chrominance) when using the YUV colour space
3.2
19
H Comp. minimum (HSV)
Lowest valid colour value H when using the HSV colour space
3.3
20
H Comp. mean (HSV)
Mean valid colour value H when using the HSV colour space
3.3
21
H Comp. maximum (HSV)
Highest valid colour value H when using the HSV colour space
3.3
22
S Comp. minimum (HSV)
Lowest valid saturation S when using the HSV colour space
3.3
23
S Comp. mean (HSV)
Mean valid saturation S when using the HSV colour space
3.3
24
S Comp. maximum (HSV)
Highest valid saturation S when using the HSV colour space
3.3
25
V Comp. minimum (HSV)
Lowest valid brightness V when using the HSV colour space
3.3
26
V Comp. mean (HSV)
Mean valid brightness V when using the HSV colour space
3.3
27
V Comp. maximum (HSV)
Highest valid brightness V when using the HSV colour space
3.3
Application: – Tool for checking/detecting colour values – "H Comp. mean (HSV)" feature calculated in the camera image (of a colour image) as a reference for the threshold of other tools Calculation time: – Long with colour images – Greatly dependent on the size of the tool region – Additional calculation time with shape = Circular region
228
Tools and features for SBO...-Q Example for the Colour detection tool
Figure: Flat cable lug – type 1
Figure: Flat cable lug – type 2
Task: To sort two flat cable lug types according to their colour. Solution: Incident light is used for the lighting since not just the contour of the part but also the colour of the surface is of relevance. The Colour detection tool is used so that the flat cable lugs can be correctly assigned to their type on the basis of colour and then sorted. The distinction between the two part types is made on the basis of the "H Comp. mean" feature: the feature reproduces the code number of the mean shade in the selected image region and in this way enables type separation. Settings in the "Tool properties" window – "Function" tab – Shape: Rectangular region – Feature: H Comp. mean (HSV) Note For correct colour reproduction:
• Perform automatic white balancing on the Compact Vision System.
Note For accurate colour detection:
• Restrict the brightness range of the tool in the "Threshold" window so that particularly bright and dark regions are excluded from the evaluation. Otherwise the colour perception of the Compact Vision System can be disrupted by these regions.
For accurate colour separation and detection:
• Make sure that the light used does not contain any UV light. Do this – by screening external light and using a white LED light and/or – by using a UV barrier filter in front of the device lens.
229
Software-Paket CheckOpti – Version 3.1
8.9
Special tools
8.9.1
Math/logic function This tool can be used to create a feature from a logic, mathematical function using previously calculated features.
Math/logic functions are found in the Combination tool up to CheckOpti 3.0. This tool also contains functions that are contained in the Geometry function tool as of CheckOpti 3.1. The Math/logic function is stored in such a way in the project file under CheckOpti 3.1 that it can also be subsequently opened with CheckOpti 3.0. Available as of: – Firmware version 3.2 Tool type: – Tool for mathematical/logic combination of previously calculated features Name (tool name): – Default name: MATH/LOGIC Ignore invalid features: – As of firmware version 3.3: Available with: +, – , mean, minimum, maximum – The calculated result of a feature combination is valid as long as at least 1 input feature is valid Result factor: – Multiplication factor that is applied to the result of the function.
Figure: "Tool properties" window – "Function" tab for Math/logic function
230
Tools and features for SBO...-Q Features calculated using this tool: No.
Name
Description
As of firmware ...
1
F1
Result = F1 * factor
3.3
2
Abs (F1)
Result = abs(F1) * factor
3.2
3
F1 + F2
Result = (F1 + F2) * factor
3.2
4
F1 â&#x20AC;&#x201C; F2
Result = (F1 â&#x20AC;&#x201C; F2) * factor
3.2
5
F1 * F2
Result = (F1 * F2) * factor
3.2
6
F1 / F2
Result = (F1 / F2) * factor The result is invalid if F2 = 0.
3.2
7
Mean (F1, F2)
Result = (F1 + F2) / 2 * factor
3.2
8
Mean (F1, F2, F3, F4)
Result = (F1 + F2 + F3 + F4) / 4 * factor
3.2
9
Min (F1, F2, F3, F4)
Result = min(F1, F2, F3, F4) * factor
3.2
10
Max (F1, F2, F3, F4)
Result = max(F1, F2, F3, F4) * factor
3.2
11
If (F1 == F2) Then 1 Else 0
If F1 and F2 are identical then the result is = (1 * factor), otherwise the result is = 0.
3.2
12
If (F1 == F2) Then F3 1) 2) Else F4
If F1 and F2 are identical then the result is = (F3 * factor), otherwise the result is = (F4 * factor).
3.3
13
If (F1 < F2) Then 1 Else 0
If F1 is less than F2 then the result is = (1 * factor), otherwise the result is = 0.
3.2
14
If (F1 < F2) Then F3 1) 2) Else F4
If F1 is less than F2 then the result is = (F3 * factor), otherwise the result is = (F4 * factor).
3.3
15
If (F1 <= F2) Then 1 Else 0
If F1 is less than or equal to F2 then the result is = (1 * factor), otherwise the result is = 0.
3.2
16
If (F1 <= F2) Then F3 1) 2) Else F4
If F1 is less than or equal to F2 then the result is = (F3 * factor), otherwise the result is = (F4 * factor).
3.3
17
If (F1 > F2) Then 1 Else 0
If F1 is greater than F2 then the result is = (1 * factor), otherwise the result is = 0.
3.2
18
If (F1 > F2) Then F3 1) 2) Else F4
If F1 is greater than F2 then the result is = (F3 * factor), otherwise the result is = (F4 * factor).
3.3
19
If (F1 >= F2) Then 1 Else 0
If F1 is greater than or equal to F2 then the result is = (1 * factor), otherwise the result is = 0.
3:2
20
If (F1 >= F2) Then F3 1) 2) Else F4
If F1 is greater than or equal to F2 then the result is = (F3 * factor), otherwise the result is = (F4 * factor).
3.3
21
If F1 within range (F2, 3) F3) Then F4 Else F5
If F1 is greater than or equal to F2 and F1 is less than or equal to F3 then the result is = (F4 * factor), otherwise the result is = (F5 * factor).
3.5
22
If F1 out of range (F2, 3) F3) Then F4 Else F5
If F1 < F2 or F1 > F3 then the result is = (F4 * factor), otherwise the result is = (F5 * factor).
3.5
231
Software-Paket CheckOpti – Version 3.1 No.
Name
Description
As of firmware ...
23
Exchange for F1 'Value' 4) with 'Value (trans.)'
Exchanges "Feature value" and "Feature value (transformed)". Feature = (F1_T * factor) and Feature_T = (F1 * factor)
3.5
24
Byte( 0 0 F6 F5 F4 F3 5) 6) F2 F1 )
Result is calculated from byte value * factor. The byte value is derived from F1...F6, in each case evaluated as a bit. The bits are set if F1...F6 are not equal to 0.
3.3
1) Up to firmware version 3.4: the result is invalid if one of F1...F4 is invalid. 2) As of firmware version 3.5: the result is invalid if F1, F2 is invalid and depending on the validity of F3 or F4. 3) The result is valid depending on the validity of F4 or F5. 4) The result supports automatic coordinate transformation. 5) Up to firmware version 3.4: the result is invalid if one of F1...F6 is invalid. 6) As of firmware version 3.5: the result is always valid; invalid F1...F6 are evaluated as 0. Procedure: – The selected function uses the transferred feature values for the calculation. The result may sometimes be multiplied with the result factor. Application: – Tool for mathematical/logic combination of previously calculated features – Combination of results Calculation time: – Short The Math/logic function "Exchange for F1 'Value' with 'Value (trans.)'" uses the transformed values. Prerequisite: – The "Project with automatic coordinate transformation of the features" option in the "Project properties" window is enabled. The transformed values can be found in the "Value (trans)" column in the "Feature results" area in the "Part contour" window.
The general Z value of the check program can also be selected as a reference feature as of firmware version 3.5.
232
Tools and features for SBO...-Q Example for the Math/logic function tool
Figure: "Metal strips" for using the Math/logic function Task: To check the mean dimensional accuracy in [mm] at several points on a metal strip. Solution: The position of the part is first determined in the image. Four single measuring tools, each of which determines the dimension at the respective position, are then positioned based on this information. The "Project with automatic coordinate transformation of the features" option in the "Project properties" window is enabled so that the dimensions determined by the measuring tools are also available in the unit [mm]. The "Exchange for F1 'Value' with 'Value (trans.)'" function of the Math/logic function tool copies the four measured values [mm] from the "Value (trans.)" column to the "Value" column so that further calculations can access them. The mean of the four measured values [mm] is then calculated using the "Mean (F1, F2, F3, F4)" function of the Math/logic function tool. It is generally the contents of the "Value" column and not the contents of the "Value (trans.)" column that are used when using features as references and when checking the features for adherence to the limits (of the teach data). The "Exchange for F1 'Value' with 'Value (trans.)'" function copies the mean [mm] into the "Value" column so that it can be used for the check.
Figure: Feature list of the "Part contour" window
233
Software-Paket CheckOpti – Version 3.1
8.9.2
Geometry function This tool can be used to create a feature from a geometric function using previously calculated features. The geometric functions are used to calculate positions, distances and angles. These features are also converted into real values by means of automatic coordinate transformation and are available as alternative features (feature_T). Geometric functions are found in the Combination tool up to CheckOpti 3.0. This tool also contains functions that are contained in the Math/logic function tool as of CheckOpti 3.1. The Geometry function is stored in such a way in the project file under CheckOpti 3.1 that it can also be subsequently opened with CheckOpti 3.0.
Available as of: – Firmware version 3.2 Tool type: – Tool for geometric combination of previously calculated features Name (tool name): – Default name: GEOMETRY Result factor: – Multiplication factor that is applied to the result of the function.
Figure: "Tool properties" window – "Function" tab, selection of a Geometry function Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Distance point (F1, F2) to 1) point (F3, F4)
Feature = SQRT ( (F1 – F2) * (F1 – F2) + (F3 – F4) * (F3 – F4) ) Feature_T = trans(feature)
3.2
234
Tools and features for SBO...-Q No.
Name
Description
As of firmware ...
2
Center between point (F1, F2) and point (F3, 1) F4)
Center point between x1/y1 and x2/y2 Feature 1 = X coordinate (x1+x2)/2) Feature 2 = Y coordinate (y1+y2)/2) Feature_T 1 = trans(feature 1) Feature_T 2 = trans(feature 2)
3.5
3
Line through point (F1, 1) F2) and point (F3, F4)
Determined from the two points "centre point" and "angle". Feature 1 = X coordinate (x1+x2)/2) Feature 2 = Y coordinate (y1+y2)/2) Feature 3 = angle Feature_T 1 = trans(feature 1) Feature_T 2 = trans(feature 2) Feature_T 3 = trans(feature 3)
3.5
4
Angle of line through point (F1, F2) and point 1) (F3, F4)
Feature = Angle of a line through point (F1, F2) and point (F3, F4) Feature_T 1 = trans(feature 1)
3.2
5
Angle F1 normalized to 2) 0..360
Feature = F1 to range 0° ... 360° Feature_T = F1_T to range 0° ... 360°
3.3
6
Angle F1 normalized to 2) -180..180
Feature = F1 to range –180° ... 180° Feature_T = F1_T to range –180° ... 180°
3.3
7
Move point (F1, F2) by Distance F4 with Angle 1) F3
Point (x/y) is moved by the angle F3 and the distance F4 Feature 1 = X coordinate Feature 2 = Y coordinate Feature_T 1 = trans(feature 1) Feature_T 2 = trans(feature 2)
3.5
8
Distance line (F1, F2, Angle F3) to point (F4, 1) F5)
Feature = shortest distance between the lines through the point (F1, F2) with the angle F3 to the point (F4, F5). The shortest distance is the distance from the vertical to the line through the point (F4, F5). Feature_T 1 = trans(feature 1)
3.3
9
Intersection of line (F1, F2, Angle F3) with line 1) (F4, F5, Angle F6)
Feature 1 = X coordinate intersection * factor Feature 2 = Y coordinate intersection * factor Feature_T 1 = trans(feature 1) Feature_T 2 = trans(feature 2)
3.3
10
Intersections of line (F1, F2, Angle F3) with circle 1) (F4, F5, Diameter F6)
Between 0 and 2 intersections can result Feature 1 = X coordinate intersection 1 Feature 2 = Y coordinate intersection 1 Feature 3 = X coordinate intersection 2 Feature 4 = Y coordinate intersection 2 Non-existent intersections result in an invalid feature Feature_T 1 = trans(feature 1) Feature_T 2 = trans(feature 2) Feature_T 3 = trans(feature 3) Feature_T 4 = trans(feature 4)
3.5
1) Feature supports automatic coordinate transformation as of firmware version 3.5 2) The selected function is only applied to the "Values (trans.)" if pure references have been used for F1 ... Fx. i.e. the constant value must be 0 and the reference factor 1.0. Feature_T = alternative value of the feature in world coordinates
235
Software-Paket CheckOpti – Version 3.1 Procedure: – The selected function uses the transferred feature values for the calculation. The result may sometimes be multiplied with the result factor. Application: – Tool for geometric combination of previously calculated features – Combination of results Calculation time: – Short The selected Math/logic function is also applied to the transformed values insofar as possible and practical. – Prerequisite: The "Project with automatic coordinate transformation of the features" option in the "Project properties" window is enabled. The transformed values can be found in the "Value (trans)" column in the "Feature results" area in the "Part contour" window.
The general Z value of the check program can also be selected as a reference feature as of firmware version 3.5.
Example for the Geometry function tool
Figure: Geometry function – top right corner
Figure: Geometry function – top right corner
Task: To determine the position of the top right corner of the part in order to align the gripping system. Solution: Backlighting is chosen so that the edges of the part have the greatest possible contrast with the background. Since the position of the top right corner is to be found, the first step is to determine the right-hand and top edges of the part. An Edge finder tool that determines the associated edges is used for each of these edges. In the second step, the Geometry function tool is used to calculate the intersection of the two edges. This corresponds to the required top right corner.
236
Tools and features for SBO...-Q Settings in the "Tool properties" window – "Function" tab – Function: Intersection of line (F1, F2, Angle F3) with line (F4, F5, Angle F6) – Values for F1 ... F6 are derived from the features of the determined edges
Figure: "Tool properties" window – "Function" tab, Geometry function settings
8.9.3
Flagword access This tool enables check programs to access memory locations of the Compact Vision System for reading or writing. This enables, for example, system parameters to be adapted and values to be read into the check program.
The Compact Vision System has a large number of preset flagwords. A flagword (FW) corresponds to a specific memory location in the device and is identified by means of its flagword address. The flagword address decides the flagword's function for the device. The precise meaning and usage can be found in the manual for the Compact Vision System.
Flagword
Function
FW0 to FW6999
Device results and states. They are described in the manual for the Compact Vision System.
FW10000 to FW65535 FW7000 to FW8999
System parameters. They are described in the system parameter help in the "System Parameter" window in CheckKon.
237
Software-Paket CheckOpti – Version 3.1 The following flagwords have no defined function for the device, i.e. they can be used freely (e.g. for storing or buffering values or for exchanging data with CoDeSys or other controllers). Flagword
Memory area
FW320 to FW383
1)
FW9000 to FW9999
Main memory of the Compact Vision System – These flagwords are not permanently stored, i.e. the data of these flagwords is lost when the device is switched off. – These flagwords are read and written faster than other flagwords. – External controllers can write to these flagwords during the evaluation also. 2)
Read-only memory of the Compact Vision System – These flagwords are permanently stored, i.e. the data of these flagwords is available again after the device is restarted.
1) Only with SBO...-Q with firmware as of version 3.5 2) Depending on the firmware version The freely usable flagwords of the read-only memory (FW9000 to FW9063) are also visible in the system parameters of CheckKon, where they are displayed as values of the type int16. The freely usable flagwords of the main memory (FW320 to FW383 - as of firmware version 3.5 only) are not visible in CheckKon.
–
An individual flagword corresponds to a memory size of 2 bytes (16 bits) and is therefore in accordance with the value types – int16 – uint16 – int16 / 100 – etc.
–
Other value types (e.g. int32) use several successive flagwords depending on their size. In these cases the flagword address corresponds to the first of the flagwords used. Note
• Make sure that the flagword address and the value type are chosen correctly if a value is to be read or written. This is very important for the conversion and for the flagword access operation. Available as of: – Firmware version 3.4 Tool type: – Tool for reading/writing selected flagwords (FW) in the device Name (tool name): – Default name: FW Function: – Defines the action to be carried out – Read Flagword – Write Flagword Changed values in system parameter flagwords (FW7000 to FW8999) are only used in the subsequent evaluation (in exceptional cases only in the next evaluation but one).
238
Tools and features for SBO...-Q –
Once, on check program load: – The function is executed just once, immediately after the check program has been loaded (e.g. following the check program accept signal). The read value is used for all checks (parts). Since there are no feature values available when the check program is loaded, no features can be referenced when using the "Once, on check program load" option.
Figure: "Tool properties" window – "Function" tab for Flagword access Flagword address: – Defines the address of the flagword to be read/written. The addresses of the results and states of the camera can be found in the appendix of the manual for the Compact Vision System. The addresses of the system parameters can be found in the dynamic help for the "CheckKon" software in the "System Parameter" window. Value type: – Defines the type of the flagword to be read/written. The value types of the results and states of the camera can be found in the appendix of the manual for the Compact Vision System. The value types of the system parameters can be found in the dynamic help for the "CheckKon" software in the "System Parameter" window. Alternative value: The alternative value is used and output as a result feature if the limits are exceeded or if the read/write operation fails. Note The read and write operation cannot be simulated in CheckOpti. CheckOpti always uses the alternative value as a feature value if the "Read Flagword" option is used. The check program must be transferred to the device and used there to read the values from or write the values to the device.
239
Software-Paket CheckOpti – Version 3.1 Additional parameters with "Write Flagword" action
Figure: "Tool properties" window – "Function" tab for Flagword access Value to be written: – The specified value is written to the flagword provided the preset value limits are adhered to. Value limits for writing: minimum ... maximum ...: – Minimum and maximum of the value to be written to the flagword. Procedure with function = Read Flagword The specified flagword is read and then output as a result feature during each evaluation or when the check program is loaded (depending on the "Once, ..." option). – This means that the value is available for the subsequent tools, for example as a reference feature. – The actual flagword of the device is not accessed when creating the check program in CheckOpti, instead the value entered under "Alternative value" is always used. Procedure with function = Write Flagword The value is written to the specified flagword during each evaluation or when the check program is loaded (depending on the "Once, ..." option). – The written value is the feature result of the tool. – If the value to be written is not within the value limits, the alternative value is written and output as the tool's result. Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Read Flagword
Value read by the flagword
3.4
2
Write Flagword
Value written to the flagword
3.4
Application: – Changing system parameters as appropriate to the check program – Exchanging values with CoDeSys (e.g. by means of flagwords reserved for this purpose) Calculation time: – Short
240
Tools and features for SBO...-Q Example for the Flagword access tool
Figure: Preset number correct
Figure: Preset number not correct
Task: To remove a specific number of parts from a bulk goods container in an automated removal operation. The required number can vary from one removal operation to another. The master controller should therefore be able to flexibly specify this number to the Compact Vision System. Solution: The target number is specified by a master controller via Telnet. This number is written to the flagword FW9000 to this end (e.g. 9 units "WFW 9000, 9"). The Flagword access tool reads out this value and adds it as a feature value to the feature list. This means that it is available for further processing in the check program. The Blob finder tool is used to ascertain the actual number of parts in the image. The "Math/logic function" tool (comparison function) then determines whether the number of parts matches the specified number. Settings in the "Tool properties" window – "Function" tab – Function: Read Flagword – Once, on check program load: this option is NOT enabled (i.e. it is read again during each check) – Flagword address: 9000 – Value type: unit16 – Alternative value: 9 CheckOpti cannot simulate the reading or writing of flagwords (these only exist in the Compact Vision System). •
To test flagword access operations, transfer the check program to the Compact Vision System and then monitor the procedure with the help of CheckKon.
The value type preset decides the value range, the precision and the number of flagwords used for this purpose (as of the specified flagword address). Value types with "..16" need 1 flagword, value types with "..32" need 2 flagwords, value types with "..64" need 4 flagwords.
• Make sure when writing flagwords that appropriate distances between the flagword addresses used are adhered to in order to avoid overwriting.
241
Software-Paket CheckOpti – Version 3.1
8.9.4
I/O access This tool enables the check program to access: – integrated input/outputs of the Compact Vision System, – inputs/outputs of the I/O expansion. These inputs and outputs are read or set depending on the feature results.
Available as of: – Firmware version 3.4: Setting the internal outputs – Firmware version 3.5: Reading and setting: – the internal inputs and outputs of the SBO...-Q, – the inputs/outputs of the I/O expansion. Tool type: – Tool for reading and setting: – the internal inputs I0, I1 and outputs O0, O1, O2 of the device, – the inputs and outputs of the I/O expansion (CP-A04-M12-CL, CP-E08-M12-CL). Application: – Changing digital outputs depending on check program features. – Influencing the check program from the outside by means of signals at digital inputs. – Integrating an external sensor (including signals from a device e.g. SBO...-Q) in the check using this Compact Vision System. Calculation time: – Short
Figure: "Tool properties" window – "Function" tab for I/O access
242
Name
Name (tool name) – Default name: I/O
Function
Defines the action to be carried out.
Set output when
Condition for setting the output with option to invert the result.
Tools and features for SBO...-Q Ref. feature / value
Reference to a feature whose value or deviation is critical in setting the selected output.
Lower limit of range (minimum)
Specification of the lower range limit for the comparison with
.
Upper limit of range (maximum)
Specification of the upper range limit for the comparison with
.
Assume input as '1' in CheckOpti
Option for use exclusively in CheckOpti. This setting enables you to set the selected input for simulations. This setting can only be used with "Read inputs" functions.
The input fields for the lower and upper limit of range are only visible under the following conditions ( "Set output when:"). – "Value within range (min. <= value <= max.)" or – "Value outside of range (value < min. or value > max.)" Functions of the feature No. Function
Description
As of firmware ...
1
Set internal output O0 (after evaluation)
Sets the output O0
3.4
2
Set internal output O1 (after evaluation)
Sets the output O1
3.4
3
Set internal output O2 (after evaluation)
Sets the output O2
3.4
4
Read internal input I0 (after image acquisition)
Reads the input I0
3.5
5
Read internal input I1 (after image acquisition)
Reads the input I1
3.5
6
Set I/O Exp. output O0 (after evaluation)
Sets the output O0
3.5
7
Set I/O Exp. output O1 (after evaluation)
Sets the output O1
3.5
8
Set I/O Exp. output O2 (after evaluation)
Sets the output O2
3.5
9
Set I/O Exp. output O3 (after evaluation)
Sets the output O3
3.5
10
Read I/O Exp. input I0 (after image acquisition)
Reads the input I0
3.5
11
Read I/O Exp. input I1 (after image acquisition)
Reads the input I1
3.5
12
Read I/O Exp. input I2 (after image acquisition)
Reads the input I2
3.5
13
Read I/O Exp. input I3 (after image acquisition)
Reads the input I3
3.5
14
Read I/O Exp. input I4 (after image acquisition)
Reads the input I4
3.5
15
Read I/O Exp. input I5 (after image acquisition)
Reads the input I5
3.5
16
Read I/O Exp. input I6 (after image acquisition)
Reads the input I6
3.5
17
Read I/O Exp. input I7 (after image acquisition)
Reads the input I7
3.5
Conditions for setting the outputs No.
Condition
1
Ref. feature good
2
Ref. feature bad
3
Value > 0
2) 3)
1)
1)
Description
As of firmware ...
Sets the output when the selected "Ref. feature" is graded as "good" during the check against the teach data.
3.4
Sets the output when the selected "Ref. feature" is graded as "bad" during the check against the teach data.
3.4
Sets the output when "Ref. feature / value" is greater than 0.
3.4
243
Software-Paket CheckOpti – Version 3.1 No.
Condition
Description
As of firmware ...
4
Value <= 0
Sets the output when "Ref. feature / value" is less than or equal to 0.
3.4
5
"Value within range (min. 2) <= value <= max.)"
Sets the output when "Ref. feature / value" is within the specified range.
3.5
6
"Value outside of range (value < min. or value > 2) max.)"
Sets the output when "Ref. feature / value" is outside the specified range.
3.5
2) 3)
1) The feature value of the tool is always "invalid" with this function since the check against the teach data only takes place after the feature value is calculated. The respective outputs are nevertheless set provided the specified condition is satisfied. 2) The feature value of the tool is "0" if the output has not been set and "1" if the output has been set. 3) The result is always invalid with firmware version 3.4. General information on reading inputs Note No specific system parameter settings are required to enable the tool to access the inputs. The inputs must, however, be set using appropriate system parameters so that signals at these inputs do not have any other effects ( CheckKon, System Parameter window).
• Set the inputs used to the setting "Check program". General information on setting outputs Note Outputs can only be set (24 V), they cannot be reset (0 V). This enables the outputs to be accessed by multiple tools.
• Note that an output remains set once it has been set by a tool. All outputs are reset after the device outputs results. Reading internal inputs The internal inputs are read in immediately after the image is acquired. The duration of image acquisition can be determined using a system parameter:
Figure: System parameter "Duration of image acquisition from trigger" •
Make sure that the signals are still available at the internal inputs at the point in time after image acquisition.
Setting internal outputs Note In order for the I/O access tool to be able to set an output of the device or an output of the I/O expansion, the system parameters of the respective outputs must be set ( CheckKon, System Parameter window).
• Set the outputs used to the setting "Check program".
244
Tools and features for SBO...-Q
Figure: System parameter for internal inputs/outputs Note The outputs are not set immediately after the tool is calculated, but rather only when the device is outputting results. Inputs/outputs of the I/O expansion To use inputs or outputs of the I/O expansion (external CP modules): •
Connect the modules to the bus interface of the device ( device manual).
•
Configure the system parameters of the I/O expansion ( CheckKon, System Parameter window) as follows:
Figure: System parameters of the I/O expansion Reading inputs of the I/O expansion: The inputs of the I/O expansion are read in immediately after the image is acquired. The duration of image acquisition can be determined using a system parameter:
Figure: System parameter "Duration of image acquisition from trigger" •
Make sure that the signals are still available at the inputs of the I/O expansion at the point in time after image acquisition.
Setting outputs of the I/O expansion: Notes The outputs are not set immediately after the tool is calculated, but rather only when the device is outputting results.
• Note that latency or jitter can occur since the outputs are connected via a bus.
245
Software-Paket CheckOpti – Version 3.1 Example for the I/O access tool
Figure: Track in the centre (x = 320 +/-5)
Figure: Track to the right of centre (x = 320 +/-5)
Task: The Compact Vision System is to actuate a positioning system, as a high-speed actuator feedback system, so that it follows a preset track. The direction of movement of the track is vertical; the horizontal track correction is output as a 24 V signal: one signal for "move to the left" and one signal for "move to the right". No signal is output if the system is in the centre (+/-5 pixels). Solution: The necessary correction direction is determined with the help of the ROI tool, "X coord. center of gravity" feature and with different Math/logic function tools. The correction direction is ultimately displayed by means of two features with either the value 1 if post-correction is required in the corresponding direction or otherwise the value 0. The correction is output to the outputs O0 or O1 as a 24 V signal using an I/O access tool for each output operation. The system parameters of the camera must be configured appropriately to achieve the highest possible evaluation rate: – Acquisition mode = Free run – Exposure time = 1 ms – Restrict image field region – etc. Settings in the "Tool properties" window – "Function" tab – Function: Set output O0 (or O1) – Set output when: Value > 0 – Ref. feature / value: Selection of the assigned Math/logic function Appropriate system parameters must be set in order that the I/O access tool can control the outputs.
246
Tools and features for SBO...-Q
8.9.5
Coordinate transformation This tool can carry out transformations between image coordinates and the associated world coordinates. This is done on the basis of the calibration values ( section: "Calibration of coordinate transformation" wizard) that can be loaded by the camera or imported from a file when identifying the target system ( section: Defining the target device type and the project properties).
The transformation of individual features between the coordinate system of the device (image coordinates) and the actual world coordinates is necessary if – coordinates detected in the image by the device (e.g. the position of a part) are to be used for operations in the real world (e.g. gripping the part), – errors due to distortion of the lens are to be corrected for accurate measurements, – automatic coordinate transformation of the features ( section: "Project properties" window) is not used or is not supported for a desired feature, – just a few features are to be transformed and automatic coordinate transformation for all features would take too long. The transformation takes the following influencing factors into consideration: – Twisting of the device relative to the world coordinate system – Real coordinate system and coordinate system of the device are not parallel (device alignment is skewed) – Position in Z direction (height) – Distortions caused by the lens. Notes
• See the section "Calibration of coordinate transformation" wizard. The coordinate transformation must be recalibrated if external influences change. Available as of: – Firmware version 3.3 Tool type: – Tool for mathematical transformation of previously calculated values (coordinates or angles). Name (tool name): – Default name: Coordinate transformation Function: – Transformation from image to world – Transformation from world to image This tool uses X/Y coordinates and angles (e.g. feature values from other tools such as Blob finder) as a basis for ascertaining the associated world or image coordinates. Input values: – X coordinate in the output coordinate system – Y coordinate in the output coordinate system – Angle in the output coordinate system (only if "Angle" was selected as the feature) – Z coordinate in the world coordinate system: The Z coordinate cannot be ascertained from the 2D image produced by the camera and must generally be ascertained manually by the user. Considerable deviations should be expected if the value is not correctly preset. The general Z value of the check program can also be selected as a reference feature as of firmware version 3.5.
247
Software-Paket CheckOpti – Version 3.1
Figure: "Tool properties" window – "Function" tab for Coordinate transformation Features calculated using this tool: No.
Name
1
X coordinate
2
Y coordinate
3
Angle at X, Y 1) coordinate
Description
As of firmware ...
1)
X coordinate in the target coordinate system
3.3
1)
Y coordinate in the target coordinate system
3.3
Angle in the target coordinate system
3.3
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Application: – Tool for supporting gripping operations (e.g. using a robot, multi-axis system, etc.) Calculation time: – Short
248
Tools and features for SBO...-Q Example for the Coordinate transformation tool
Figure: Coordinate transformation tool Task: To grip square and round parts using a handling system and place them at different positions. Solution: The Blob finder tool is used to detect the position of three round and three square parts (one tool per part). •
Create a separate Coordinate transformation tool for each blob found. This compensates for lens distortion and skewing of the camera with respect to the part position.
Settings in the "Tool properties" window – "Function" tab – Function: Transformation from image to world – Features: X coordinate Y coordinate – Z coordinate (in the world coordinate system): 0 with squares 5 with circles (circles are 5 mm higher) The Coordinate transformation tool is only as precise as the previous calibration of the coordinate transformation ( section: Wizards).
• Repeat the calibration if you make any changes to the position or camera lens.
The calibration of the coordinate transformation is normally carried out directly on the surface where the parts are to be placed using a calibration pattern printed out on paper. The Z coordinate = 0 defines the plane of the calibration pattern. The test parts themselves have a height (in Z direction) above the calibration plane that must be taken into consideration in the transformation.
• Make sure that the Z coordinate for the tool is preset correctly.
249
Software-Paket CheckOpti – Version 3.1
8.10 SBO...-Q Tools Add-In tools In addition to the tools installed on all Compact Vision Systems, "SBO...-Q Tools Add-In" tools that require a licence (e.g. tools for reading bar codes) are also available. To be able to use these tools on the device, there must be a valid licence of the type "SBO...-Q Tools Add-In" (type GSLO-S1) on the device. The licence for these tools is pre-installed on Compact Vision System types ending in -S1 and can be purchased after the fact for Compact Vision System types not ending in -S1. The "SBO...-Q Tools Add-In" licence is linked to the device's unique ID. This means that it unlocks the respective tools on the associated Compact Vision System only and cannot be transferred to other devices. If a licence is ordered after the fact for a Compact Vision System, the unique ID of the device (a 12-digit hexadecimal code) must be specified. The unique ID is displayed: – in the "System Information" window in CheckKon 4.1 (as of Rel. 02), – in the "System Information" window in CheckOpti as of version 3.0 ( "Project documentation" window - "Device" tab - "Show..." button), – in the main window of the SBO DeviceManager as of version 1.2. In order for CheckOpti to make the SBO...-Q Tools Add-In tools available, these must be enabled in the project properties ( section: "Project properties" dialog window). This is done automatically if a device with a GSLO-S1 licence installed is linked via "Identify SBO...-Q". However it can also be specified manually by the user ( "Firmware Add-Ins" drop-down list).
Figure: "Project properties" dialog window Starts automatic identification of the target device Selection of the target device Selection of the firmware version (firmware of target device) Selection of firmware add-ins
The SBO...-Q Firmware Add-In licence (file of the type *.sboa ; a = add-in) can be transferred to the device using the SBO DeviceManager as of version 1.2. It is stored there and is not overwritten when firmware is transferred to the device. Note The licence on the device can be overwritten or deleted if an (old) backup of the device without licence is restored with the help of the SBO DeviceManager.
• You must therefore transfer the licence to the device again afterwards.
250
Tools and features for SBO...-Q
8.10.1 Datamatrix code reader/checker The tool can read datamatrix codes and at the same time check their quality (readability). This enables, for example, serial numbers, expiration dates, etc. to be read and checked.
Figure: Needle-printed datamatrix code Available as of: – Firmware version 3.3 – Requires additional SBO...-Q Tools Add-In of the type GSLO-S1 on the device Tool type: – Reading datamatrix codes – Verifying the print or read quality of datamatrix codes to ISO 15415 Name (tool name): – Default name: DATACODE Shape (of the tool region): – Entire image ("Position" and "Rotation" tabs not displayed) – Rectangular region (the tool region is set on the "Position" and "Rotation" tabs) Calculate on: – Camera image - colour images are first converted to a grey scale image Code type (datamatrix codes supported): – ECC 200 – QR – 2D – PDF 417 (as of firmware version 3.4) Accept matrix size independent of teach procedure (sample parts) (as of firmware version 3.4): – If this option is used, datamatrix codes with a different grid to the sample parts will also be recognised. The use of this option is recommended. Color channel (as of firmware version 3.4, only available with SBO...-Q-R...C): The datamatrix code reader/checker works exclusively on the grey scale image. It is therefore necessary in the case of colour images to define how a grey scale image is created from the colour image data. Choose from: – Color to grey image: uses all three colour channels and converts these to a grey scale image – Use red channel as grey image: uses just one of the three colour channels – Use green channel as grey image: uses just one of the three colour channels – Use blue channel as grey image: uses just one of the three colour channels
251
Software-Paket CheckOpti – Version 3.1 Evaluation time: – Limits the evaluation time roughly to the specified value. The evaluation is aborted if the evaluation time is reached. The features are then invalid. This option can be used if a preset cycle time must not be exceeded.
Figure: "Tool properties" window – "Function" tab for Datamatrix code reader/checker Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Code data
Text and/or digits of the recognised code as a text feature.
3.3
2
Code quality
Result of the verification to ISO 15415.
3.3
3
Contrast
Evaluation of the difference in brightness between white and black dots. Important: The lighting of the reading devices is not standardised, i.e. different lighting will produce different values.
3.3
4
Modulation
Difference in brightness between the light dots and difference in brightness between the dark dots in the data field.
3.3
5
Damage
Percentage of corrupt data.
3.3
6
Decode
Use of the reference decoding algorithm defined in the ISO standard for decoding the code. Result: "passed" or "not passed"
3.3
7
Axial nonuniformity
A datamatrix code always has a defined ratio of width to height. This can result in distortion, particularly with speed-dependent writing devices. This parameter specifies limits for certain print quality grades.
3.3
252
Tools and features for SBO...-Q No.
Name
Description
As of firmware ...
8
Grid nonuniformity
As on a chess board, the individual fields are uniformly spaced in horizontal and vertical lines. The correct assignment of a data bit is only possible if its coordinates are correct. The coordinates are derived from the theoretically correct grid. This parameter evaluates deviations from this grid. Shifting and distortion of the bit position will generally result from transport problems in the case of thermal transfer printers or dot marking machines.
3.3
9
Unused error correction
The data is created with a redundant data overhead in order to be able to detect and correct errors. Errors are corrected byteby-byte. The use of this error correction byte is an indirect quality criterion. The more it is used, the worse the code.
3.3
10
X coord. 1) center
X coordinate of the centre point of the code.
3.3
11
Y coord. 1) center
Y coordinate of the centre point of the code.
3.3
12
Angle
Alignment of the code in degrees to the horizontal.
3.3
1)
1) Feature supports automatic coordinate transformation as of firmware version 3.5 The quality parameters are specified on a scale from 0 to 4, where 4 is the best quality and 0 is the worst quality. The overall quality of the code ("Code quality" feature) is derived from the lowest of all ascertained values. Application: – Special tool for reading and checking datamatrix codes (2D data codes) – Identification Calculation time: – Medium to long Note Using this tool takes up a lot of memory on the Compact Vision System. For that reason, the number of these tools that can be used per check program is extremely limited. The maximum number of these tools depends on their settings. This means that the memory requirement and therefore the maximum number of tools cannot be determined in advance.
• Determine the maximum number of tools that can be used by means of tests on the Compact Vision System. You may see the error message E46.
253
Software-Paket CheckOpti – Version 3.1 Example for the Datamatrix code reader/checker tool
Figure: Datamatrix code reader/checker tool Task: To read a needle-printed datamatrix code on a part made from die cast aluminium in order to guarantee uninterrupted traceability of the test parts. Solution: •
Add the Datamatrix code reader/checker tool to your check program.
•
Set the tool region on the "Position" tab in the "Tool properties" window so that the datamatrix code is within the search window in all possible positions and turning positions. The datamatrix code can be read with good reliability despite rotation, changes in lighting and distortion. Settings in the "Tool properties" window – "Function" tab – Code type: ECC 200 – Evaluation time: 1000 ms – Feature: Code data The more difficult a code is to read (poor contrast, severe distortion, etc,), the longer the Compact Vision System will need to read it.
• Define a maximum time in the "Evaluation time" input field after which the evaluation is aborted and the tool is set to "invalid". Make sure that parts do not continue on to the following machine without first having been checked.
If datamatrix codes with data fields of different sizes occur in your production, enable the "Accept matrix size independent of teach process" option on the "Function" tab in the "Tool properties" window.
If there are several datamatrix codes of the same type (e.g. ECC 200) in the search window, the most legible code will be read.
254
Tools and features for SBO...-Q
8.10.2 Bar code reader The tool can recognise bar codes in the camera image. This enables, for example, serial numbers, expiration dates, etc. to be read.
Figure: Ean13 bar code Available as of: – Firmware version 3.3 – Requires additional SBO...-Q Tools Add-In of the type GSLO-S1 on the device Tool type: – Reading different types of bar codes Name (tool name): – Default name: BARCODE Shape (of the tool region): – Entire image ("Position" and "Rotation" tabs not displayed) – Rectangular region (the tool region is set on the "Position" and "Rotation" tabs) Calculate on: – Camera image - colour images are first converted to a grey scale image
255
Software-Paket CheckOpti – Version 3.1
Figure: "Tool properties" window – "Function" tab for Bar code reader Bar code type (bar codes supported): – EAN-13, EAN-13 Add-On 2, EAN-13 Add-On 5 – EAN-8, EAN-8 Add-On 2, EAN-8 Add-On 5 – 2/5 Industrial – 2/5 Interleaved – Codabar – Code 39, Code 93 , Code 128 – UPC-A, UPC-A Add-On 2, UPC-A Add-On 5 – UPC-E, UPC-E Add-On 2, UPC-E Add-On 5 – PharmaCode – GS1 Databar – GS1 Databar Limited – GS1 Databar Expanded – GS1 Databar Truncated Firmware 3.4 – GS1 Databar Stacked Firmware 3.4 – GS1 Databar Stacked Omnidir Firmware 3.4 – GS1 Databar Expanded Stacked Firmware 3.4 Contrast (as of firmware version 3.4): – Contrast threshold between bar code line and interspace. – Bar code lines are recognised if there is contrast between the lines and the background. The set contrast threshold influences this recognition function. It is recommended to increase the contrast threshold if image interference or noise is possible. – The value 0.05 is used by default. Minimum/Maximum distance and size of bar code lines (as of firmware version 3.4): – Defines the thickness or size (in pixels) that the bar code lines of the bar codes to be recognised must be in order to be read. The sizes can be ascertained, for example, using the mouse and the tape measure function from the "Part contour" window. – With firmware version 3.3, the value 2 is used for the minimum and the value 8 for the maximum; with firmware version 3.4, the value 1 is used by default for the minimum and the value 8 for the maximum.
256
Tools and features for SBO...-Q Additional accepted turning (+/-) to tool alignment (as of firmware version 3.4): – Value range 0...90 – The alignment of the bar code is permitted to deviate from the alignment of the tool by this angular value. – Default value 90 (with firmware version 3.3) Color channel (as of firmware version 3.4, only available with SBO...-Q-R...C): The bar code reader works exclusively on the grey scale image. It is therefore necessary in the case of colour images to define how a grey scale image is created from the colour image data. Choose from: – Color to grey image: uses all three colour channels and converts these to a grey scale image – Use red channel as grey image: uses just one of the three colour channels – Use green channel as grey image: uses just one of the three colour channels – Use blue channel as grey image: uses just one of the three colour channels Features calculated using this tool: No.
Name
Description
As of firmware ...
1
Code data
Text and/or digits of the recognised code (without check character if applicable) as a text feature.
3.3
2
X coord. center
1)
X coordinate of the center point of the code.
3.4
3
Y coord. center
1)
Y coordinate of the center point of the code.
3.4
4
Angle
Alignment of the code in degrees to the horizontal.
3.4
1)
1) Feature supports automatic coordinate transformation as of firmware version 3.5 Application: – Reading 1D bar codes Calculation time: – Medium to long Note Using this tool takes up a lot of memory on the Compact Vision System. For that reason, the number of these tools that can be used per check program is extremely limited. The maximum number of these tools depends on their settings. This means that the memory requirement and therefore the maximum number of tools cannot be determined in advance.
• Determine the maximum number of tools that can be used by means of tests on the Compact Vision System. You may see the error message E46.
257
Software-Paket CheckOpti – Version 3.1 Example for the Bar code reader tool
Figure: Bar code turned, distorted and in poor lighting conditions Task: To reliably read a bar code on packaging in poor lighting conditions and store it in a database. Solution: •
Add the Bar code reader tool in the "Part contour" window.
•
Set the tool region on the "Position" tab in the "Tool properties" window so that the bar code is within the search window in all possible positions and turning positions. The bar code can be read with good reliability despite rotation, changes in lighting and distortion. Settings in the "Tool properties" window – "Function" tab – Code type: EAN-13 – Feature: Code data The more difficult a code is to read (poor contrast, severe distortion, etc.), the longer the Compact Vision System will need to read it. Unlike the datamatrix code reader/checker, however, the tool cannot be interrupted.
• You should therefore make sure by means of tests that the max. reading time will not result in parts being able to continue to the next machine without first having been checked.
• Use the "Abort processing after =" parameter in the CheckKon software package if necessary to interrupt processing after the tool.
If there are several bar codes of the same type (e.g. EAN-13) in the search window, the most legible code will be read.
258
Tools and features for SBO...-Q
8.10.3 Text recognition (OCR) The tool can recognise texts, letters or digits in the camera image. This enables, for example, serial numbers, expiration dates, etc. to be read and checked.
Figure: Reading needle-printed letters Available as of: – Firmware version 3.4 – Requires additional SBO...-Q Tools Add-In of the type GSLO-S1 on the device Tool type: – Reading characters and digits Name (tool name): – Default name: OCR Calculate on: – Camera image A prerequisite for text recognition is that the tool region is aligned at the same angle as the character string. The text to be read must be above the tool's green help line; the reading direction is from left to right.
Figure: Text recognition (OCR) – alignment of the tool region Calculation time: – Long Note Using this tool takes up a lot of memory on the Compact Vision System. For that reason, the number of these tools that can be used per check program is extremely limited. The maximum number of these tools depends on their settings. This means that the memory requirement and therefore the maximum number of tools cannot be determined in advance.
• Determine the maximum number of tools that can be used by means of tests on the Compact Vision System. You may see the error message E46.
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Software-Paket CheckOpti – Version 3.1 Tool properties for Text recognition (OCR) – "Function" tab
Figure: "Tool properties" window – "Function" tab for Text recognition (OCR) Name (tool name): – Default name: OCR Shape (of the tool region): – Entire image ("Position" and "Rotation" tabs not displayed) – Rectangular region (the tool region is set on the "Position" and "Rotation" tabs) Font type: – Font types available for the recognition function. The font types include different typefaces, fonts and types of printing used in the specified applications. Variants with different character sets and/or different recognition speeds (or quality) are provided for each font type. •
Use the fast variant of the font type if possible, provided that the recognition function works reliably with this variant.
The following font types are available: Font type
Recognition
Explanation
Industrial
– Numbers only, very fast
Combines different typefaces, fonts and types of printing as they frequently occur in industrial applications.
– Numbers only, fast – Numbers only – All characters, fast – All characters
Needle print
– Numbers only – All characters, fast – All characters
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Combines different typefaces and fonts as they frequently occur in needle printing techniques.
Tools and features for SBO...-Q Font type
Recognition
Explanation
Pharmaceutical
– Numbers only
Combines different typefaces, fonts and types of printing as they frequently occur in applications in the pharmaceutical area.
– All characters, fast – All characters
Documents
– Numbers only – All characters, fast – All characters
OCR-A character set
– Numbers only
Combines different typefaces, fonts and types of printing as they frequently occur in documents. OCR-A is specified in ANSI INCITS 17-1981.
– All characters, fast – All characters
OCR-B character set
– Numbers only
OCR-B is specified in ISO 1073-2.
– All characters, fast – All characters
Semicon character set
– All characters, fast
Applicationspecific (creation on request)
– Application-specific 1
– All characters
– Application-specific 2 – Application-specific 3
Combines different typefaces, fonts and types of printing as they frequently occur in applications in the semiconductor industry. The Festo service centre can create new font types for special applications; these font types are designed specifically for the character font to be recognised. This is a good idea if, for example, recognition using the standard font types (see above) is not reliable or if the evaluation time is to be very short. Contact the Festo service centre.
Height of characters/Width of characters: These two parameters can be used to set the size of the letters (in pixels) to be recognised. The parameters exert a significant influence on the recognition rate (slight deviations in size will be accepted by the tool). The height and width parameters can also be set in the display area (bottom part of the tab) using the mouse. Separation: This parameter defines how two successive characters are separated for the recognition function. – Off No specific separation is used – Fixed width When separating the characters, the tool assumes that all characters have the same width (nonproportional font type). The "Width of characters" parameter specifies the width of a character (in pixels). – Variable width When separating the characters, the tool assumes that all characters have different widths (proportional font type). Example: An 'i' is narrower than an 'O'.
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Software-Paket CheckOpti – Version 3.1 Character style: This parameter can be used to specify the font weight of the characters to be recognised. The specification refers to the line thickness of the font compared to its size. – Very thin – Thin – Medium – Bold Features: The recognised text as a text feature. Display area: The image processed by the tool is shown here. – The height and width of the font can be set here using the mouse. The text recognised by the tool is shown below the display area.
Figure: Display area in the "Tool properties" window – "Function" tab
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Tools and features for SBO...-Q Tool properties for Text recognition (OCR) – "Settings" tab
Figure: "Tool properties" window – "Settings" tab for Text recognition (OCR) Recognize bright characters on dark background: The "Text recognition (OCR)" tool always expects dark characters on a light background. This option must be enabled if this is not the case, i.e. the font is light and the background is dark. The brightness values of the image are then inverted so that the characters are once more darker than the background. Recognize special characters (+-*/,öäü...): If special characters are also to be recognised, enabling this option helps with their recognition. Recognize needle print: If the characters were created by means of a needle printing technique, enabling this option helps with their recognition. Recognize automatic detection text alignment: The alignment of the tool region should match the text alignment to within a few degrees (approx. +/-3°), otherwise the characters cannot be reliably recognised. If a deviation between the tool region and the font alignment is unavoidable, enabling this option helps with recognition. The tool will attempt to detect and correct the alignment of the font automatically. Automatic detection of the text alignment only works reliably with strings of five characters or more.
Recognize text with slant (max. +/-45°): If the characters are printed in italics, enabling this option helps with their recognition. Automatic detection of italic font only works reliably with strings of five characters or more.
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Software-Paket CheckOpti – Version 3.1 Recognize text supported by rules (entry format: regular expression): The recognition of characters using the "Text recognition (OCR)" tool can be supported through the specification of rules. A rule specifies the characters and/or character strings expected. • Enter the specifications in the associated text field after enabling this option. Rules as per the familiar "regular expressions" are accepted to this end. Extract from the regular expression rules: ^
Stands for the start of the character string.
$
Stands for the end of the character string (a subsequent line break is permitted).
.
Stands for any character apart from line break.
[...]
Stands for every character literal in brackets. If the first character is a '^', this corresponds to any character apart from those in the list. The character '-' as in '[A-Z, 0-9]' can be used to specify character ranges. Other characters lose their special meaning in brackets, apart from '\'.
*
Permits 0 or more repetitions of the preceding literal or the group.
+
Permits 1 or more repetitions.
?
Permits 0 or 1 repetition.
{n,m}
Permits n to m repetitions.
{n}
Permits exactly n repetitions. The above repetition quantifiers are greedy by default, i.e. they try to maximise the length of the match. A minimum match can be found by appending a '?', for example '+?'.
()
Groups one partial pattern and creates a registration group. The partial character strings registered by this group are saved separately.
(?: )
Groups one partial pattern without creating a registration group.
\
Protects every special character in front of it (they are treated as literals).
• Note that some host languages such as C/C++ use the backslash as a general escape character. In this case, '\\.' stands for a dot character and '\\\\' for the backslash character. There are also a number of special codes (where the version in uppercase is the negation): \d,\D Stands for a digit \w,\W Stands for a letter, digit or underscore \s,\S Stands for a space \b,\B Stands for a word boundary
Example: A date with the format DD.MM.YYYY is to be read. Both the characters to be expected and their order are known. – 2 digits – Dot – 2 digits – Dot – 4 digits The following specifications would therefore be appropriate: \d{2}.\d{2}.\d{4} The recognition certainty can be greatly increased by specifying rules.
Display area: The image processed by the tool is shown here. The text recognised by the tool is shown below the display area.
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Tools and features for SBO...-Q Tool properties for Text recognition (OCR) – "Threshold" tab
Figure: "Tool properties" window – "Threshold" tab for Text recognition (OCR) Color channel: Is only displayed with SBO...-Q-R...C. The Text recognition tool works exclusively on the grey scale image. It is therefore necessary in the case of colour images to define how grey scale images are created from the colour image data. Choose from: – Color to grey image: uses all three colour channels and converts these to a grey scale image. – Use red channel as grey image: uses only the red colour channel. – Use green channel as grey image: uses only the green colour channel. – Use blue channel as grey image: uses only the blue colour channel. Threshold type: Specifies the function to be used to separate the characters from the background. – Simple threshold: This threshold function works the fastest, but needs good contrast between the character and background. The brightness of the font and background should the same if possible throughout the tool region. See below for specification of the thresholds. – Automatic threshold for noise image: Threshold function for applications where image noise can occur in the tool region. See below for specification of the thresholds. – Automatic threshold for inhomogeneous illumination: Threshold function for applications where the brightness of the background and/or the font in the tool region is distributed unevenly, for example one part of the tool region is brighter than another. See below for specification of the thresholds. – Threshold from local change in brightness: Threshold function for applications where the font and background can have different brightness values and the separation of the two is only possible through specification of a relative brightness difference. See below for specification of the thresholds.
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Software-Paket CheckOpti – Version 3.1 1.
Display and entries with threshold type = Simple threshold
Figure: "Tool properties" window – "Threshold" tab, threshold type = Simple threshold Lower threshold (blue line in the histogram)/Upper threshold (green line in the histogram): Pixels with a brightness value within the lower and upper threshold are interpreted as characters, pixels outside these thresholds are interpreted as background. The thresholds can be set by entering the values as well as using the mouse in the "Histogram" display. Histogram: A histogram of all pixels in the tool region is displayed to help with the specification of the thresholds. The thresholds can be specified using the mouse. The lower threshold is represented as a blue vertical line and the upper threshold as a green vertical line. 2.
Display and entries with threshold type = Automatic threshold for noisy image
Figure: "Threshold" tab, threshold type = Automatic threshold for noisy image Additional offset to the automatic threshold: – The value of this parameter defines the offset to be used for automatic separation of the characters from the background.
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Tools and features for SBO...-Q 3.
Display and entries with threshold type = Automatic threshold for inhomogeneous illumination
Figure: "Threshold" tab, threshold type = Automatic threshold for inhomogeneous illumination Min. brightness difference between characters to background: – The value of this parameter defines the minimum brightness difference to be used for automatic separation of the characters from the background. 4.
Display and entries with threshold type = Threshold from local change in brightness
Figure: "Threshold" tab, threshold type = Threshold from local change in brightness Min. brightness difference between characters to background: – The value of this parameter defines the minimum brightness difference to be used for automatic separation of the characters from the background. Example for the Text recognition (OCR) tool
Figure: Read text correct
Figure: Read text not correct
Task: To identify a product that comes in different versions on a workpiece holder during a work step. It must be ensured that only the type "SBOC-Q-R2C" is used in this work step. Solution: • Start by ascertaining the approximate position of the type code using a tool. This result is then used as a reference by the "Text recognition (OCR)" tool for its own positioning purposes. This ensures that the code can be read even if the position of the workpiece holder is changed. •
Specify the properties of the characters to be read. This enables the "Text recognition (OCR)" tool to read the text reliably. The reliability of text recognition is determined by the font type, character size and threshold in particular.
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Software-Paket CheckOpti – Version 3.1 The recognition can also be improved if the "Text recognition (OCR)" tool has additional information about the structure of the text, i.e. if rules for recognition are specified. In this example, the type code consists of the following combinations: "SBO" + "I" or "C" + "Q" or "M" + "R" + "1" or "2" or "3" + "B" or "C" Settings in the "Tool properties" window – "Function" tab – Font type: Industrial (all characters, fast) – Height of characters: 20 – Width of characters: 18 – Separation: Fixed width (all characters have the same width) Settings in the "Tool properties" window – "Settings" tab – Recognize bright characters on dark background: Option enabled – Recognize text supported by rules: SBO[C,I][Q,M]R[1,2,3][B,C] Settings in the "Tool properties" window – "Threshold" tab – Threshold type: Threshold from local change in brightness The height and width of a character can be conveniently set using the mouse in the "Tool properties" window. This is done by roughly adapting the frame displayed on the "Function" tab to the character size using the mouse.
The characters are lighter than the background in this application. The "Recognize bright characters on dark background" option must therefore be enabled.
Reading and recognising characters is a complex process that needs a lot of calculation time. The more the recognition function can be restricted, the shorter the calculation time. In particular, the speed of recognition can be improved by restricting the characters that occur in the application (e.g. numbers only, no digits, uppercase only, etc.).
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9
Data output with SBO...-Q
Data output enables you to compile a selection of check results (e.g. good/bad, feature values, etc) of the device so that they can be made available to other systems. The compilation of the data during creation of the check program is performed selectively from the list of all features and check results. Data outputs are used: – for communication with a higher-level controller or robot, – for graphical display on external devices (e.g. panel PC), – for collecting production data. The following types of data outputs can be added to the check program ( Adding a data output): – EtherNet/IP – CIP object – Telnet – SBO...-Q Part Detector – Telnet – SBO...-Q Data Collection – Telnet – XML – HTTP – WebViewer – CST – CheckKon Viewer Predefined constants are used to identify special properties. For invalid feature values: Type
Value
double64
-1.7976931348623158e+308
float32
-3.402823466e+38
int32
-2147483648
int16
-32768
byte
-128
string
0x00
For entries in the data output that do not have an assignment (e.g. to a feature): Type
Value
double64
+1.7976931348623158e+308
float32
+3.402823466e+38
int32
+2147483647
int16
+32767
byte
+127
string
0x00
The data outputs of a check program are compiled in the "Data output" window.
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Software-Paket CheckOpti – Version 3.1
9.1
Adding a data output A dialog window containing all data outputs that can be added to the check program is opened by clicking the "New data output" button ( toolbar in the "Data output" window).
The available data outputs depend on: the firmware version of the device: data outputs are available as of firmware version 3.5 ( project properties), – the number and type of data outputs already in use. The number of identical data outputs that can be used is restricted. Some types can, for example, only be selected once per check program. The following protocols can be selected via the Ethernet interface: – EtherNet/IP – Telnet – HTTP for Internet browsers – CST for Festo Machine Vision software (e.g. CheckKon) •
Highlight one of the data outputs (if the maximum number has not yet been reached).
• Click the "OK" button to add the selected data output to the check program. The selected data output is displayed for immediate configuration in the "Data output" window. Note In order for the camera to be able to output the data outputs defined in the check program, the associated interfaces and protocols must be configured in the system parameters.
• Use CheckKon, System Parameters window, for example, for this. 9.1.1
Configuring the system parameters
•
Start the "CheckKon" software via [Action] [Start CheckKon] or using the key command ALT-P.
•
Configure the system parameters for the required data outputs.
Protocol
Purpose
System parameter
Setting
EtherNet/IP
Data output in response to read request
EtherNet/IP server
On
Telnet
Data output in response to read request
Telnet server
On (standard functionality)
Telnet with streaming
Automatic data output
Telnet streaming server
On
WebViewer
Automatic data output
WebViewer
On (results from "WebViewer" data output)
Note Each protocol activated places a burden on the device's processor. The time until the next part check will increase.
• You should therefore only enable the system parameters of the protocols that are needed for the desired data outputs.
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Data output with SBO...-Q
9.2 Data output "EtherNet/IP – CIP object" This data output is specially designed for communication with the help of the EtherNet/IP function. EtherNet/IP stands for “Ethernet Industrial Protocol” and defines an open industrial standard which adds an industrial protocol to the classic Ethernet. The data output contains all of the feature results and check results selected on the "Data" tab ( "Data output" window).
9.2.1
Communication
Data output takes place as soon as a request for the EtherNet/IP CIP object with the object ID "0x300" is sent to the Compact Vision System. The instance number contained in the request determines which EtherNet/IP data output of the check program is output. Note Data output only takes place if the EtherNet/IP server is switched on in the system parameters and appropriately configured ( CheckKon, System Parameter window).
9.2.2
Configuration
A new communication instance number is automatically assigned when you add a new data output of the type "EtherNet/IP – CIP object" to the check program using the "New data output" button. CheckOpti always chooses the first free instance number for this. Formulation changed, please check!!! Example: If there are two "EtherNet/IP – CIP object" data outputs with the communication instance numbers 1 and 3, the next data output of the same type will be given the instance number 2. You can change the instance number provided all of the requirements are met ( table on the "Settings" tab). A maximum of eight data outputs of the type "EtherNet/IP – CIP object" can be set up per check program.
• Use the communication instance numbers 1 to 8 exclusively. If the check program does not contain any EtherNet/IP data output with an appropriate instance number, the "Data output" attribute is output as a byte array with a length of 0 characters.
"Settings" tab The basic properties of the data output are defined on the "Settings" tab.
Figure: "Data output" window – "Settings" tab
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Software-Paket CheckOpti – Version 3.1 Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any stipulations (e.g. length).
Communication instance numbers of the data output
The data of the data output can be requested via the EtherNet/IP interface using the CIP object ID = 0x300 and the instance number. Conditions for the communication instance number: – Single digit from 1 to 8 – No duplicate assignment within a check program.
Number of characters in type 'str' (in increments of 4)
Entry of the character length for data to be output of the type "str". – The length can only be set in increments of 4 characters, – the default value is 84.
Data output comment
Input field for a comment text, for example for explaining the data output.
"Data" tab This tab defines which data is output and how.
Figure: "Data output" window – "Data" tab Option
Explanation
Available data
Available data from the basic and feature results of the part check that can be assigned to the data to be output.
Number of output data items of type…
Definition of the number for the value types (max. 256) – REAL (4 bytes): number of data items as a float ( float32) – str (4 + n bytes): number of characters as ASCII text.
Data to be output in 'EtherNet/IP – CIP object'
Display of all assigned values that will be output in accordance with the displayed order.
To assign values for the data output: 1. Enter the number of the relevant types for the data output. The list of data to be output will give the corresponding number of placeholders. 2. Assign the values from the available data to the placeholders of the data to be output.
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Data output with SBO...-Q The available data (left-hand list) is assigned to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list to a free value of the appropriate data type and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. Placeholders that do not yet contain an assigned value for the data output have the entry "not assigned". "Result" tab This tab shows the data as it will be output. The display shows the results of the currently selected part. This tab provides support for the evaluation of the feature results and check results on the recipient side (e.g. on a controller).
Figure: "Data output" window – "Result" tab Column
Explanation
Name
Brief description of the data
Data type
Respective data type of the data
Position [byte]
Position of the respective data in the transferred dataset
Data (hex)
Representation of the data actually transferred in hexadecimal format
Data
Representation of the transferred data in readable format
When displaying results in the data output ( columns "Data (hex)" and "Data"), the result values of the displayed part (e.g. in the Part contour window) are used for the output in each case. "Create" button: Clicking this button generates a description file in l5x format for RSLogix 5000 (Rockwell). The description file contains the data structure for the "EtherNet/IP – CIP object" data output. The generated I5x file can then be imported and used with the help of the data type import function of RSLogix 5000.
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Software-Paket CheckOpti – Version 3.1
9.3
Data output "Telnet - SBO...-Q Data Collection"
This data output is specially designed for communication with the following CoDeSys modules: – Function block "CC_ReadDataOutput" from Festo_CameraControl.lib as of version 1.10 – Function block "CC_ReadDataOutputStream" from Festo_CameraControl.lib as of version 1.10 Note The "CC_ReadDataOutputStream" function block expects the data of the data output via the streaming function. Prerequisites: – "Send data automatically after calculation (Streaming)" setting enabled – "Telnet server" and "Telnet streaming server" system parameters enabled and appropriately configured ( CheckKon, System Parameter window). As well as the modules for communication with CoDeSys-based controllers (e.g. controllers from Festo), additional modules are also available for the following Siemens controllers: – S7-300 – S7-400 Contact your local Festo service centre for more information. The data output contains all of the feature results and check results selected on the "Data" tab ( section: "Data output" window).
9.3.1
Communication
Data output takes place: – via the Telnet server of the device when the command RDO [data output name] (= communication name) is received or – via the Telnet streaming server of the device if the "Send data automatically after calculation (Streaming)" option on the "Settings" tab of the "Data output" window is enabled. Note Data output only takes place if the Telnet server and, if applicable, also the Telnet streaming server is enabled in the system parameters and appropriately configured ( CheckKon, System Parameter window). Information on commands for the Telnet function can be found in the manual for the Compact Vision System SBO...-Q, chapter: Using the Ethernet interface with Telnet.
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Data output with SBO...-Q
9.3.2
Configuration
"Settings" tab The basic properties of the data output are defined on the "Settings" tab.
Figure: "Data output" window – "Settings" tab Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any restrictions (e.g. length).
Communication name of the data output
The data of the data output can be output via a Telnet server using this name. Conditions for the communication name: – Precisely 3 characters – No special characters – Do not use "RPD" (reserved) – Unique name: each data output in a check program has its own
communication name Send data automatically after calculation (Streaming)
If this option is enabled, the data of the data output is output automatically by the "Telnet streaming server" on port 9998 after each check. No request is needed.
Byte order
The data is output in binary form. This setting defines the order of the individual bytes for value types longer than 1 byte. The definition depends on the byte order expected by the recipient. – Little Endian (low-value bytes first) – Big Endian (high-value bytes first)
Data output comment
Input field for a comment text, for example for explaining the data output.
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Software-Paket CheckOpti – Version 3.1 "Data" tab This tab defines which data is output and how.
Figure: "Data output" window – "Data" tab Option
Explanation
Available data for assignment
Available data from the basic and feature results of the part check that can be assigned to the data to be output.
Number of output data items of type...
Definition of the number for the value types (max. 256) – float32: number of data items as a float – char[64] (string): number of data items as ASCII text.
Datasets and assigned data
Display of all assigned values that will be output in accordance with the displayed order.
To assign values for the data output: 1. Enter the number of the relevant value types for the data output. The list of data to be output will give the corresponding number of placeholders. 2. Assign the values from the available data to the placeholders of the data to be output. The available data (left-hand list) is assigned to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list to a free value of the appropriate data type and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. Placeholders that do not yet contain an assigned value for the data output have the entry "not assigned".
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Data output with SBO...-Q "Result" tab This tab shows the data as it will be output. The display shows the results of the currently selected part. This tab provides support for the evaluation of the feature results and check results on the recipient side (e.g. on a controller).
Figure: "Data output" window – "Result" tab Column
Explanation
Name
Brief description of the data
Data type
Respective data type of the data
Position [byte]
Position of the respective data in the transferred dataset
Data (hex)
Representation of the data actually transferred in hexadecimal format
Data
Representation of the transferred data in readable format
When displaying results in the data output ( columns "Data (hex)" and "Data"), the result values of the displayed part (e.g. in the Part contour window) are used for the output in each case. Structure of the output data The transferred data has the following structure: Byte
Number of bytes
Contents
Example
0...2
3
Header
RDO
3...5
3
Communication name
OUT
6
1
Version
Always 0x01 in firmware version 3.5
7
1
Byte order of the data following in the package
0 = "Little Endian" 1 = "Big Endian"
8...11
4
Length (as uint32) of the following data (without byte 0...11)
n (uint32)
12
1
Number of datasets (only with Data output Telnet - SBO...-Q Part Detector) Otherwise reserved
0...16
13
1
Reserved
–
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Software-Paket CheckOpti – Version 3.1 Byte
Number of bytes
Contents
Example
14
1
Reserved
–
15
1
Reserved
–
16...17 2
Number of values of the type double64
Value range: 0...512 (uint16)
18...19 2
Number of values of the type float32
Value range: 0...512 (uint16)
20...21 2
Number of values of the type int32
Value range: 0...512 (uint16)
22...23 2
Number of values of the type int16
Value range: 0...512 (uint16)
24...25 2
Number of values of the type byte
Value range: 0...512 (uint16)
26...27 2
Number of values of the type char[64]
Value range: 0...512 (uint16)
28...29 2
Reserved
–
30...
The individual data of the specified values follow here, ordered by value type (see above for order).
Note Texts are converted to variables of the type char[64]. This means that the text can consist of max. 63 characters (char[63] + 0x00).
Note Data output takes place in binary form, which means it does not correspond to the Telnet conventions. This binary form of data output can potentially interfere with a text-based Telnet recipient (control character).
• Make sure that the recipient processes the data correctly.
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Data output with SBO...-Q
9.4
Data output "Telnet - SBO...-Q Part Detector"
This data output is a special case of the data output "Telnet - SBO...-Q Data Collection". It is used for structured compilation and transfer of data (e.g. position), in particular where there are multiple objects per image. A check program can only contain one data output of this type.
This data output is specially designed for communication with the following CoDeSys modules: – Function block "CC_ReadDataOutput" from Festo_CameraControl.lib as of version 1.10 – Function block "CC_ReadDataOutputStream" from Festo_CameraControl.lib as of version 1.10 – Function block "PartDetector" from Festo_PartDetector.lib as of version 2.2 As well as the modules for communication with CoDeSys-based controllers (e.g. controllers from Festo), additional modules are also available for the following Siemens controllers: – S7-300 – S7-400 Contact your local Festo service centre for more information. The data output contains all of the feature results and check results selected on the "Data" tab ( "Data output" window).
9.4.1
Communication
Data output takes place: – via the Telnet server of the device when the command "RDO RPD" is received or – via the Telnet streaming server of the device if the "Send data automatically after calculation (Streaming)" option on the "Settings" tab of the "Data output" window is enabled. Note Data output only takes place if the "Telnet server" and, if applicable, also the "Telnet streaming server" system parameters are enabled and appropriately configured ( CheckKon, System Parameter window). Note The "PartDetector" function block from Festo_PartDetector.lib in version 2.2 does not support data transfer via the Telnet streaming server of the device. Information on commands for the Telnet function can be found in the manual for the Compact Vision System SBO...-Q, chapter: Using the Ethernet interface with Telnet.
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Software-Paket CheckOpti – Version 3.1
9.4.2
Configuration
"Settings" tab The basic properties of the data output are defined on the "Settings" tab.
Figure: "Data output" window – "Settings" tab Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any restrictions (e.g. length).
Communication name of the data output
The data of the data output can be output via a Telnet server using this name. The communication name is set as "RPD" (Read Part Detector) and cannot be changed with this data output.
Send data automatically after calculation (Streaming)
If this option is enabled, the data of the data output is output automatically by the "Telnet streaming server" on port 9998 after each check. No request is needed.
Byte order
The data is output in binary form. This setting defines the order of the individual bytes for value types longer than 1 byte. The definition depends on the byte order expected by the recipient. – Little Endian (low-value bytes first) – Big Endian (high-value bytes first)
Data output comment
Input field for a comment text, for example for explaining the data output.
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Data output with SBO...-Q "Data" tab This tab defines which data is output and how.
Figure: "Data output" window – "Data" tab Option
Explanation
Available data
Available data from the basic and feature results of the part check that can be assigned to the data to be output.
Number of datasets
The data output has a preset structure and consists of max. 16 datasets (each with 5 data items). Only the number of datasets is preset here.
Data to be output in 'Telnet – SBO...-Q Part Detector'
Each dataset created contains five placeholders. The placeholders are called X, Y, A, F1, F2 in the display in CheckOpti and in the programming modules (e.g. for CoDeSys).
To assign values for the data output: 1. Select a number of datasets in the drop-down list. The datasets are shown with five placeholders each in the list of data to be output. 2. Assign values from the available data to the placeholders of the data to be output or perform automatic assignment ( context menu). The available data (left-hand list) is assigned to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list to a free value of the appropriate data type and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. – The "Automatic assignment" command in the context menu of the "Available data" and "Data to be output" windows. The "Automatic assignment" function performs a search in the check program for the features "X coord. center of gravity", "Y coord. center of gravity" and "Angle of inertia axis" of the Blob finder tool and automatically assigns them to the placeholders X, Y and A of a dataset. – Automatic assignment is only available for selected features of the Blob finder tool. – A separate dataset is populated for each blob in the check program, provided the set number of datasets is sufficient. – Data that is already assigned is replaced following a request for confirmation. Placeholders that do not yet contain an assigned value for the data output have the entry "not assigned".
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Software-Paket CheckOpti – Version 3.1 "Result" tab This tab shows the data as it will be output. The display shows the results of the currently selected part. This tab provides support for the evaluation of the feature results and check results on the recipient side (e.g. on a controller).
Figure: "Data output" window – "Result" tab Column
Explanation
Name
Brief description of the data
Data type
Respective data type of the data
Position [byte]
Position of the respective data in the transferred dataset
Data (hex)
Representation of the data actually transferred in hexadecimal format
Data
Representation of the transferred data in readable format
When displaying results in the data output ( columns "Data (hex)" and "Data"), the result values of the displayed part (e.g. in the Part contour window) are used for the output in each case. Note Data output takes place in binary form, which means it does not correspond to the Telnet conventions. This binary form of data output can potentially interfere with a text-based Telnet recipient (control character).
• Make sure that the recipient processes the data correctly.
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Data output with SBO...-Q
9.5
Data output "Telnet – XML"
This data output is designed for an XML-based data output via the Telnet protocol and can be used, for example, for data transfer to a KUKA robot controller (with "KUKA.Ethernet KRL XML 1.2" option). The "XML Telnet server" of the Compact Vision System should be used for complete output of the data in XML format. The data output contains all of the feature results and check results selected on the "Data" tab ( "Data output" window).
9.5.1
Communication
Data output takes place as text in XML format: – via the Telnet server of the device when the command RDO [data output name] (= communication name) is received – via the XML Telnet server of the device when the command RDO [data output name] (= communication name) is received or – via the Telnet streaming server of the device if the "Send data automatically after calculation (Streaming)" option on the "Settings" tab of the "Data output" window is enabled. Note Data output only takes place if the corresponding Telnet server and, if applicable, also the Telnet streaming server is enabled in the system parameters and appropriately configured ( CheckKon, System Parameter window). Information on commands for the Telnet function can be found in the manual for the Compact Vision System SBO...-Q, chapter: Using the Ethernet interface with Telnet XML.
9.5.2
Configuration
"Settings" tab The basic properties of the data output are defined on the "Settings" tab.
Figure: "Data output" window – "Settings" tab Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any restrictions (e.g. length).
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Software-Paket CheckOpti – Version 3.1 Option
Explanation
Communication name of the data output
The data of the data output can be output via a Telnet server of the Compact Vision System using this name. Conditions for the communication name: – At least 1 character – No special characters – Do not use "RPD" (reserved) – Unique name: each data output in a check program has its own
communication name Send data automatically after calculation (Streaming)
If this option is enabled, the data of the data output is output automatically by the "Telnet streaming server" on port 9998 after each check. No request is needed.
Data output comment
Input field for a comment text, for example for explaining the data output.
"Data" tab This tab defines which data is output and how.
Figure: "Data output" window – "Data" tab Option
Explanation
Available data
Available data from the basic and feature results of the part check that can be assigned to the data to be output.
Number of output data items of type...
Definition of the number for the value types (max. 256) – float32: number of data items as a float – char[64] (string): number of data items as ASCII text.
Data to be output in 'Telnet – XML'
Display of all assigned values that will be output in accordance with the displayed order.
To assign values for the data output: 1. Enter the number of the relevant value types for the data output. The list of data to be output will give the corresponding number of placeholders. 2. Assign the values from the available data to the placeholders of the data to be output.
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Data output with SBO...-Q The available data (left-hand list) is assigned to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list to a free value of the appropriate data type and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. Placeholders that do not yet contain an assigned value for the data output have the entry "not assigned". "Result" tab This tab shows the data as it will be output. The display shows the results of the currently selected part. This tab provides support for the evaluation of the feature results and check results on the recipient side (e.g. on a controller).
Figure: "Data output" window – "Result" tab "Create" button: Clicking this button generates a description file for KUKA robot controllers. The description file contains the data structure of the "Telnet – XML" data output. •
Copy this description file to your KUKA robot controller. Note When using a Compact Vision System with a KUKA robot controller: •
Note the corresponding information in the manual for the Compact Vision System SBO...-Q . The manual also contains an example of a controller program for KUKA robot controllers.
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Software-Paket CheckOpti – Version 3.1
9.6
Data output "CST – CheckKon Viewer"
This data output is used to display features in CheckKon (as of version 4.2). The features selected using this data output are shown graphically and as text. A check program can only contain one data output of this type.
•
Enable the display in CheckKon using the "Show 'CheckKon (Viewer)' features" button. Further configuration options for the display of the data output are available in CheckKon.
Figure: "Part contour" window in CheckKon
9.6.1
Configuration
"Settings" tab The "Settings" tab only defines the name of the data output.
Figure: "Data output" window – "Settings" tab
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Data output with SBO...-Q Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any restrictions (e.g. length).
Data output comment
Input field for a comment text, for example for explaining the data output.
"Viewer" tab This tab defines which features are output for viewing in CheckKon (as of version 4.2).
Figure: "Data output" window – "Data" tab Option
Explanation
Available data
Available features of the part check that can be displayed.
Data to be displayed in 'CST CheckKon (Viewer)'
List of all features that are transferred from the available data. The order and number of the displayed feature values cannot be set. A feature transferred a number of times will only be displayed once in CheckKon.
The available data (left-hand list) is transferred to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. – The "Automatic assignment" command in the context menu of the "Available data" and "Data to be displayed" windows. Note The "Automatic assignment" command ( context menu) deletes the features in the "Data to be displayed" area and transfers all features of the check program that are configured as "Feature used for quality decision" (the project property "Project with quality inspection) must be enabled).
Display options (e.g. automatic display of features graded as "bad") are only set in CheckKon. The only selection made in CheckOpti (i.e. in the check program) is the features for which graphical information (which can then be displayed in CheckKon) is to be created.
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Software-Paket CheckOpti – Version 3.1
9.7
Data output "WebViewer"
This data output is used to select features to be displayed in an Internet browser. The selected features are only shown in the feature list in the display (bottom right). The features cannot be displayed graphically. Use the data output "CST – CheckKon Viewer" for this. A check program can only contain one data output of this type.
Figure: Internet Explorer with SBO...-Q WebViewer
9.7.1
Communication Note The data selected here is only output if the "WebViewer" system parameter is set to "On (results from data output 'HTTP WebViewer')" ( CheckKon system parameters).
Figure: Setting of the Ethernet interface/WebViewer system parameter
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Data output with SBO...-Q
9.7.2
Configuration
"Settings" tab The "Settings" tab only defines the name of the data output.
Figure: "Data output" window â&#x20AC;&#x201C; "Settings" tab Option
Explanation
Display name of the data output
Assign an understandable name for the data output. This name is used for display in CheckOpti and is not therefore subject to any restrictions (e.g. length).
Data output comment
Input field for a comment text, for example for explaining the data output.
"Viewer" tab This tab defines the features output for viewing.
Figure: "Data output" window â&#x20AC;&#x201C; "Data" tab
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Software-Paket CheckOpti – Version 3.1 Option
Explanation
Available data
Available features of the part check that can be displayed.
Data to be displayed in 'HTTP WebViewer'
List of all features that are transferred from the available data. The order and number of the displayed feature values cannot be set. A feature transferred a number of times will only be displayed once in WebViewer.
The available data (left-hand list) is transferred to the data of the data output (right-hand list) by: – Dragging and dropping with the mouse: Click a value in the left-hand list and keep the mouse button pressed. Move this value to the right-hand list and then release the mouse button. – Copying and pasting via the clipboard: Use the copy and paste command in the main menu of the program window or in the context menu of the "Data output" window for selected values. – The "Automatic assignment" command in the context menu of the "Available data" and "Data to be displayed" windows. Note The "Automatic assignment" command ( context menu) deletes the features in the "Data to be displayed" area and transfers all features of the check program that are configured as "Feature used for quality decision" (the project property "Project with quality inspection) must be enabled).
Further information on the HTTP WebViewer can be found in the manual for the Compact Vision System SBO...-Q.
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10
Technical reference
10.1 Error messages The following table contains the most important error messages of CheckOpti as well as information on how to fix them. Error message
Meaning/remedy
Wrong data format. Please make sure that Minimum <= Mean <= Maximum
Non-permitted values have been entered for the value range of a feature.
Tool cannot be represented.
The tool cannot be used with the current part (e.g. the reference points cannot be determined).
Orientations can not be separated [E20]!! This error has to be removed. Please check the sample parts used.
The orientations of the taught parts cannot be distinguished clearly in any feature.
Types can not be removed [E 21]!! This error has to be removed. Please check the sample parts used.
The part types of the taught parts cannot be distinguished clearly in any feature.
Communication problem. ... (further description of the error)
Communication cannot be established between CheckOpti and CHB.
• Correct the values entered.
• Check and correct the sample parts. Further information can be found under Procedure for working with CheckOpti.
• Check and correct the sample parts. Further information can be found under Procedure for working with CheckOpti.
• Check the connection (e.g. plug not inserted correctly). • Check the CHB device (fault, STOP status). • Check the connection parameters. • If necessary, close CheckKon or other applications that may be using the communications port.
• Then repeat the action. System identification. ... (further description of the error)
The firmware of the target device (of the connected CHB) is not known to the current CheckOpti version. If CHB firmware version < Config version 1.2:
• Use a more recent firmware version for CHB (at least version 1.2). File error. Could not open file.
Possible errors when opening a CheckOpti project: – Project file does not exist – Project file is write-protected – Project file is already being used – Project file is not a valid CheckOpti project file (unknown format)
• Check, for example with Explorer, to see if the file exists. • If necessary, check the data storage medium containing the project file.
• If necessary, use a later version of CheckOpti, if available.
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Software-Paket CheckOpti – Version 3.1 Error message
Meaning/remedy
File error. Unknown file version.
The project file was created with an unknown version of CheckOpti.
• If necessary, use a later version of CheckOpti. File error. Specification of the target system is not contained in the version of this file. The default settings are used. If necessary, adapt these accordingly and save the file again.
The file was created with an earlier version of CheckOpti.
File error. File exists already. Replace file?
The specified project file exists already.
• Carry out a synchronisation with the target device and save the project.
• Confirm the message in order to overwrite the project. • Or cancel the procedure and save the project under a new name.
10.2 Feature description In addition to check programs with tools and features, Compact Vision Systems SBO...-Q with firmware version 3.5 or higher can also store a feature description for each feature. This feature description is used: – for displaying the unit (e.g. [pixels]) or similar information about the feature, – for use in a data output (e.g. Telnet, XML), – for preselection or sorting the order of feature references in the tool settings. The feature descriptions are stored as a number (ID). The following feature descriptions are available: ID
Description
Unit
0
There is no feature description available for the feature
–
1
The feature is a numerical value without any further description
–
2
The feature is a text
–
3
The feature value is an X-coordinate in pixels in the image coordinate system
[pixels]
4
The feature value is a Y-coordinate in pixels in the image coordinate system
[pixels]
5
The feature value is a Z-coordinate in pixels in the image coordinate system
[pixels]
6
The feature value is a distance in pixels in the image coordinate system
[pixels]
7
The feature value is an angle in the image coordinate system
[°]
8
The feature value is an area in the image coordinate system
[pixels²]
9
The feature value is of higher order (e.g. moments of inertia, compactness, etc.)
–
10
The feature value is a number (e.g. of a counting measurement)
–
11
The feature value is a brightness
–
12
The feature value is a colour (except for the colour value H)
–
13
The feature value is a colour of the type 'colour value'
–
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Technical reference The following feature descriptions are also used when using automatic coordinate transformation: ID
Description
32+3=35 The feature value is an X-coordinate in the world coordinate system
Unit
32+6=38 The feature value is a length in the world coordinate system
The unit corresponds to the input in the "Calibration of coordinate transformation" wizard
32+7=39 The feature value is an angle in the world coordinate system
[째]
32+4=36 The feature value is a Y-coordinate in the world coordinate system 32+5=37 The feature value is a Z-coordinate in the world coordinate system
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