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Inspector PI50

1. Status Byte 0 03 Status NOK Unused Byte 1 00 not used ReplyCommand Byte 2 5 02 00 00 00 2 rsINT Identifier Byte 6 9 10 00 00 00 16 swtich trigger mode ErrorCode Byte 10 13 A4 1F 00 00 8001 Operation not allowed in Run mode retVal1 Byte 14 17 01 00 00 00 1 triggered mode retVal2 Byte 18 21 00 00 00 00 not used retVal3 Byte 22 25 00 00 00 00 not used retVal4 Byte 26 29 00 00 00 00 not used retVal5 Byte 30 33 00 00 000000 not used retVal6 Byte 34 37 00 00 000000 not used resString Byte 38 106 72 73 49 4E 54 rsINT SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8014694 2012 08 Reference Manual Inspector Pl series Web API 8014694 2012 08 Web API Appendix B 1 Select Reference Object in Run Mode The operation to select reference object in Run mode require a login and consists of several steps 1 Create a session cookie 2 Login 3 Select reference object 4 Logout B 1 1 Create a Session Cookie A session cookie is used to handle operations requiring login with user name and password The session cookie is created before performing the login operation and the cookie must then be supplied in the login operation and for all following operations Operations CREATE COOKIE B 1 2 Login A login with the user name Maintenance is required to change s
2. lt CORNERS gt lt POLYGON gt D Explanatory text and start of polygon container tag for the polygon tool named Polygon 1 Explanatory text and number of polygon corners Start of container tag for polygon corners with instruction to loop over all polygon corners explanatory text and corner position End of container for polygon corners oa SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 Ethernet Raw Interfaces 5 End of container for polygon Result of validating output string with a Polygon The result of validating the default formatting output string with output format ASCII will be as follows Polygon 1 Corners 4 329 15 235 170 371 31 235 560 372 58 314 97 329 82 315 22 The result of validating the default formatting output string for a polygon with output format binary will be as follows Binary output OK Number of bytes 39 4 3 Control the Sensor via Ethernet Raw The command channel makes it possible to read and write a defined set of configuration parameters and to trigger image acquisition via UDP or TCP This section describes how to setup image triggering and command channel settings in SOPAS Single Device as well as the syntax of the command channel 4 3 1 Basic Principles The command channel has a set of basic principles On
3. IMAGE NUMBER lt OBJECT_LOC gt lt DECISION gt lt SCORE gt lt SCALE gt 9 X D lt Y gt lt ROTATION gt lt OBJECT_LOC gt W Size of the message bytes Analyzed images number Start of container for object locator Value for locator decision O not found 1 found Locator score value in percent how well of the object is found in the object locator due to match settings Locator scale value factor of analyzed live image compared to taught reference object X position of the reference point This can be outside the image and therefore negative Shown in pixels or mm Y position of the reference point This can be outside the image and therefore negative Shown in pixels or mm Locator rotation in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog End of container for object locator G6 OONO Result of validating output string with only an Object locator Example of validated output string in SOPAS Single Device EtherCAT binary output OK Max size 240 Size 27 Example string for configuration with only an Blob lt MESSAGE_SIZE gt D lt IMAGE_NUMBER gt Q2 lt BLOB index 0 name Blob 1 lt FOUND_BLOBS gt lt X gt lt Y gt lt AREA gt D lt ANGLE gt lt EDGE_PIXELS gt 9 EDGE FLAG
4. Image_number lt SPACE gt lt IMAGE_NUMBER gt lt NEWLINE gt Object_locator lt NEWLINE gt lt OBJECT_Loc gt Located lt SPACE gt lt DECISION gt lt NEWLINE gt Score lt SPACE gt lt SCORE gt lt NEWLINE gt Scale lt SPACE gt lt SCALE gt lt NEWLINE gt D Position X Y SPACE X Y NEWLINE Rotation lt SPACE gt lt ROTATION gt lt NEWLINE gt 9 OBJECT LOC D Size ofthe message number of characters ASCII or bytes binary Q2 Explanatory text and analyzed images number Explanatory text Start of container for object locator 5 Explanatory text and value for locator decision O not found 1 found Explanatory text and locator score value in percent how well of the object is found in the object locator due to match settings 7 Explanatory text and locator scale value factor of analyzed live image compared to taught reference object Explanatory text and x and y position of the reference point This can be outside the image and therefore negative Shown in pixels or mm 9 Explanatory text and locator rotation in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog End of container for object locator Result of validating output string with only an Object locator The result of vali
5. sage the mode error code and error message rsINT identifier errorCode errorMes Response to set integer parameter and action com sage mands including error code and error message rglNT identifier errorCode ret1 Response to fetch integer parameter including para ret2 retN errorMessage meter value error code and error message raACT identifier errorCode er Response to the action command including error code rorMessage and error message rTRIG errorCode errorMessage Response to the trig command including error code and error message SICK AG Advanced Industrial Sensors www sick com All rights reserved 67 Subject to change without notice Appendix 68 Command Channel Reference Manual Inspector Pl series If returned errorCode is O no errorMessage will be shown For explanation of errorCode and errorMessage see Section A 3 Error Codes page 77 A 1 1 Commands ID numbers for EtherNet IP and EtherCAT Table with command ID numbers to be used as replacement for the normal command strings for interfaces where strings not are possible or preferred Table A 3 Command ID numbers for EtherNet IP and EtherCAT Set mode sMOD 0 Get mode gMOD 1 Set integer SINT 2 Get integer gINT 3 Get version gVER 7 Action command aACT 8 Trig device TRIG 9 A 2 Command descriptions The way to configure the device through the Ethernet based command channe
6. Identifier DINT 4 Error code DINT 8 Returnvalue 1 DINT 12 Returnvalue 2 DINT 16 Returnvalue 3 DINT 20 Returnvalue 4 DINT 24 Returnvalue 5 DINT 28 34 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual EtherNet IP Interfaces Inspector Pl series Returnvalue 6 DINT 32 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 35 Subject to change without notice Interfaces EtherCAT 36 EtherCAT Reference Manual Inspector Pl series 6 1 Introduction The Inspector PI5O ECAT can be operated as an EtherCAT slave device in an EtherCAT network This means that the Inspector PI50 can be con Eth r AT wu trolled and results can be read out in an EtherCAT e network For more general information about EtherCAT see http www ethercat org EtherCATO is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany The EtherCAT interface for the Inspector PI50 ECAT is always enabled and the specific settings for EtherCAT can be done in SOPAS Single Device see Operating Instructions for Inspector PI5O The Inspector PI5O ECAT has been verified in an EtherCAT network using the TwinCAT 2 x Master from Beckhoff see http www beckhoff com All examples in this manual uses TwinCAT as Master 6 2 EtherCAT Function Ov
7. BLOB D SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 Eth OO O00 QOO eo erCAT Interfaces Size of the message bytes Analyzed images number Start of container for the blob tool named Blob 1 and instruction to fetch the first in dex 0 blob in accordance with the Sort by criteria Number of found blobs in analyzed image information of blob with index O concerning position and center of gravity x position in pixels or mm information of blob with index 0 concerning position and center of gravity y position in pixels or mm Blob index 0 area in pixels Blob index 0 angle value in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog Blob index 0 structure value number of edge pixels inside the blob Blob index 0 edge value O blob fully within ROI 1 blob touches ROI border End of container for blob tool Result of validating output string with only an Blob Example of validated output string in SOPAS Single Device Ethe rCAT binary output OK Max size 240 Size 28 Example string for configuration with only an Polygon MES SAGE SIZE D lt IMAGE_NUMBER gt lt POL YGON name Polygon 1 gt NUM CORNERS lt
8. Command descrip tions page 68 argi arg6 Replace arg1 arg6 with the argument required for the selected command Unused argu ments will be ignored and is therefore not necessary to set CoE Response syntax The syntax for the EtherCAT CoE command channel Response Subindex 03 is shown in Figure 6 6 Subindex 3 Response page 47 46 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces Subindex 3 MSB LSB Byte 1 Byte 0 Unused Status Byte 3 Byte2 4 replyCommand 3 4 T n Byte 5 Byte4 gt 7 4 Byte 7 Byte 6 9 8 identifier 7 6 2 Byte 9 Byte 8 gt i 1 1 Byte 11 Byte 10 i 2 13 12 errorCode 11 10 ew Byte 13 Byte 12 Byte 15 Byte 14 177 16 retVall 15 14 4 Byte 17 Byte 16 1 Byte 19 Byte 18 21 20 retyal2 19 18 4 Byte 21 Byte 20 i Byte 23 Byte 22 25 24 retVal3 23 22 4 Byte 25 Byte 24 gt Byte 27 Byte 26 29 28reYaM 27 26 J Byte 29 Byte 28 gt Byte 31 Byte 30 33 32 retVal5 31 30 4 Byte 33 Byte 32 y H E Byte 35 Byte 34 37 36 retVal6 35 34 y Byte 37 Byte 36 Byte 39 Byte 38 ee ee ai Byte 107 Byte 106 Figure 6 6 Subindex 3 Response Byte O in the Response message is the Status byte s
9. Note All PDO s Process Data Object contain one single PDO entry This means that the size of the PDO is always equal to the size of the PDO entry Some PDO entries define bits that have different meanings For example the mandatory Time stamp TxPDO is four bytes and the PDO entry is also four bytes representing the time stamp only Whereas the mandatory Status TxPDO is one byte and the PDO entry also one byte defines different meanings for the bits in the byte SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual EtherCAT Interfaces Inspector Pl series Table 6 9 PDO overview PDO Control 1 byte Rx Toggle Bit bit O 1 bit 9 Inspection Trig bit 1 PD Trig 1 bit o x Bit 2 7 not used 6 bits z PDO DC Sync Activate 1 byte Activate bit2 bit7 not used 1 byte 9 PDO DC Sync Start 4 bytes Start Time 4 bytes io 9 oo 2 a 9x c c z PDO Status 1 byte Tx Toggle Bits bit 0 2 3 bit S Illumination Trig bit 3 1 bit s All Passed bit 4 1 bit E Not Located bit 5 1 bit 5 B Detail Inspection Failed bit 6 1 bit c Bit 7 not used 1 bit PDO Mode 1 byte E Mode 1 byte E 9 PDO Time Stamp 4 bytes Time Stamp 4 bytes c S amp PDO Early Time Stamp 4 bytes Early Time Stamp 4 bytes e 8 PDO Image Number 4 bytes E Image Nu
10. Example string for configuration with only an Blob lt IMAGE_NUMBER dataType DINT pos 0 gt D lt BLOB index 0 name Blob 1 gt lt FOUND_BLOBS dataType SINT pos 0 gt lt X dataType REAL pos 0 gt lt Y dataType REAL pos 1 gt 6 lt ARE lt ANGLE A dataType DINT pos 1 gt dataType REAL pos 2 gt E DGE PIXELS dataType DINT pos 2 gt EF DGE FLAG dataType SINT pos 1 9 lt BLOB gt W D eoe d eooo Analyzed image s number attributes dataType and pos Start of container for blob Index number of the found blob according to current blob sorting order Index O is the first blob Name refers to the blob tool s name in the Tools tab Number of found blobs Blob center of gravity x position pixels or mm Blob center of gravity y position pixels or mm Blob area in pixels Angle of the blob in degrees or radians depending on the configured value in the Ethernet Result Output dialog Structure value number of edge pixels inside the blob Edge flag O the blob is fully within the ROI 1 the blob touches ROI border End of container for Blob Attribute dataType Casts to the specified datatype When using EtherNet IP the at tribute dataType specifies the dataType section in the selected assembly The attribute dataType can be SINT INT DINT or REAL Fo
11. Reference Manual Command Channel Appendix Inspector Pl series Table A 5b Command channel only for EtherCAT Set FoE pass SINT 140 int old int new word The FoE password use big endian Table A 6 Command channel functions Device settings Set interface int interface Interface O Ethernet permission int permis Raw 1 HTTP 2 Eth sion ernet IP Permission 1 en able O disable Get interface glNT 112 Yes int interface int permis Interface O Ethernet permission sion Raw 1 HTTP 2 Eth ernet IP Set device IP SINT 120 Yes int a int b Address format address int c int d a b c d Get device IP glNT 120 Yes int a int b Address format address intc intd a b c d Set device net sINT 121 Yes int a int b Address format mask int c int d a b c d Get device net gINT 121 Yes int a int b Address format mask intc intd a b c d Set gateway SINT 122 Yes int a int b Address format int c int d a b c d Get gateway gINT 122 Yes int a int b Address format intc intd a b c d In order for the settings to take effect the aACT 5 command needs to be sent to the device PThere should be no dots in the argument Table A 7 Command channel functions general Get used protocol ver int version 3 PI5O 1 0 sion 4 PI50 ECAT 1 0 5 PI50 1 1 Set device mode sMOD Yes int mode O Run 1 Edit Get device mode gMOD Yes int
12. page 39 shows an example how the XML formatting string maps data into a selected set of optional TxPDO s along with the mandatory TxPDO s E Ethernet Result Output Reference object Obie s Message settings Degees O Redians NA OBJECT LOC DECISION SCORE _ Validate output string Current output string Binary output OK Number of bytes 27 e eme C D Mandatory TxPDO 14 bytes Optional TxPDO size set by EtherCAT master Figure 6 3 Mapping results into the optional TxPDO See Section Section 6 10 PDO Overview page 54 for a summary of TxPDO s SICK AG Advanced Industrial Sensors www sick com All rights reserved 39 Subject to change without notice Interfaces 40 EtherCAT Reference Manual Inspector Pl series 6 4 3 Results via EtherCAT Work flow Typically the following steps are done in order to map the XML formatting string specified inspection results to EtherCAT optional TxPDO s Configure your inspection Start with configuring your inspection see Part 2 How To in the Operating Instructions Select inspection results to output Open the dialog Ethernet Result Output under the InspectorPIBOECAT menu The active reference object is selected by default in the Reference object entry The Message settings represents the default units that will be used for inspection results Degrees Radians Choose unit for the rotation for objec
13. 6 5 Control the Sensor via EtherCAT ccceceeeeeeeceee cece eeeeeeeeeeeeeeeeee eee 44 6 5 1 Triggering of the Inspector eeseseenen HH 44 6 5 2 Using the CoE command channel seeeeeeeeeeee 45 6 6 EoE Web server Web API esssesssseseseneenenm meme enne eene 48 6 6 1 Error Codes EOE eicere d ey nere i ence 49 6 7 FoE Configuration Handling and Firmware Download 49 6 7 1 FOE Download to Inspector 2 0 0 cece cece cece cece cece eeeeeeaeeeeeeeeeee 50 6 7 2 FOE Upload to Master cceeeeececeee ee eeeeee ee eens aeeeeeeeeeeeaeeaees 50 6 7 3 FoE Error Codes 5 ces eee cessi one ska nuage e ng va Ee aul ence 51 6 8 DC Distributed Clock DC features eese 51 6 8 1 Time Stamp oio eie cree cere entr ve ey onde inana 51 6 8 2 Programmable Trig vee cswie dct seine cdeve neenon ke nain en teenides 52 6 9 EtherCAT related constants and variables eeseeessseess 53 6 91 Station Alig ss iii oi oie eoe tbi o rh aA ERR REIR ERIREYSM ARIA 53 6 9 2 Vendor ld cic eren eiit ione se redeo aa vh KEE ex eva ees 54 6 9 3 Revision Numibet idee eee cere teo doves union ur me Nana cueducreaesdeass 54 6 9 4 Serial Number seeseseseesesesieeeeen nennen nenne nnne nn nnne 54 6 95 Device TYPO co dais esa serena in eot teas err Eso RR IR HRS RADAR cha AEE 54 6 9 6
14. 61 Appendix Result Output Formatting CORNERS Reference Manual Inspector PI series or configured value in the Ethernet Result output dialog Return 1 if defect detection is not actived or no defect found Un defined for single edge tool DEFECT Y co ordUnit 0 1 15 all REAL Coordinate of the first found pixel that was within the defect thresholds In pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dialog Return 1 if defect detection is not actived or no defect found Un defined for single edge tool All Piterates over all polygon corners Number O to 15 gives the properties of a single corner The index of this corner is the order in which the polygon corner was ad ded when the polygon was drawn X CO REAL ordUnit REAL Polygon corner coordinate pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dialog For a polygon with two corners single edge the estimated corner positions are the intersection between the found edge and the left and right borders of the search region The search region is defined by the user drawn edge and the position search parameter See also Operating Instructions for Inspector PI50 about Single edge tool Y CO REAL ordUnit REAL Polygon corner coordinate pixels or mm depend
15. The communication with the I O extension box is configured using the Interfaces and 1 0 Settings dialog from the InspectorPI50 menu Check the Digital 1 0 and 1 0 extension boxes in the Interfaces tab The I O extension box is disabled if Ethernet is enabled in the same tab Interfaces and I O Settings i setup Web Server i Interfaces Digital yO External object selection Enable interfaces VY Digital 1 0 I O extension box Web Server o The I O extension box and Ethernet interfaces cannot be enabled at the same time Figure 2 3 1 0 Extension Box setup Communication Mode It is possible to adjust the way that the Inspector PI50 is communicating with the I O extension box The settings are made in the 1 0 extension box setup tab in the Interfaces and 1 0 Settings dialog from InspectorPI50 menu There are three modes available Robust mode This is the default communication mode and it is the recommended one if the Inspector PI50 is connected to the SOPAS Single Device application during operation Fast mode This mode allows the Inspector PI50 to operate at a higher frame rate but there is a risk that some data in the communication with the I O extension box is lost if there is high load on the network This mode shall not be used if the Inspector PI5O is connected to the SOPAS Single Device application during operation SICK AG Advanced Industrial Sensors www sick com All rights reserved 11 Subject
16. 2012 08 EtherCAT Interfaces 6 7 3 FoE Error Codes Below is a list of the used EtherCAT FoE error codes Note that FoE is only allowed in BOOT STRAP mode Table 6 8 Error codes valid for FoE 0x00000000 No error Ox00008000 When writing the firmware file Application FPGA EtherCAT to the Inspector PI50 ECAT Flash memory an error occurred 0x00008002 The password provided for FoE access does not match the pass word stored for FoE usage 0x00008004 This error occurs if an FoE transfer is attempted in Run mode or if the FoE file format is wrong The file format can be wrong due to the following reasons e Wrong file extension Use sO for firmware files Application FPGA EtherCAT e s0 header indicated wrong firmware file type i e not Applic ation FPGA or EtherCAT Wrong product type code in the sO firmware file 0x00080008 Inspector PI50 ECAT is not in BOOTSTRAP mode which is required for the FoE operation Ox0000800B FoE file checksum error The checksum of the transferred file could not be validated on the Inspector PI5O ECAT Note If using TwinCAT the error codes are not propagated to the GUI or PLC level due to the implementation of TwinCAT 6 8 DC Distributed Clock DC features EtherCAT Distributed Clock DC mode has to be enabled in the EtherCAT Master before this feature can be used The Time Stamp feature and Programmable Trig feature utilizes the DC fe
17. 3 2 Attributes page 65 Attribute pos Used by EtherNet IP to determine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range of the attribute pos depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 8 i e O 7 For more details about dataType and pos see table in Section 7 3 2 Attributes page 65 Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to Result of validating output string with only and Polygon The validating in SOPAS Single Device will give the following result EtherNet IP assembly string OK If the used assembly is too small the validating will give the following result EtherNet IP assembly string not OK Out of slots for data type INT Use a larger assembly to solve this problem Choose a larger assembly in the dialog Interfaces and I 0 settings in the InspectorPIbO menu and the EtherNet IP tab Result in PLC with only an Polygon The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos Data type Offset byte Variable from from XML configuration dataType example above 0 SINT 0 NUM CORNERS 1 SINT 1 2 SINT 2 3 SINT 3 SICK AG Advanced Industrial Sensors www sick com All
18. CORNERS corners 0 gt X Y CO 6 RNERS gt lt CORNERS corners 1 gt 9 X Y CO W D RNERS gt lt CORNERS corners 2 gt lt PO amp 9 amp 6 69 amp 9 GO RNERS LYGON gt Size of the message bytes Analyzed images number Start of polygon container tag for the polygon tool named Polygon 1 Number of corners used for this polygon Start of container tag for polygon corners with instruction to loop over all polygon corners Corner position X Corner position Y End of container for polygon corners Same as 5 Same as 6 SICK AG Advanced Industrial Sensors www sick com All rights reserved 43 Subject to change without notice Interfaces 44 EtherCAT Reference Manual Inspector Pl series ad Sameas7 Sameas8 3 End of container for polygon Result of validating output string with only an Polygon Example of validated output string in SOPAS Single Device EtherCAT binary output OK Max size 240 Size 19 6 5 Control the Sensor via EtherCAT The Inspector PI50 ECAT is controlled in an EtherCAT network in two ways 1 Triggering of the Inspector Either in process data PD Trig or using the Distributed Clock DC feature of EtherCAT Programmable Trig 2 Using the CoE command channel The available commands used for the EtherCAT CoE command channel can be found in Appendix A Command Channel page 67
19. Ethernet Raw 19 ASCII versus Binary 19 Basic Principles 23 Command Syntax 23 Control the Sensor via Ethernet Raw 23 Image Trig 24 Port Interval 19 Reference Object 23 Single Port Solution 24 TCP versus UDP 19 EtherNet IP 25 Basic Principles 31 Command Syntax 31 Control the Sensor via EtherNet IP 30 Image Trig 32 Input Assemblies Result Channel 32 Output Assemblies Command Channel 33 Reference Object 32 F Formatting Strings 20 25 Ethernet Raw 20 EtherNet IP 25 1 0 Extension Box 10 Configure the IP Address 10 Input and Output Connections 12 Physical network Connection 10 Setup the I O Extension Box 11 Troubleshooting 13 Image Trig Ethernet Raw 24 EtherNet IP 32 P PDO Process Data Object 40 54 Port Interval Ethernet Raw 19 Reference Object Ethernet Raw 23 EtherNet IP 32 Web API 83 Web Interface 17 Restore Configuration 17 84 Web API 84 Result in PLC 26 28 29 Result Output Formatting 59 Container specific Tags 60 General Tags 64 Results via EtherCAT 38 Results via Ethernet Raw 19 Results via EtherNet IP 25 Results via Web API 15 86 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series S Select Reference Object EtherCAT 45 Setup the I O Extension Box in SOPAS Single Device 11 Single Port Solution Ethernet Raw 24 T Troubleshooting 1 0
20. O calibration nor meters er ult mal mode 1 calibrated 2 scaling 3 ori gin 4 rotation Set external trig delay sINT 21 No jinttype int O ms 1 tick delay milli 1 50000 resp O seconds 10 ticks 200000 or ticks ticks Get external trig delay gINT 21 Yes int type int delay O ms 1 tick milliseconds 10 1 50000 resp O or ticks ticks 200000 ticks Set digital output delay sINT 22 No jintoutputln 0 19 O2ms dex int 1 tick Min type int delay delay milli time 10 50000 seconds 10 resp O ticks or ticks 200000 ticks Get digital output delay glNT 22 Yes intoutputln int type int delay 0 19 O2ms dex milliseconds 10 1 tick 1 50000 resp O 8014694 2012 08 Reference Manual Inspector Pl series 8014694 2012 08 Command Channel Appendix ticks 200000 ticks Set digital output act sINT 23 No ilintoutputln 0 19 O2ms ive time dex int 1 tick type int 1 10000 resp O time milli ticks 200000 seconds 10 ticks or ticks Get digital output act int outputln int type int time 0 19 O2 ms ive time dex milliseconds 10 1 tick or ticks 1 10000 resp O ticks 200000 ticks Possibility to trig device in Run mode available on most interfaces but implemented differently for each interface PThe exposure is expressed in ms multiplied by 100 i e 3 8 ms is expressed as 380
21. Pl series 8014694 2012 08 EtherNet IP Interfaces With the shortest possible RPI the highest recommended inspection rate is therefore ap proximately 30 Hz The EDS file for the Inspector PI50 can be found in the Documentation folder on the Inspector CD The Inspector PI50 has two Output assemblies that can be used for controlling the Inspector PI50 To do this the connection has to be set first see Operating Instructions for Inspector PI5O The slim command channel assembly instance no 100 is used for controlling the Inspector PI50 in the following ways Select reference object Image trig The command channel assembly instance no 102 is also used for controlling the Inspector PI50 With this assembly you have access to all functions in the command channel see Section A 2 Command descriptions page 68 The two output assemblies are described in detail see Section 5 3 6 Assemblies Command Channel page 33 5 3 1 Basic Principles The command channel has a set of basic principles In order to be able to change the configuration via Ethernet IP this must be enabled This is done In the dialog Interfaces and 1 0 Settings from the InspectorPI50 menu Check Ethernet and EtherNet IP in the tab Interfaces In the same dialog and tab EtherNet IP check Allow changes via EtherNet IP It is possible to block configuration changes by deselecting the setting Allow changes via Ethernet IP in the Ethernet IP tab in th
22. ROTATION unit 180 REAL In degrees or radians depending 180 on the configured value in the Eth ernet Result output dialog SCALE 0 8 1 2 REAL Scale factor of analyzed live image compared to taught reference ob ject SCORE O 100 REAL Score view in percent how well of the object is found in the object locator due to match setting DECISION 6 1 USINT O not found 1 found EDGE name any string Name attribute required if more than one Edge Pixel Counter exist SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series Result Output Formatting Appendix PIXEL_ COUNTER PIXELS DECISION 0 1 UDINT USINT Number of found edge pixels ex pressed in pixels of the inspection region area The No of edge pixels interval in the Tools tab is specified as number of pixels within the in spection region If the located ob ject is scaled the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object O fail 1 pass PIXEL_ COUNTER name any string Name attribute required if more than one Pixel Counter exist PIXELS UDINT Number of found pixels expressed in pixels of the inspection region area The No of pixels in range inter val in the Tools t
23. Return values are absolute values These can be negative as compared to the origin Set number of blobs int index int min int max O 7 0 16 min lt max 0 16 min lt max SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 73 Appendix 74 Command Channel Reference Manual Inspector Pl series Get number of gINT 59 Yes int index O 7 ROME int min O 16 min lt max int max O 16 min lt max The blob index argument corresponds to the order in which the blobs are listed in the Tools tab in the SOPAS Single Device starting with O Table A 10 Command channel functions Polygon Change polygon posi tion search tolerance int index O 7 int tol 1 400 pixels for single edge b 100 pixels for polygon int index O 7 int tol 1 400 pixels for single edge b 100 pixels for polygon int index O 7 int tol O 100 pixels Get polygon position gINT search tolerance Change polygon flexib ility search tolerance Get polygon flexibility glNT search tolerance int index O 7 int tol O 100 pixels Change polygon score SINT threshold int index O 7 int threshold O 100 pixels Get polygon score threshold int index O 7 int O 100 pixels threshold int index O
24. Sort by criteria Explanatory text and number of found blobs in analyzed image Separator Explanatory text Explanatory text and information of blob with index 0 concerning position and center of gravity x and y position in pixels or mm Explanatory text and blob index 0 area in pixels Explanatory text and blob index 0 angle value in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog eG 60060 OO 9 Explanatory text and blob index O structure value number of edge pixels inside the blob Q9 Explanatory text and blob index 0 edge value O blob fully within ROI 1 blob touches ROI border dn End of container for blob tool Result of validating output string with a Blob The result of validating the default formatting output string with output format ASCII will be as follows Blob tool Found blobs 16 Blob information Position X Y 177 00 156 89 Area 75 Angle 154 33 Structure 0 Touches ROI border O0 The result of validating the default formatting output string for a blob with output format binary will be as follows Binary output OK Number of bytes 28 Part of default string for configuration with a Polygon Polygonl POLYGON name Polygonl NEWLINE Corners SPACE NUM CORNERS NEWLINE CORNERS corners all gt X Y lt SPACE gt lt X gt lt Y gt lt NEWLINE gt
25. The I O LED Flashes 10 Times ceecceeceee cece cece eeeeeeeeen ee ee 13 2 5 2 No Contact with the I O Extension Box essere 13 2 5 3 High Number of Unanswered Requests to the I O Extension BOX d A decus doit cede ERE ERE FEORMUNU E ETT 14 3 Web Interface m D te 15 3 1 Introductio TERRENT 15 3 2 Get Results via Web API ccc ccceccee cece cece ee Kadani cece nee Kaanaa Ea nene 15 3 2 1 Live Image e eee e steed Pe eden he 15 3 2 2 Logged Images eor ee rr rece dera Yet 15 3 3 Control the Sensor via Web API sssesesseeeeeeemeemee 16 3 3 1 Basic Principles siiis cenen iaiia ed eee Ier ei ceeds ab n ENAS 16 3 3 2 Command Syntax es e oeae n innean eee se est CERA iha eis Sura AATE Eai DEOR Eid 16 3 3 3 Current Reference Object sees 17 3 3 4 Select Reference Object in Run mode sees 17 3 3 5 Backup and Restore Configuration ccecceeeeeeeeeeeee tent eeeee 17 3 4 Handle the Web API eeeeseseeeeeeee nennen nennen nennen ne nnn ne nnne ne nnne ne 18 4 Ethernet RAW e 19 2 1 IntrOd UCLIOD i iss eei eerte ined pha n ote Dan E ERE SERA A RARI IR NR RR DEM aTi aaia 19 4 1 1 Port Interval e eicere eee ot Geena Kaadaa evens da ure NAE 19 4 2 Get Results via Ethernet Raw cccceceee cece cece cent cece ee sees eaeeeeeeeeeaeeee 19 4 2 1 TCP v
26. The result is O normal mode or 17 calibration mode The result is O not calibrated or 1 calibrated The result is expressed in mm pixel x 10000 The result is expressed in pixels for x and y The result is expressed in degrees The delay is expressed in ms multiplied by 10 i e 1 5 ms is expressed as 15 Table A 8 Command channel functions Object locator Change object locator sINT 32 No int O 100 percent match threshold threshold Get object locator gINT 32 Yes int 0 100 percent match threshold threshold Change object locator sINT 33 No int mode O off 1 0n rotation search mode Get object locator rota SINT 33 Yes int mode O off 1 o0n tion search mode Change object locator sINT 34 No int limit rotation search limit 0 180 degrees Get object locator rota SINT 34 Yes int limit 0 180 degrees tion search limit Change object locator sINT 35 No int mode scale search mode O off 1 0n Get object locator gINT 35 Yes int mode O off 1 0n scale search mode Change object locator sINT 36 No int rob robustness O High robustness 1 Normal 2 High speed SICK AG Advanced Industrial Sensors www sick com All rights reserved TA Subject to change without notice Appendix 72 Command Channel Reference Manual Inspector Pl series bustness Get object locator ro gINT O High robustness 1 Normal 2
27. To allow changes via the command channel Allow changes via EtherCAT has to be checked in the tab EtherCAT in the dialog Interfaces and 1 0 Settings This is enabled by default 6 5 1 Triggering of the Inspector In the Image settings tab under Triggering choose Triggered by EtherCAT An inspection can be triggered in an EtherCAT network in two ways Either by a trigger bit in the mandatory RxPDO Control PD Trig see Section Section 6 10 PDO Overview page 54 or by the use of the Distributed Clock feature of EtherCAT Programmable Trig Note Note that the Inspector PI50 ECAT can still be triggered by the use of the digital input in3 if enabled PD Trig A low to high transition on the Inspection Trig bit in the process data RxPDO Control will tell the Inspector to start an inspection cycle Note that the PD Trig has a time resolution that is related to the used EtherCAT cycle That is the Trig can only occur at discrete times related to the beginning of each EtherCAT cycle If better time resolution is required for the Trig the Programmable Trig feature should be used Note Note that the Process data Trig PD Trig is always enabled Programmable Trig With the Programmable Trig feature it is possible for the PLC programmer to set the time for the Trig to occur The time is set with reference to the EtherCAT Distribute Clock DC time DC mode of operation in the EtherCAT network has to be enabled by the Master The PLC prog
28. charset utf 8 r n r nFormatVersion RAW01 00 Data and more data B 2 5 Device Restart When the transfer is completed the parameters on the device are updated and the configur ation is stored permanently on the flash file system The device is then restarted 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 85 Subject to change without notice Index A Activate and deactivate web interfaces 18 Assemblies Command Channel output 33 Assemblies Result Channel input 32 Attributes Ethernet Raw 20 EtherNet IP 25 Result Output Formatting 65 Backup Configuration 17 Basic Principles Ethernet Raw 23 EtherNet IP 31 Web Interface 16 Basic principles EtherCAT 44 C Command channel 67 Command Types 67 Error codes 77 EtherCAT 68 EtherNet IP 68 Examples 79 Functions 68 Version information 78 Command channel slim 33 Command Syntax Ethernet Raw 23 EtherNet IP 31 Web Interface 16 Container specific Tags 60 Control the Sensor EtherCAT 44 Ethernet Raw 23 EtherNet IP 30 Web Interface 16 Coordinates via Ethernet Attributes 20 Validate output string 59 XML based formatting 59 XML formatting 59 Current Reference Object 17 D Digital inputs and outputs 10 E Error codes command channels 77 EtherCAT 36 Basic Principles 44 Control the Sensor via EtherCAT 44 Reference Manual Inspector Pl series Select Reference Object 45
29. each interface It is possible to block changes via the command channel individually for each interface using a setting in the interface configuration as described in the Operating Instructions for Inspector PI50 This makes it possible to allow changes via a PLC oriented interface while blocking changes via the Web API A 1 Command Syntax The tables below describe the different command types as well as ACK messages and their syntax The basic principle is that there are three major types of commands sINT gINT and aACT and some special commands Table A 1 Command syntax gVER Get protocol version that is supported by the addressed device sMOD mode Set device mode 0 Run 1 Edit gMOD Get the current device mode from the device SINT identifier arg1 arg2 Set integer parameter in the device argN gINT identifier arg1 Get integer parameter from the device aACT identifier arg1 arg2 Action commands argN TRIG Trig an image acquisition and analysis gRES Retrieve the latest available Ethernet Result Output string Table A 2 Command response rgVER errorCode protocolVersion Response to protocol version including the version that is supported by the device rsMOD errorCode errorMessage Response to set mode Run Edit including error code and error message rgMOD errorCode mode errorMes Response to fetch current mode Run Edit including
30. focus on receiving the backup file contents After the completion of this step the device is in transfer file mode All other interaction with the device except the transfer file requests may interfere with the transfer file operation and should be avoided Operations CREATE SOCKE CONNECT TO SOCKET lt IP address gt port 80 SEND HTTP GET REQUEST to SelectRestore prepare_on CLOSE SOCKET URL template replace items in lt gt GET SelectRestore prepare on HTTP 1 1 r nHost IP address gt r nConnec tion Keep alive r nCookie Session cookie gt r n r n B 2 4 Transfer Restore File to Device During the transfer phase the contents of the backup file is transferred to the device Operations CREATE SOCKET CONNECT TO SOCKET lt IP address gt port 80 SEND HTTP POST REQUEST to RestoreConfig data lt full path to backup file gt CLOSE SOCKET URL template replace items in lt gt POST RestoreConfig HITP 1 1 r nContent Length File size gt r nHost IP address NrNnCookie Session cookie gt r nConnection Keep AliveNrMnContent Type multipart form data bound ary cd07053eab074616b9c4703b70584d7dwH aE11 dP K Pd cd07053eab07461659c4703570584d7dNrNnContent Disposition form data name datafile filename lt full path to backup file gt r nContent Type text plain
31. for Inspector PI50 and covers the functionality of all product variants See Technical Data section of the Operating Instructions for Inspector PI50 to see which features each product variant supports The Operating Instructions for Inspector PI50 describes how to set up and configure the in terfaces via SOPAS Single Device The Reference Manual contains detailed information about the interfaces including syntax and available functionality It focuses on Inspector PI50 specific topics and does not describe the basic technology behind each interface The details of the result output formatting and the contents and syntax of the command channel are shared by several interfaces They are described in an appendix valid for all rel evant interfaces 1 1 Interfaces Overview The Reference Manual contains detailed information for the following interfaces 1 0 Extension Box is used to increase the number of available input and output connections Web API interface is intended for integration with external HMI implementations Ethernet Raw interface is intended for integration with external PLC equipment EtherNet IP interface is intended for integration with external PLC equipment following the EtherNet IP communication standard EtherCAT interface is intended for integration with external PLC equipment following the EtherCAT communication standard See also Technical Data section of the Operating Instructions for Inspector PI50 for descri
32. pixel counter edge pixel counter or pattern will be updated with a new index PROI size is the size of the edge pixel counter ROI in the reference object Value can be fetched with the command gINT 87 Table A 13 Command channel functions Pattern Change pattern posi sINT 84 No int index O 31 tion tolerance int tolerance 0 4 pixels SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8014694 2012 08 Reference Manual Inspector Pl series 8014694 2012 08 Command Channel Appendix Get pattern position tolerance int index O 31 int tol O 4 pixels Change pattern score threshold No int index O 31 int thr O 100 percent Get pattern score threshold int index O 31 int thr O 100 percent The index argument corresponds to the order in which the pixel counter edge pixel counter and pattern are listed in the Tools tab in the SOPAS Single Device starting with O The types of the tools pixel counter edge pixel counter or pattern do not matter i e if two Pattern tool are listed above a Pixel counter tool the Pixel counter tool has index 2 If a tool pixel counter edge pixel counter or pattern in the beginning of the list is deleted the following tool pixel counter edge pixel counter or pattern will be updated with a new index The table below lists the move commands for
33. reserved Subject to change without notice 8014694 2012 08 Reference Manual Inspector Pl series 8014694 2012 08 Command Channel Appendix Get blob angle O 7 thresholds int ref O 180 int tol 0 90 Change structure sINT 53 No int index O 7 criteria thresholds int min 0 100000 min lt max Get structure criter ia thresholds int max 0 100000 min lt max O 7 int min O 100000 int max 0 100000 Change blob edge sINT int index O 7 strength int strength O 100 percent Get blob edge gINT int index O 7 strength int 0 100 percent strength Change ambient int index O 7 light compensation int mode O off 1 0n mode Get ambient light gINT int index O 7 compensation int mode O off 1 0n mode Change blob search method int index int method O 7 O High quality 1 Nor mal 2 High speed Get blob search method int index int meth od O 7 O High quality 1 Nor mal 2 High speed Move and rotate blob locator int index int x int y int angle O 7 X y pixels angle de grees Ar uments are delta values as com pared to the current po sition and angle These can be negative Get blob ROI posi tion and rotation int index int x int y int angle O 7 X y pixels angle de grees
34. rights reserved 29 Subject to change without notice Interfaces EtherNet IP Reference Manual Inspector PI series Position ref pos Data type Offset byte Variable from from XML configuration dataType example above 4 SINT 4 5 SINT 5 6 SINT 6 7 SINT 7 0 INT 8 X 1 INT 10 2 INT 12 3 INT 14 4 INT 16 5 INT 18 6 INT 20 7 INT 22 0 DINT 24 IMAGE NUMBER 1 DINT 28 2 DINT 32 3 DINT 36 4 DINT 40 0 REAL 44 1 REAL 48 2 REAL 52 3 REAL 56 4 REAL 60 5 3 Control the Sensor via EtherNet IP The Inspector PI5O has the following EtherNet IP characteristics Device type Communication adapter The Inspector PI50 relies on a Scanner device to set up the communication channel The IP address of the Inspector PI50 can be found by choosing Device Info from the InspectorPI50 menu Output 100 4 Slim command channel Input 101 36 Command channel result Output 102 32 Command channel Input 103 64 Small result channel 1 Input 105 124 Medium result channel 2 Input 107 248 Large result channel 3 Input 109 484 Extra large result channel 4 Minimum RPI gt 16 ms When retrieving inspection results via EtherNet IP the time between two inspections should be at least twice the RPI Requested Packet Interval specified for the communication channel 30 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector
35. s result to present The index order is the order specified by the Sort by property configured on the Tools tab The texts and value tags within the lt BLOB gt tag will be repeated once for each found blob If only the properties of a single blob are wanted this can be controlled with the index attribute See Section 7 3 Container Specific Tags page 60 7 3 Container Specific Tags All tags are listed in the table below For each container tag the available value tags are listed The binary column states the used data type when using binary output format Some parts of the formatting string such as characters and ASCII tags are only applicable for the ASCII format and will be ignored when using binary format this is also stated in the binary column Note The Binary column in the tables below describes how the data should be interpreted when received from the device Table 7 1 Container Output String Tags OBJECT X cO REAL X position of the reference point LOC ordUnit Note that this can be outside the image and therefore negative In pixels or mm depending on at tribute coordUnit or configured value in the Ethernet Result output dialog Y CO REAL Y position of the reference point ordUnit Note that this can be outside the image and therefore negative In pixels or mm depending on at tribute coordUnit or configured value in the Ethernet Result output dialog
36. string is 57 bytes Error Result string too long Max size 16 Size 57 The Master has not any selected optional TxPDO s Error No PD containers selected from Master formatting string cannot be used Required size 57 bytes The Master has not yet reported an optional TxPDO sizes yet e g Master not on line Warning Master has not reported PD size yet cannot validate formatting string size Note that the Master need to set the Inspector into OPERATIONAL mode in order for the optional TxPDO size to be transferred to the Inspector Select the correct TxPDO size on the EtherCAT Master Based on the reported size for the inspection result select a combination of optional TXPDO s on the Master side that is at least equal to this size Example of validated output string in SOPAS Single Device when the TxPDO s size is big enough to fit the XML formatting string selected inspection results EtherCAT binary output OK Max size 80 Size 57 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces In the above example the 16byte and the 64byte optional TXPDO s have been selected by the Master totally 8Obytes and this is enough to fit the required 57bytes Note that it also would have been sufficient to select only the 64byte optional TxPDO Note that the maximal size
37. the IP address of the I O extension box to match the settings of the network and the Inspector PI50 3 Enter the IP address of the I O extension box in the SOPAS Single Device application 4 Activate the inputs and or outputs on the 1 0 extension box depending on the application Note The SOPAS Single Device application should be closed or set to offline when the power to the 1 0 box is disconnected The I O extension box needs to be restarted if the IP address is changed or if the connections to the inputs and output on the box are changed 2 1 Physical Network Connection To minimize network latency it is recommended that the I O extension box is connected directly to the Inspector PI50 The I O box has a network switch so that a PC running SOPAS Single Device can be connected via the I O box I O Extension box Inspector PI50 PC with SOPAS Single Device Figure 2 1 Physical network connection 2 2 Configuration of the IP Address on the I O Extension Box This section briefly describes how to configure the I O extension box for operation with the Inspector PI50 For details please refer to the user manual delivered with the I O extension box The IP address of the I O extension box must be compatible with the addresses of the Inspect or PI50 and of the PC For details of how to set and view the IP address of the Inspector PI50 please refer to the Operating Instructions for Inspector PI5O The following is an example of ho
38. the Pixel counter Edge pixel counter and Pattern tools Table A 14 Command channel functions Common commands for Pixel counter Edge pixel counter and Pattern Move and rotate sINT 86 No int index O 31 inspection int x int y X y pixels angle de int angle grees Arguments are delta values These can be neg ative as compared to the origin Get inspection po gINT 86 Yes intindex O 31 sition and rotation int x int x y pixels angle de y int grees Return values are angle absolute values These can be negative as compared to the origin Get number of gINT 87 Yes int index pixels in ROI Pixel Counter and Edge Pixel Counter 0 31 int pixels Number of pixels in the reference object s ROI The index argument corresponds to the order in which the pixel counter edge pixel counter and pattern are listed in the Tools tab in the SOPAS Single Device starting with O The types of the tools pixel counter edge pixel counter or pattern do not matter i e if two Pattern tool are listed above a Pixel counter tool the Pixel counter tool has index 2 If a tool pixel counter edge pixel counter or pattern in the beginning of the list is deleted the following tool pixel counter edge pixel counter or pattern will be updated with a new index A 3 Error Codes The tables below list error codes that may result from commands or configuration of the device The er
39. to change without notice Interfaces 12 1 0 Extension Box Reference Manual Inspector PI series User mode This is the advanced communication mode where it is possible to configure the number of retries that the Inspector PI50 performs and the timeout for each retry The timeout is the time in milliseconds that the Inspector PI5O is waiting for a reply from the I O extension box for a request to set outputs or read inputs IP Configuration To be able to connect to the I O extension box the IP address of the I O extension box must be specified in the SOPAS Single Device application To specify the IP address of the 1 0 extension box 1 Open the Interfaces and I 0 Settings dialog from the InspectorPI50 menu Enter the selected IP address of the 1 0 extension box setup tab in the four fields separated with dots 2 Click Apply to store the settings Interfaces and I O Settings ital 1 0 External object selection I O extension box setup Web Server I O extension box communication mode Robust mode Advanced O Fast mode User mode o Robust mode is recommended when running the SOPAS Inspector application during operation Fast mode gives a higher frame rate and should only be used when running the Inspector stand alone I O extension box IP configuration IP address 192 J168 jji 3 Figure 2 4 Set up mode and IP address Verify Connection It is possible to verify that the connection to the I O
40. 00 00 00 00 00 00 00 00 00 00 72 73 4D 4F 44 Table A 21 ReplyCommand Switch from Run mode to Edit mode Status Byte 0 01 Status OK Unused Byte 1 00 not used ReplyCommand Byte 2 5 00 00 00 00 0 rsMOD Identifier Byte 6 9 00 00 00 00 O ErrorCode Byte 10 13 00 00 00 00 O no error retVal1 Byte 14 17 01 00 00 00 1 edit mode retVal2 Byte 18 21 00 00 00 00 not used retVal3 Byte 22 25 00 00 00 00 not used retVal4 Byte 26 29 00 00 00 00 not used retVal5 Byte 30 33 0000 00 0000 not used retVal6 Byte 34 37 00 00 00 0000 not used resString Byte 38 106 72 73 4D 4F 44 rs MOD Example 2 Set triggered mode to triggered Command string 02 00 00 00 10 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8014694 2012 08 Reference Manual Inspector Pl series 8014694 2012 08 Command Channel Table A 22 Command Set triggered mode to triggered Command Byte 0 3 02 00 00 00 2 SINT Identifier Byte 4 7 10 00 00 00 16 switch to trigger mode Param1 Byte 8 11 01 00 00 OO 1 triggered mode Param2 Byte 12 15 00 00 OO OO not used Param3 Byte 16 19 00 00 OO OO not used Param4 Byte 20 23 00 00 00 OO not used Paramb5 Byte 24 27 00 00 OO
41. 7 O 20 pixels Change polygon mar gin int margin Get polygon margin int index O 7 int mar O 20 pixels gin Change polygon de fect detection width int index O 7 int width O 100 pixels Get polygon defect detection width int index O 7 int width O 100 pixels Change polygon de int index fect intensity range thresholds O 7 int min O 255 min lt max int max 0 255 min lt max SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Command Channel Appendix Inspector Pl series Get polygon defect gINT intensity range thresholds s O 7 int min 0 255 int max 0O 255 Change polygon max int index O 7 defects threshold int max 0 100 pixels Get polygon max de int index O 7 fects threshold int max O 100 pixels Change polygon de int index O 7 fect detection mode int mode O off 1 0n Get polygon defect int index O 7 detection mode int mode O off 1 0n Move polygon int index O 7 int x int y X y pixels Argu ments are delta val ues These can be negative as com pared to the origin Reserved for future use Move polygon corner sINT int corner O 7 int delta x int delta x de
42. 92 168 1 110 LockLog http 192 168 1 110 getP50LogImage 00 To start logging images again the log has to be unlocked first and this is done by using the URL http IP address LockLog Unlock 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 15 Subject to change without notice Interfaces 16 Web Interface Reference Manual Inspector Pl series Example URL http 192 168 1 110 LockLog Unlock 3 3 Control the Sensor via Web API The Web API supports the command channel used to read and update parts of the device configuration The Web API also supports the functionality to do a backup of the device configuration to a file and to restore the configuration again This is a convenient way to handle configurations without installing and using SOPAS Single Device 3 3 1 Basic Principles The command channel has a set of basic principles Only one command at a time can be executed Each command is followed by a return message ACK that includes the result of the command as well as error codes The commands are not unique to a specific task it is the commands together with its parameters that uniquely points to a specific configuration change see list of command types and parameters in Appendix A Command Channel page 67 Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode e t is possibl
43. Assembly 4 44 1 byte each 44 bytes 44 2 bytes each 88 bytes 44 4 bytes each 176 bytes REAL 44 4 bytes each 308 176 bytes 5 3 6 Assemblies Command Channel The Output assembly contains two parameters that are used for selecting reference object and trigger inspections The value that corresponds to each reference object can be found in the Reference object list in the Main view 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 33 Subject to change without notice Interfaces EtherNet IP Reference Manual Inspector Pl series Slim Command Channel Instance ID 100 Size 4 bytes Table 5 5 Slim Command channel Select reference object SINT O 0 31 Selected reference object Trigger SINT 1 1 Trigger inspection Set to O before triggering next inspection Reserved SINT 2 Reserved SINT 3 Command Channel Instance ID 102 Size 32 bytes Table 5 6 102 output Command channel Command DINT Identifier DINT Argument 1 DINT 8 Argument 2 DINT 12 Argument 3 DINT 16 Argument 4 DINT 20 Argument 5 DINT 24 Argument 6 DINT 28 o gt Command Channel Result Instance ID 101 Size 36 bytes Note If a Class 1 connection has been made to the device it is recommended to use the gVer command as a Noop no operation command Table 5 7 101 input Command channel result Command DINTO
44. CAT Reference Manual Inspector Pl series Le E 1 1 O t L E D Exposure S Time stamp TxPDO Q Analysis 6 Early time stamp TxPDO 3 EtherCAT cycles 2 The Inspector updates the time stamp Inspection result TxPDO when starting a new inspection Figure 6 9 Time Stamp and Early Time Stamp 6 8 2 Programmable Trig The Programmable Trig feature is a way for the user to program an EtherCAT Distributed Clock DC time when he wants the Inspector to be triggered In this way the user is not bound to trigger the Inspector upon an EtherCAT cycle basis i e as part of the process data see PD Trig instead the trigger time can freely be chosen The Programmable Trig feature is a single shot feature meaning that you actively have to set the DC time for each trigger event From an EtherCAT network perspective the Programmable Trig feature is implemented by using the EtherCAT Distributed Clock single shot SYNCO event Enable Programmable Trig The DC feature used to implement the Programmable Trig feature has to be enabled by the Master In TwinCAT SystemManager this is done by selecting the Inspector box and in the DC tab select the Operation Mode DC Single Shot event Also make sure that the Distributed Clock dialog in the Advanced Settings on the DC tab has the following settings Operation Mode DC Single Shot Event and Enable selected SYNC O Enable SYNC 0 SYNC O Cycle Time User Defi
45. Extension Box 13 V Validate output string 59 Version information command channels 78 W Web API 83 Reference Object 83 Web Interface 15 Basic Principles 16 Command Syntax 16 Control the Sensor via Web API 16 Live Image 15 Logged Image 15 X XML based formatting 59 XML formatting 59 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 88 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 8014694 2012 08 A4 4c int37 Australia Phone 61 3 9497 4100 1800 334 802 tollfree E Mail sales sick com au Belgium Luxembourg Phone 32 0 2 466 55 66 E Mail infoGsick be Brasil Phone 55 11 3215 4900 E Mail sacGsick com br Canada Phone 1 952 941 6780 1 800 325 7425 tollfree E Mail info sickusa com Cesk Republika Phone 420 2 57 91 18 50 E Mail sickGsick cz China Phone 4852 2763 6966 E Mail ghkGsick com hk Danmark Phone 45 45 82 64 00 E Mail sick sick dk Deutschland Phone 49 211 5301 301 E Mail kundenservice sick de Espa a Phone 34 93 480 31 00 E Mail info sick es France Phone 33 1 64 62 35 00 E Mail info sick fr Great Britain Phone 44 0 1727 831121 E Mail info sick co uk India Phone 91 22 4033 8333 E Mail info sick india com Israel Phone 972 4 999 0590 E Mail info si
46. High speed accuracy curacy Change object locator Get object locator ac SINT 37 int acc int acc O High accuracy 1 Normal 2 High speed O High accuracy 1 Normal 2 High speed ject locator Move and rotate ob sINT 38 int x int y int angle X y pixels angle degrees Arguments are delta values as compared to the cur rent position and angle These can be negative ition and rotation Get object locator pos gINT 38 int x int y int angle X y pixels angle degrees Return values are absolute values These can be negative as compared to the origin Table A 9 Command channel functions Blob Change blobintens sINT 48 No ilintindex O 7 ity thresholds int min 0 255 min lt max int max 0 255 min lt max Get blob intensity gINT 48 Yes int index O 7 thresholds int min 0 255 int max O 255 Change blob area sINT 49 No int index O 7 thresholds int min 9 307200 pixels int max mins max 9 307200 pixels min lt max Get blob area gNT 49 Yes int index O 7 thresholds int min 9 307200 pixels int max 9 307200 pixels Change blob angle sINT 5O No int index O 7 thresholds int angle 0 180 int angletoler O 90 ance SICK AG Advanced Industrial Sensors www sick com All rights
47. Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 Web Interface Interfaces 3 3 3 Current Reference Object The reference image of the current reference object can be retrieved using the URL ht tp lt IP address gt ActiveReferenceImage jpg The response to the request is a data buffer containing a JPEG image Example URL http 192 168 1 110 ActiveReferencelImage jpg 3 3 4 Select Reference Object in Run mode It is possible to select reference object also in Run mode The operation is a multiple step procedure that requires a login The details of the procedure is described in Appendix B Web API page 83 Note It is also possible to select reference object in Edit mode using the command channel see Section A 1 Command Syntax page 67 3 3 5 Backup and Restore Configuration It is possible to backup and restore the device configuration through the Web API This is the same functionality also available through the standard web pages of the Web Server interface The backup data contains the device name and reference objects including corresponding inspection and interface settings Examples of data not included in the backup are IP address and chessboard calibration settings Note The backup and restore functionality of the Web Server and the Web API corresponds to the Save Device File functional
48. L pos 2 gt lt Y dataType REAL pos 3 gt D lt ROTATION dataType REAL pos 4 gt lt OBJECT_LOC gt 9 D Analyzed image s number Q Start of container for object locator 3 Decision show if object is found 71 or not found 0 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 25 Subject to change without notice Interfaces 26 EtherNet IP setting 000 Reference Manual Inspector Pl series Score shown in percent how well of the object is found in the object locator due to match Scale is the factor of analyzed live image compared to taught reference object Position x of the reference point of the object locator Position y of the reference point of the object locator Rotation of the object locator in degrees or radians depending on the configured value in the Ethernet Result Output dialog Attribute dataType Attribute pos End of container for object locator Casts to the specified datatype When using EtherNet IP the at tribute dataType specifies the dataType section in the selected assembly The attribute dataType can be SINT INT DINT or REAL For more details about dataType and pos see table in Sec tion 7 3 2 Attributes page 65 Used by EtherNet IP to determine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range of the attr
49. M BR example above FOUND_BLOBS EDGE_FLAG IMAGE_NUMBER AREA EDGE_PIXELS ANGLE Part of default string for configuration with only an Polygon IMAGE NUMBER dataType DINT pos 0 D lt POLYGON name Polygon 1 28 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherNet IP Interfaces lt NUM_CORNERS dataType SINT pos 0 gt lt CORNERS corners 0 gt X dataType INT pos 1 lt Y dataType INT pos 2 gt lt CORNERS gt D lt POLYGON gt Analyzed image s number attributes dataType and pos Start of container for Polygon Name refers to the Polygon tool s name in the Tools tab Number of corners used for this Polygon tool Number O to 15 gives the properties of a single corner The index of this corner is the order in which the polygon corner was added when the polygon was drawn Polygon corner coordinate x pixels or mm Polygon corner coordinate y pixels or mm End of tag for corners OOO AONO End of container for Polygon Attribute dataType Casts to the specified datatype When using EtherNet IP the at tribute dataType specifies the dataType section in the selected assembly The attribute dataType can be SINT INT DINT or REAL For more details about dataType and pos see table in Sec tion 7
50. Manufacturer Hardware Version eese 54 6 9 7 Manufacturer Software Version eese 54 6 10 PDO QverVIeW ecce eerie rena Ere ne ya enero va a ay EETU cw aa Ed as 54 SPA ES Eel il UP A A EE A AE E E AETA 57 mpm 58 7 Result Output Formatting eese emen 59 1 1 XML Based Formatting 2 eene eee n cerra ener na ene dee na 59 T2 KML Fo MaE a aue cde ve cecotcuteaceapodetatecnad caasncnsekanedtaadavnietdbauaecateartd 59 7 3 Container Specific Tags sess 60 rcu RET TCINCEILMMEEETTC IPTE 64 7 3 2 AttribUtes oce eere Pee cry ev cere rece sensed rea RYE Re vae IN Rus 65 A Command Chi hri amp l eei saecu oue sepa event aai a haat cans ARR RES RRPRREAERADR REDI EP Rex 67 As Command Syntax wo ces eicere idees eere ei chen aa E nera EE eee ved eee 67 A 1 1 Commands ID numbers for EtherNet IP and EtherCAT 68 A 2 Command descriptions lessen eene 68 A3 Error Codes o epe E p XR RERERR REMAIN ARRA PREDA RPIR 77 A 4 Version information cccecc cece cece ee ee ce ee eee aes eene mener 78 A 5 Command Examples ccceeeeeceee cece eeee ee ee eee eee ee esse nemen nennen 79 A 5 1 Command Examples Ethernet Raw sese 79 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector PI50 Insp
51. OO not used Param6 Byte 28 31 O00 00 00 OO not used Response string if the Inspector PI5O is in Edit mode 01 00 02 00 00 00 10 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 72 73 49 4E 54 Appendix Table A 23 ReplyCommand Set triggered mode to triggered Inspector PI50 in Edit mode Status Byte 0 01 Status OK Unused Byte 1 00 not used ReplyCommand Byte 2 5 02 00 00 00 2 rsINT Identifier Byte 6 9 10 00 00 00 16 swtich trigger mode ErrorCode Byte 10 13 00 00 00 00 O no error retVal1 Byte 14 17 01 00 00 00 1 triggered mode retVal2 Byte 18 21 00 00 00 00 not used retVal3 Byte 22 25 00 00 00 00 not used retVal4 Byte 26 29 00 00 00 00 not used retVal5 Byte 30 33 00 00000000 not used retVal6 Byte 34 37 00 00000000 not used resString Byte 38 106 72 73 49 4E 54 rSINT Response string if the Inspector PI50 is in Run mode 03 00 02 00 00 00 10 00 00 00 A4 1F 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 72 73 49 4E 54 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 81 Appendix 82 Command Channel Reference Manual Inspector Pl series Table A 24 ReplyCommand Set triggered mode to triggered Inspector PI50 in Run mode
52. PI5O ECAT This means that the Inspector PI50 ECAT will still respond on the EoE channel Note Depending on EtherCAT network settings and the Inspector configuration used the Web server live image frame rate can be lower than the default vale of 1fps If this happens no live image or a sporadic live image will be shown Increase the Refresh interval to get a live image that is updated continuously SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces 6 6 1 Error Codes EoE The table below list error codes that may result from commands or configuration of the device The error codes are valid for EoE Table 6 7 Error codes valid for EoE OxO No error Ox1 Error in IP address could be one of Trying to use the same IP address as the one already used for Fast Ethernet Trying to use a broad cast address as IP address Trying to use 0 0 0 0 Trying to use the local host address 127 0 0 1 Trying to use a reserved address 240 0 0 0 4 Ox1 Invalid subnet mask Ox1 Invalid gateway Ox1 Trying to enable DHCP which is not implemented Ox1 EtherCAT support in Inspector PI50 ECAT is not initialized This usually points to a hard ware error Ox1 EtherCAT module internal error Note Due to limitations in the Inspector PI50 ECAT EtherCAT slave c
53. REFERENCE MANUAL Inspector PI50 Vision Sensor SICK Sensor Intelligence WARNING VSPP 5F2113 Inspector PI50 VSPP 5F2134 Inspector PI50 ECAT The Inspector is equipped with a LED illumination that must be considered as a lamp system of Risk Group 1 low risk according to IEC 62471 2006 WARNING OPTICAL RADIATION DO NOT STARE INTO BEAM RISK GROUP 1 LOW RISK according to IEC 62471 2006 Visible LED light A 400 800 nm VSPP 5F2413 Inspector PI50 IR The Inspector is equipped with an LED illumination that must be considered as a lamp system of Risk Group O Free Group exempt risk according to IEC 62471 2006 NOTICE IR EMITTED FROM THIS PRODUCT RISK GROUP 0 EXEMPT RISK according to IEC 62471 2006 IR LED light A 850 nm DISCLAIMER SICK uses standard IP technology for its products e g IO Link industrial PCs The focus here is on providing avail ability of products and services SICK always assumes that the integrity and confidentiality of data and rights involved in the use of the above mentioned products are ensured by customers themselves In all cases the appropriate security measures e g network separation firewalls antivirus protection patch management etc are always im plemented by customers themselves according to the situation SICK AG 2012 08 23 All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector PI50 Inspector Pl series Table
54. ab is specified as number of pixels within the inspec tion region If the located object is scaled the number of pixels is ad justed to be the number of match ing pixels that should have been found if the located object had the same size as the reference object DECISION 0 1 USINT O fail 1 pass PATTERN name any string Name attribute required if more than one Pattern inspection exists SCORE 0 100 REAL Pattern matching score DECISION 0 1 USINT O fail 1 pass POLYGON 8014694 2012 08 name any string Name attribute required if more than one Polygon exists NUM CORNERS 2 16 USINT Number of corners used for this polygon tool DECISION O 2 USINT O not found 1 defect 2 pass SCORE 0 100 REAL Polygon matching score NUM_ PIXELS UDINT Number of defect pixels inside crack detection region in polygon Undefined for single edge tool CORNER_ OUTSIDE 0 1 USINT O polygon completely inside im age 1 one or more polygon corner s are outside image Can not be used for single edge tool DEFECT_X CO ordUnit Subject to change without notice REAL SICK AG Advanced Industrial Sensors www sick com All rights reserved Coordinate of the first found pixel that was within the defect thresholds In pixels or mm depending on attribute coordUnit
55. alibration aACT 3 6 raACT 3 0 75 The below examples can also be done by sending the set device IP address set device netmask and set device gateway in a sequence and then send the aACT 5 command to activate all these settings PThe aACT 5 command will make the device being temporarily disconnected while the new settings are applied After this command the new IP address will have to be used in order to connect to the devic Returned value is the calibration target coverage in percent SICK AG Advanced Industrial Sensors www sick com All rights reserved 79 Subject to change without notice Appendix 80 Command Channel Reference Manual Inspector Pl series A 5 2 Command Examples EtherCAT Example 1 Switch from Run mode to Edit mode Command string 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Table A 20 Command Switch from Run mode to Edit mode Command Byte 0 3 00 00 00 00 0 sMOD Identifier Byte 4 7 00 00 00 00 0 Param Byte 8 11 0100 00 00 1 edit mode Param2 Byte 12 15 00 00 OO OO not used Param4 Byte 20 23 00 00 00 OO not used Param5 Byte 24 27 00 00 OO OO not used Param3 Byte 16 19 00 OO 00 OO not used Param6 Byte 28 31 O00 00 00 OO not used Response string 01 00 00 00 00 00 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00
56. alue but a reboot of the Inspector PI50 ECAT is needed for the default value to take effect The default Station Alias value is O SICK AG Advanced Industrial Sensors www sick com All rights reserved 53 Subject to change without notice Interfaces 54 EtherCAT Reference Manual Inspector Pl series 6 9 2 Vendor Id The Vendor Id is OxO1000056 for SICK AG The Vendor Id is available at CoE index Ox1018 subindex 1 The Vendor Id will never change 6 9 3 Revision Number The Revision Number is used to match the ESI file to the EtherCAT Slave Controller firmware version If the Revision Number in the ESI file does not match the Revision Number in the EtherCAT Slave Controller the Master will signal an error The Revision Number is available as a constant at CoE index 0x1018 subindex 3 6 9 4 Serial Number The Serial Number is the serial number of the Inspector PI50 ECAT It can be read out as a constant at CoE address 0x1018 subindex 4 6 9 5 Device Type The EtherCAT device type is set to OxO The Device Type is available as a constant at CoE index Ox1000 6 9 6 Manufacturer Hardware Version The hardware version number available as a constant at CoE index Ox1009 6 9 7 Manufacturer Software Version The EtherCAT Slave Controller software version available as a constant at CoE index Ox100A 6 10 PDO Overview Note When using trigged mode it is necessary to send a trig or change mode to update the content of the PDO s
57. ature of the EtherCAT network The DC features in an EtherCAT network assures that all slaves supporting DC has a common reference time One of the DC capable slaves in the EtherCAT network holds the Reference Clock and the other DC capable slaves each holds a Local Clock to which drift and offset compensation are applied in order to align to the common Reference Clock Normally the Reference Clock is a 64bit value representing the offset from a Jan 1 2000 where one bit tick represents 1ns A 64bit value will then give a wrap around time of about 500years Due to limitations in the EtherCAT Slave Controller in the Inspector this value is instead a 32bit value Therefore the wrap around time is about 4 2seconds in the Inspector This has to be handled by the PLC programmer 6 8 1 Time Stamp The Time Stamp feature is a way to know at which DC time the image started its exposure After the exposure of the image the inspection result will be calculated and finally the inspec tion result is sent out The inspection result will be paired with the corresponding 32bit Time Stamp value and sent out in the TxPDO Time Stamp Another TxPDO Early Time Stamp will send out the time stamp value as fast as possible on the EtherCAT network Figure 6 9 Time Stamp and Early Time Stamp page 52 shows an example of this SICK AG Advanced Industrial Sensors www sick com All rights reserved 51 Subject to change without notice Interfaces 52 Ether
58. bindices for the Command Object Table 6 6 CoE Command Object subindex 01 Command Byte O n Service Request Data A write access to the command data will execute the command 02 Status 1 Last command completed no errors reply there 3 Last command completed error reply there 255 Command is executing 03 Response Byte O See subindex 2 Byte 1 Unused 2 n Service Response Data See Figure 6 6 Subindex 3 Response page 47 The syntax for the EtherCAT CoE command channel Command Subindex 01 is shown in Figure 6 5 Subindex 1 Command page 46 SICK AG Advanced Industrial Sensors www sick com All rights reserved 45 Subject to change without notice Interfaces EtherCAT Reference Manual Inspector Pl series Subindex 1 MSB LSB Byte 1 Byte 0 3 2 command 1 0 Byte 3 Byte 2 Byte 5 Byte 4 7 6 identifier 5 4 Byte 7 Byte 6 Byte 9 Byte 8 11 10 argi 9 8 Byte 11 Byte 10 Byte 13 Byte 12 15 14 arg2 13 12 Byte 15 Byte 14 Byte 17 Byte 16 19 18 arg3 17 16 Byte 19 Byte 18 Byte 21 Byte 20 23 22 arg4 21 20 Byte 23 Byte 22 Byte 25 Byte 24 27 26 arg5 25 24 Byte 27 Byte 26 Byte 29 Byte 28 31 30 arg6 29 28 Byte 31 Byte 30 Figure 6 5 Subindex 1 Command command Replace command with the commands id see Table A 3 Command ID numbers for EtherNet IP and EtherCAT page 68 identifier Replace identifier with commands identifier found in Section A 2
59. bject to change without notice Appendix 84 Web API Reference Manual Inspector Pl series CLOSE SOCKET URL template replace items in lt gt POST HandleConfig HTTP 1 1 r nHost IP address gt r nContent Type ap plication x www form urlencoded r nConnection Keep Alive r nCookie Session cookie gt r n r nbankList 3FrefBank 3D lt reference_object_index gt amp ap plyBank Apply B 1 4 Logout Logout to free resources on the device Operations CREATE SOCKE ONNECT TO SOCKET lt IP address gt port 80 G SEND HTTP GET REQUEST to HandleConfig logout 1 C LOSE SOCKET URL template replace items in GET HandleConfig logout 1 HTTP 1 1 r nHost IP address NrMnConnection close r nCookie Session cookie gt r n r n B 2 Restore Configuration The restore configuration operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file The operation is a multiple step procedure with the following steps 1 Create session cookie 2 Login 3 Prepare restore mode 4 Transfer restore file to device 5 Device restart The restore operation will remove the previous configuration and replace it with a new con figuration The IP address and the chessboard calibration will not be updated by the restore operation It is not possible
60. bove a Pixel counter tool the Pixel counter tool has index 2 If a tool pixel counter edge pixel counter or pattern in the beginning of the list is deleted the following tool pixel counter edge pixel counter or pattern will be updated with a new index PROI size is the size of the pixel counter ROI in the reference object Value can be fetched with the command gINT 87 Table A 12 Command channel functions Edge pixel counter Change edge pixel sINT 82 No int index O 31 counter edge int strength 0 100 strength Get edge pixel gINT 82 Yes int index O 31 counter edge int strength O 100 strength Change No of SINT 83 No int index O 31 edge pixels int min 0 ROI size pixels thresholds int max min lt max 0 ROI size pixels min lt max Get No of edge giINT 83 Yes int index O 31 pixels thresholds int O ROI size pixels 10000 min min lt max int 0 ROI size pixels 10000 max min lt max The index argument corresponds to the order in which the pixel counter edge pixel counter and pattern are listed in the Tools tab in the SOPAS Single Device starting with O The types of the tools pixel counter edge pixel counter or pattern do not matter i e if two Pattern tool are listed above a Pixel counter tool the Pixel counter tool has index 2 If a tool pixel counter edge pixel counter or pattern in the beginning of the list is deleted the following tool
61. cators For the EtherCAT process data objects PDO s one toggle indicator is used for data between the Master and the Inspector Rx Toggle bit for the RxPDO s and one toggle indicator for data between the Inspector and the Master Tx toggle bit for the TxPDO s The Rx Toggle in dicator is implemented as one single bit toggle bit and will toggle each time any of the RxP DO s have been updated and the Tx Toggle indicator is implemented as three bits and will toggle each time any of the TxPDO s have been updated See Section Section 6 10 PDO Overview page 54 for a summary of PDO s The purpose of the toggle indicators is to indicate that data have been updated and that it should be read by the Master or the Inspector respectively 6 3 4 EtherCAT cycle time The following two conditions have to be fulfilled related to the selected EtherCAT cycle time 1 Minimum EtherCAT cycle time is O 5ms Verified using a single Inspector PI5O in an Ether CAT network running a typical inspection at an inspection cycle of 5Hz and using a process data size of 64bytes 2 Assure that the EtherCAT cycle time is maximally one fourth of the Inspection cycle time For example running a fast inspection with an Inspection cycle time of 20ms 50HZ2 results in a maximal EtherCAT cycle time of 20 4 5ms The EtherCAT cycle time is set by the EtherCAT Master 6 4 Get Results via EtherCAT The Inspector PI5O ECAT generates an inspection result every insp
62. ck sensors com Italia Phone 39 02 27 43 41 E Mail info sick it Japan Phone 81 0 3 3358 1341 E Mail support sick jp Magyarorsz g Phone 36 1 371 2680 E Mail office sick hu Nederlands Phone 31 0 30 229 25 44 E Mail info sick nl SICKAG Waldkirch Germany www sick com Norge Phone 47 67 81 50 00 E Mail austefjord sick no sterreich Phone 43 0 22 36 62 28 8 0 E Mail office sick at Polska Phone 48 22 837 40 50 E Mail infoGsick pl Rom nia Phone 40 356 171 120 E Mail officeGsick ro Russia Phone 7 495 775 05 30 E Mail info sick ru Schweiz Phone 41 41 619 29 39 E Mail contactGsick ch Singapore Phone 65 6744 3732 E Mail adminGsicksgp com sg South Africa Phone 27 11 472 3733 E Mail info sickautomation co za South Korea Phone 82 2 786 6321 4 E Mail infoGsickkorea net Slovenija Phone 386 0 1 47 69 990 E Mail officeGsick si Suomi Phone 358 9 25 15 800 E Mail sickGsick fi Sverige Phone 46 10 110 10 00 E Mail info sick se Taiwan Phone 886 2 2375 6288 E Mail sales sick com tw T rkiye Phone 90 216 528 50 00 E Mail info sick com tr United Arab Emirates Phone 971 4 8865 878 E Mail info sick ae USA Canada M xico Phone 1 952 941 6780 1 800 325 7425 tollfree E Mail info sickusa com More representatives and agencies at www sick com SICK Sensor Intelligence
63. cribing results from the inspected images are sent out For details on which tags can be used in binary output see Section 7 2 XML Formatting page 59 4 2 3 Attributes Attributes are used to control the formatting and identification of inspections Some of them can be controlled directly in the Ethernet Result Output dialog in the section Message settings All available attributes are listed in the table in section XML Formatting in Section 7 2 XML Formatting page 59 Min number of digits Choose the minimum number of digits including decimal point to be sent out in the result If the value to be sent out has less number of digits the result is padded with leading zeros Default value is O which means the number of digits that will be sent will differ depending on how many digits are needed Note This attribute is only applicable for ASCII Number of decimals Choose number of digits to be sent out after the decimal point for parameters with decimals This will be a rounded value Default value is 2 Max number of decimals is 9 Note This attribute is only applicable for ASCII Degrees Radians Choose unit for the rotation for object locator and angle for blobs Little Big Endian Only applicable when using binary format This describes the order of the bytes transferred from the device on Ethernet When using Little endian the least significant byte is trans ferred first and for Big endian the most significant byte is trans
64. d 2 All passed 3 Not located and detail failed REF OBJECT O 31 USINT Reference object index ASCII value 0 255 IGNORED Used to send single control characters SPACE IGNORED Same as ASCII value 32 gt TAB IGNORED Same as ASCII value 9 gt LAB IGNORED Left angular bracket lt Useful when generating XML formatted output RAB IGNORED Right angular bracket gt Useful when generating XML formatted output NEWLINE IGNORED Same as ASCII value 10 gt RETURN IGNORED Same as ASCII value 13 gt TIME timeUnit s ms UDINT Current time since device boot Restarts from zero after 10 years using seconds and 49 days using milliseconds SERIALCODE UDINT Device serial code FOCUS 0 100 REAL Only valid while the device is in Edit mode This is the focus value from the Image settings tab TELE UINT A counter that increments for each tele GRAM_COUNTER gram sent over the result channel Resets at power up or device reset USINT intValue 0 255 USINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UINT intValue 0 65535 UINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UDINT intValue 0 277 4 UDINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UINT1 intValue O 65535 UINT Value can be changed th
65. dating the default formatting output string with output format ASCII will be as follows 97 Image number 14471 Object locator Located 1 Score 96 00 Scale 1 00 Position X Y 291 52 238 55 Rotation 0 22 The result of validating the default formatting output string for only an object locator with output format binary will be as follows Binary output OK Number of bytes 27 Part of default string for configuration with a Blob Blob tool NEWLINE O lt BLOB index 0 name Blob 1 gt Found_blobs lt SPACE gt lt FOUND_BLOBS gt lt NEWLINE gt lt NEWLINE gt Blob information NEWLINE Position X Y SPACE X SPACE Y lt NEWLINE gt 6 SICK AG Advanced Industrial Sensors www sick com All rights reserved 21 Subject to change without notice Interfaces 22 Ethernet Raw Reference Manual Inspector Pl series Area lt SPACE gt lt AREA gt lt NEWLINE gt D Angle lt SPACE gt lt ANGLE gt lt NEWLINE gt Structure lt SPACE gt lt EDGE_PIXELS gt lt NEWLINE gt 9 Touches ROI border SPACE EDGE AG NEWLINE do Hy lt BLOB gt Explanatory text Start of container for the blob tool named Blob 1 and instruction to fetch the first in dex 0 blob in accordance with the
66. digital outputs and 5 digital inputs The standard configuration of the I O extension box contains 8 digital outputs and 4 digital inputs The configuration of an I O extension box can be changed by adding removing I O modules to from the I O extension box I O modules are available as an accessory from SICK For details about Accessories Ordering information see the Operating Instructions for Inspector PI50 Perform the following steps to connect and use more I O modules 1 Close the SOPAS Single Device application 2 Disconnect the power from the I O extension box 3 Connect the additional I O modules inputs and or outputs to the 1 0 extension box Please refer to the manual delivered with the 1 0 extension box for details 4 Re connect the power to the I O extension box 5 Re start the SOPAS Single Device application The additional digital outputs are now be available in the SOPAS Single Device application 2 5 Troubleshooting 2 5 1 The 1 0 LED Flashes 10 Times If the power to the I O extension box has been disconnected for a longer period of time the internal clock in the box will be reset The I O LED on the box will then flash 10 times in red This is not a serious error and the 1 0 extension box can still be used together with the In spector PI50 without any problems 2 5 2 No Contact with the 1 0 Extension Box Ensure that the network card on the PC has the same network address for instance 192 168 1 as the I O e
67. e p s Device 1 Image Info Requested State t Inputs Op Clear Error E l Outputs HQ InfoData o S yeti pusser 9f Status Port A H Sf Mode Port B HQT Time Stamp E QT Early Time Stamp tH Qt Image Number mE l Control hE HQ wcstate H InfoData File Access over EtherCAT Figure 6 8 File transfers in TwinCAT System Manager 6 7 1 FoE Download to Inspector To start a FoE download supply the file name and the FoE password a 32bit integer Factory default setting for the FoE password is 0 One FoE password is used for all types of FoE transfers The password can be set via an EtherCAT command see Table A 5 Command channel only for EtherCAT page 69 In TwinCAT System Manager an FoE download is started by clicking the Download button in Figure 6 8 File transfers in TwinCAT System Manager page 50 A file selection dialog then appears where the desired file for download is selected After that a new dialog appears where the FoE password must also be supplied Note that TwinCAT has in this dialog stripped the file extension so it has to be entered back by hand A file downloaded with the file extension sO will be regarded as a firmware download and all other file extensions will be regarded as a configuration download If a downloaded con figuration file is invalid the device will automatically be re booted and the last configuration saved in Flash will be used A device configura
68. e dialog Interfaces and 1 0 Settings in InspectorPI50 menu Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode The commands is sent with help of output assembly 102 and the result is received with input assembly 101 The result for a sent command can be received at the earliest in the next PLC cycle The PLC program will have to wait for the result of an undefined number of seconds Make sure that the PLC program waits for a response with the same command and ID as the sent command If the command response never shows up a timeout must be imple mented This is done by sending another command for example gVER 5 3 2 Command Syntax To send commands through the command channel use the output assembly 102 The com mand channel has the following syntax command identifier argl arg2 arg3 arg4 arg5 arg6 Replace command with the commands id see Table A 3 Command ID numbers for Eth erNet IP and EtherCAT page 68 The result of a command sent over output assembly 102 can be received through input assembly 101 The syntax for ACK message is identi fier com code all al2 al3 al4 al5 al6 error retV retV retV retV retV retV mand The combination of a command with its parameters will either change the devices configur ation or fetc
69. e to block configuration changes by unchecking the Allow changes via Web Server checkbox in the Web Server tab in the dialog Interfaces and 1 0 Settings in InspectorPI50 menu 3 3 2 Command Syntax The Web API command channel has the following syntax http IP address CmdChannel command identifier argument 1 ar gument 2 argument N gt The ACK message has the following syntax lt ACK Command identifier lt errorCode gt lt returnValuel gt lt returnValue2 gt lt returnValueN gt lt errorMessage gt The command is sent as an ASCII string The combination of a command with its parameters will either change the device configuration or fetch information from the device For more command examples see Section A 1 Command Syntax page 67 and Section A 5 Com mand Examples page 79 Note The command syntax differs from other interfaces where the initial part http lt IP ad dress CmdChannel is added and all space characters are replaced by an underscore character _ The ACK messages still contain spaces Example URL The successful execution of the following command http 192 168 1 110 CmdChannel sINT 1 1 will perform the command to select reference object with index 1 and then return an HTML page with a body containing the following string rsINT 1 0 while a failed command may return rsINT 1 8100 Can not change ref bank in Run mode SICK AG Advanced
70. eature See Section 6 8 DC Distributed Clock DC features page 51 Process Data from Inspector to EtherCAT Master TxPDO Detailed explanation PDO Status Tx Toggle bits Illumination Trig All Passed Not Located Detail Failed PDO Mode PDO Time Stamp PDO Early Time Stamp PDO Sys Time PDO Image Number Status byte Contains Tx Toggle Bits Illumination Trig All Pass Not Located and Detail Inspection Failed All PDO entries in Status are mandatory process data The three bit word changes value each time any TxPDO has been updated Bit O 2 in the Status byte The toggling of this bit will represent an illumination trig Illumination trig is only sent in free running mode To use illumination trig the External lighting has to be set in SOPAS Single Device Check the box for External in Image settings tab under Lighting Bit 3 in the Status byte See Figure 6 4 Illumination trig page 41 for the timing of Illumination trig 12 The object was located and all detailed inspection passed as well Bit 4 in the Status byte 1 The object was not located or a detailed inspection was out of view Bit 5 in the Status byte 1 The object was located but at least one of the de tailed inspections failed Bit 6 in the Status byte The mode of the Inspector PI5O ECAT O Run 1 Edit This is a mandatory PDO The Time Stamp is sent out with the corresponding in spection result for an image The Time Stamp repr
71. ection cycle The Inspection cycle time can be calculated from the Frame rate Hz found under the Live image in the SOPAS GUI In an EtherCAT network the Inspection result is mapped to EtherCAT process data PD using a number of TxPDO s Tx Process Data Objects Two types of result PDO s exist man datory PDO s and optional PDO s 6 4 1 Mandatory TxPDO s Five mandatory TxPDO s are always used in the Inspector PIbO ECAT This means that the inspection result sent to the Master in these PDO s are always there i e they cannot be de selected The TxPDO s used are Status Mode Time Stamp Early Time Stamp and Image Number See section Section 6 10 PDO Overview page 54 for a summary of TxPDO s 6 4 2 Optional TxPDO s By using the Ethernet Result Output dialog under InspectorPIBOECAT menu in SOPAS Single Device the user can select a set of inspection results that are output in each inspection cycle An XML formatting string defines what inspection results to output in each inspection cycle To output this user selectable inspection result in the EtherCAT network it is mapped to optional TxPDO s Depending on the total size of the inspection result selected by the XML formatting string the EtherCAT user has to select the appropriate set of optional TxPDO s to match the required size That is the size of the selected optional TxPDO s has to be at least the size of the selected inspection result output There exist six different sized optio
72. ection results through the Web API 3 2 1 Live Image The live image can be retrieved through the Web API by a live image request using the URL http IP address LiveImage Jjpg The response to the request is a data buffer containing a JPEG image If the image is not available an empty image is returned with a smaller size than a normal image Note The live image is not available when SOPAS Single Device or the Inspector Viewer is connected to the Inspector PI5O Live image response can be much slower when activating the Send to FTP feature The FTP image transfer function has higher priority Example URLs Request a live image without overlay graphics http 192 168 1 110 LiveImage jpg The response to the request is a data buffer containing a JPEG image Request a live image with overlay graphics http 192 168 1 110 LiveImage jpg ShowOverlay 3 2 2 Logged Images Logged images can be retrieved using the URL http IP address getP50LogImage 00 where the argument OO is the image number The image number is two digits in the range 00 29 The device keeps writing to the log and therefore the log first has to be locked to be able to retrieve an image This is done by using the URL http IP address LockLog The response to the request is a data buffer containing a JPEG image An empty image with a smaller size than a normal image is returned if no log image is available for a certain position Example URL http 1
73. ector Pl series A 5 2 Command Examples EtherCAT ccceceeeeeeeeeceeeeeeeeeeeee eens 80 B Web APlu cri Schur Bates EE Set sehen se ides Facto erede ST ea ees 83 B 1 Select Reference Object in Run Mode cccceeeeceeeeeeeeeeeeeeeeeaeeeeee 83 B 1 1 Create a Session Cookie sess 83 5 PAN LORIN coe EE E 83 B 1 3 Select Reference Object sssssesseseseeneneee 83 BVA LOBOULU iuit Eng tee TE 84 B 2 Restore Configuration eese meme 84 B 2 1 Create Session Cookie sss sese 84 B 2 2 LORIN ioi en ones ined Sai e peter er eee hia ea aee Ev D de rua Ey aee gU vast 84 B 2 3 Prepare Restore Mode essssseseseeneeeeemenee 85 B 2 4 Transfer Restore File to Device 2 0 0 cee cee cee ee nescence eeeeeeeeeeeeeees 85 B 2 5 Device Restaft 2c o ee dilecueks duadesseavedacee cess 85 ING OX cas cd Fevers Hw 86 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 5 Subject to change without notice Inspector PI50 Reference Manual Inspector Pl series SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Introduction Introduction Introduction Reference Manual Inspector Pl series Introduction The Reference Manual is a complement to the Operating Instructions
74. ee Subindex 2 in Table 6 6 CoE Command Object subindex page 45 and can be either 1 OK or 3 not OK replyCommand An echo of the command sent identifier An echo of the identifier sent errorCode In case the command ended with an error this is the reported error code see Section A 3 Error Codes page 77 retVal1 retVal6 The return value if such exists for the executed command see Section A 2 Command descriptions page 68 resultString In case the command ended with an error resultString is an ASCII description of the error SICK AG Advanced Industrial Sensors www sick com All rights reserved 47 Subject to change without notice Interfaces 48 EtherCAT Reference Manual Inspector Pl series For command examples see Section A 1 Command Syntax page 67 and Section A 5 Command Examples page 79 6 6 EoE Web server Web API By enabling the EtherCAT feature EoE Web server Web API traffic can be tunneled in the EtherCAT network instead of being routed in the Fast Ethernet interface Ethernet connector This means that you do not need to use the Fast Ethernet cable if the only usage for this cable is Web server Web API traffic EoE can only be enabled or disabled in the EtherCAT Master and not in SOPAS Single Device or with any command in the command channel The IP address used for EoE tunneling must not be the same as the IP address used for the Fast Ethernet interface Further the EoE i
75. ersus UDP eerie eerie ta nr nh v nena re cun aa evcesaie ee 19 4 2 2 ASCII versus Binary spieri iiiar eee ee ee eee ainia aiia baana aita 19 42 3 AttribUtes ic ainia eese cbvO eds a rere ae eer rho euer sena a Ek aT ere 20 4 2 4 Default Formatting Strings sseseeeen 20 4 3 Control the Sensor via Ethernet Raw esee 23 43 1 Basic Principles diuidit epe fucadatseedandsdaeteiacdetaneas te 23 4 3 2 Command Syntax isis seinri eiiis e eee eee ee eee nemen nennen nnn 23 4 3 3 Select Reference Object ccceeecececeee ee aeda ee manaa oR Tia Sai 23 4 3 4 Image Trig J cioe serra eee eren aeuo reden va arena na neg uat 24 4 3 5 Single Port Solution 00 0 eee eee ee cece eee eee ee eee ee eee eea teeta eeeeenes 24 5i EthierNet IP waves coiere Aves ee iaceo eres Wecd eae ante vx E wehonad Er V E YO ON sie ane kde ona 25 5 1 IritrOodUctlOn i iced E thee aee AAT 25 5 2 Get Results via Ethernet IP ccceecececeee ee k de eee ea dekai 25 5 2 V Attribute Si in aiiai aani tans dcbac neva die ss Meacde sna ieee aTi iaaii aa 25 5 2 2 Example Formatting Strings eseeee eese 25 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 3 Subject to change without notice Inspector PI50 Reference Manual Inspector Pl series 5 3 Control the Sensor via EtherNet IP ceeceeceee eens eeceeeeeeeeeeeeeee neers 30 5 3 1 Basic Pr
76. erview The Inspector PI50 ECAT interfaces an EtherCAT network in the following way Table 6 1 EtherCAT function overview Process data see section Section 6 4 Get Results via Eth erCAT page 38 Illumination trig Process data see section Section 6 4 4 Illumination trig output page 41 Inspection result Inspection trig Process data see section Section 6 5 1 Triggering of the Inspector page 44 CoE Command over EtherCAT see section Section 6 5 2 Using the CoE command channel page 45 Command channel Web server Web API EoE Ethernet over EtherCAT see section Section 6 6 EoE Web server Web API page 48 Configuration handling up FoE File access over EtherCAT see section Section 6 7 load download FoE Configuration Handling and Firmware Down load page 49 Firmware handling download FoE File access over EtherCAT see section Section 6 7 FoE Configuration Handling and Firmware Down load page 49 How the different Inspector PI50 ECAT features are used in an EtherCAT network are described in following sections SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces 6 3 EtherCAT communication 6 3 1 EtherCAT Communication Specification Table 6 2 EtherCAT Communication Spec
77. esents the time when the imager started its acquisition for the inspected image The Time Stamp is only valid if the EtherCAT DC Distributed Clock mode is enabled If DC mode is not used or the Inspector is in Edit mode the Time Stamp value is undefined This is a mandatory PDO Early Time Stamp carries the same information as the Time Stamp The difference is that the Early Time Stamp is sent out as soon as possible after the start of image acquisition That is the Early Time Stamp is sent out before the corresponding inspection result As with the Time Stamp the Early Time Stamp is only defined in the EtherCAT DC mode and when the Inspector is in Run mode This is a mandatory PDO System Time in the Inspector 32bit representation Contains the image number The image number is re started at O for each boot of the Inspector PI5O ECAT and each reset to factory defaults Image number re flects each image taken Mandatory process data Note that there will be no image number if there are no refer SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT PDO Inspection Result 16 512 6 11 ESI file Interfaces ence objects in SOPAS Single Device This is a mandatory PDO Choose which PDO entries to use for the inspection result defined by the XML formatting string It is possible to c
78. ettings from the InspectorPI50 menu 2 In the tab Interface choose Ethernet and Ethernet Raw in the listbox SICK AG Advanced Industrial Sensors www sick com All rights reserved 23 Subject to change without notice Interfaces 24 Ethernet Raw Reference Manual Inspector Pl series To select reference object via command channel change to Edit mode smoD 1 change the value to select the reference object sINT 1 lt object index gt and then change back to Run mode sMOD 0 The object index that corresponds to each reference object can be found in the Reference object list in the Main view 4 3 4 Image Trig It is possible to trigger the image acquisition via Ethernet The communication runs on UDP or TCP port 2116 configurable In order to use this function the triggering has to be enabled in SOPAS Single Device In the InspectorPI50 menu and Interfaces and I O settings dialog check the Ethernet box and in the list Ethernet Raw in the Interfaces tab For the selected reference object choose Triggered by Ethernet in the Image settings tab 4 3 5 Single Port Solution In real time applications the sensor is controlled using three ports However it is possible to use only the command port default 2115 to control the sensor The single port solution is only recommended for applications where the cycle time is significantly larger than the image analysis time One reason for this is that the image acquisition has a lower priority on
79. ettings on the device The password is the password stored on the device Default password is Inspector The response to the login request is an HTML page indicating a successful login Operations CREATE SOCKET CONNECT TO SOCKET lt IP address gt port 80 SEND HTTP POST REQUEST to HandleConfig data sopas username Main tenance amp sopas password login password CLOSE SOCKET URL template replace items in POST HandleConfig HTTP 1 1 r nHost IP address gt r nConnection Keep Alive r nCookie Session cookie gt r n r nsopas_username Mainten ance amp sopas password login password B 1 3 Select Reference Object Send reference object index to select reference object The index is entered after the string 3FrefBank 3D The response to the select reference object request is an HTML page with a presentation of the name of the currently selected reference object Note The reference object index range is O 31 Sending reference object index gt 32 in the com mand may cause the device to restart Operations CREATE SOCKET CONNECT TO SOCKET lt IP address gt port 80 SEND HTTP POST REQUEST to ReferenceObject data bankList 3Fref Bank 3D lt reference_object_index gt amp applyBank Apply SICK AG Advanced Industrial Sensors www sick com All rights reserved 83 Su
80. extension box can be established by clicking the Verify connection button The SOPAS Single Device application will then try to connect to the I O extension box and a message will be displayed informing if the I O extension box was found Note It is possible to configure the Inspector PI50 for use with the I O extension box even when the I O extension box is not available As soon as the Inspector PI50 detects the I O extension box on the network it will connect to it and start using it as configured 2 3 1 Enabling the I O Extension Box The use of the inputs and outputs on the I O extension box is enabled on the Digital 1 0 tab of the Interface and I 0 Settings dialog from the InspectorPIbO menu 2 4 Input and Output Connections When delivered the I O extension box contains 4 digital inputs and 8 digital outputs The digital outputs can be expanded to 16 and the digital inputs of the Inspector PI50 can be extended to 5 Please refer to the manual delivered with the I O extension box for details on how to connect the power supply to the box and where to find the digital inputs and outputs SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 1 0 Extension Box Interfaces 2 4 1 Special Conditions During Startup The following applies if the Inspector PI50 is configured to use the inputs of the I O exten
81. ferred first See the 2 byte example in tables below Most significant Least significant byte byte Value to be sent 10000100 01110000 from device Transfer order First transferred byte Second transferred byte Little endian 01110000 10000100 Big endian 10000100 01110000 Pixels Millimeters Choose if position coordinates should be sent in pixel or milli meter unit Note The device must be calibrated for it to be possible to use the mm attribute An error message is given in the output string if the device is not calibrated and mm is chosen 4 2 4 Default Formatting Strings The auto generated default string will look different depending on the configuration in the selected reference object The intention with the default string is to give an idea of the available tags and to be a good starting point for creating the best format for the application that should be solved Below follow some short descriptions of default strings or part of default strings for different configurations For more information about the XML formatting see Chapter 7 Result Output Formatting page 59 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 Ethernet Raw Interfaces Default string for configuration with only an Object locator MESSAGE SIZE NEWLINE
82. gon sINT 72 sINT gINT 73 Added SAVE and TRIG commands Added PI50 ECAT specific command glNT 19 Added commands for controlling image trig delay and output delay SINT gINT 21 22 23 Added command gRES to retrieve Ethernet Output String TRIG made availble in Run mode on the command port PI50 1 1 A 5 Command Examples A 5 1 Command Examples Ethernet Raw Table A 18 Commands Ethernet Raw general examples Switch to Run mode sMOD O rsMOD O Switch to Edit mode sMOD 1 rsMOD O Get device mode gMOD rgMOD O 1 Set trigger mode to free running SINT 16 O rsINT 16 O Set trigger mode to triggered sINT 16 1 rsINT 16 O Get trigger mode gINT 16 rgINT 16 O O if free running rgINT 16 O 1 if triggered by Eth ernet Set defect intensity thresholds to sINT 69 2 200 255 rsINT 69 O 200 255 for polygon 2 Get defect intensity thresholds for glNT 69 2 rglNT 69 O 200 255 if OK polygon 2 rgINT 69 8107 polygon does not exist if not OK Table A 19 Commands Ethernet Raw device settings and actions examples Set device IP address SINT 120 192 168 1 110 rsINT 120 O Apply IP settings aACT 5 0 raACT 5 0 Set device netmask SINT 121 255 255 255 O rsINT 121 0 Apply IP settings aACT 5 0 raACT 5 0 Set device gateway optional SINT 122 192 168 11 rsINT 122 O Apply IP settings aACT 50 raACT 5 0 Enter calibration mode sINT 20 1 rsINT 20 O Perform c
83. h information from the device For more command examples see Section A 1 Command Syntax page 67 and Section A 5 Command Examples page 79 SICK AG Advanced Industrial Sensors www sick com All rights reserved 31 Subject to change without notice Interfaces 32 EtherNet IP Reference Manual Inspector Pl series 5 3 3 Select Reference Object There are two ways to select reference object with EtherNet IP and command channel The first way to select reference object To select the reference object via the slim command channel change the value of Select reference object in the slim command channel assembly instance no 100 The object index that corresponds to each reference object can be found in the Reference object list in the Main view If the value in Select reference object does not correspond to any reference object the Inspector PI5O will ignore the attempt to switch reference object The second way to select reference object To select reference object via command channel change to Edit mode 0 0 change the value to select the reference object 2 1 object index and then change back to Run mode 0 1 in the command channel assembly instance no 102 The object index that corresponds to each reference object can be found in the Reference object list in the Main view The time it takes to switch reference object depends on the number of inspections inspection type and sizes of the regions in the refe
84. hem can be controlled directly in the Ethernet Result Output dialog in the section Message settings All available attributes are listed in the table in section XML Formatting in Section 7 2 XML Formatting page 59 Degrees Radians Choose unit for the rotation for object locator and angle for blobs Pixels Millimeters Choose if position coordinates should be sent in pixel or milli meter unit Note The device must be calibrated for it to be pos sible to use the mm attribute An error message is given in the output string if the device is not calibrated and mm is chosen 5 2 2 Example Formatting Strings The auto generated example string will look different depending on the configuration in the selected reference object The intention with the default string is to give an idea of the available tags and to be a good starting point for creating the best format for the application that should be solved Below follow some short descriptions of example strings or part of default strings for different configurations For more information about the XML formatting see Chapter 7 Result Output Formatting page 59 Example string for configuration with only an Object locator IMAGE NUMBER dataType DINT pos 0 gt lt OBJECT_Loc gt lt DECISION dataType SINT pos 0 gt lt SCORE dataType REAL pos 0 gt 4 SCALE dataType REAL pos 1 gt lt X dataType REA
85. hoose one or more Inspection Result PDO Each In spection Result PDO can only be chosen once The as signments for each Inspection Result PDO is done in the EtherCAT Master These are optional PDO s The total size of the selected Inspection Result PDO s is only updated in SOPAS Single Device when the Inspector PI50 ECAT does the transition PREOP to SAFEOP or PREOP to OP The total size of the selected Inspection Result PDO s is needed when validating the XML output format string in the dialog Ethernet Result Output in SOPAS Single Device The ESI EtherCAT Slave Information file for the Inspector is located on the CD in the docu mentation folder and is named Inspector PI50 ECAT ESI xml Copy the ESI file to the location re quired by the EtherCAT Master SICK AG Advanced Industrial Sensors www sick com All rights reserved 57 Subject to change without notice Appendix Reference Manual Result Output Formatting Appendix Inspector Pl series Result Output Formatting 7 1 XML Based Formatting The formatting of the result string is defined by a formatting string written in XML It is possible to mix XML tags and free text in the formatting string The text parts will appear as is in the result string whereas the XML tags will be replaced by the appropriate values All white spaces in the formatting strings are ignored In order to include whitespace in the result string use the tags lt SPACE gt lt TAB gt and lt NEWLINE g
86. ibute pos depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 8 i e O 7 For more details about dataType and pos see table in Section 7 3 2 Attributes page 65 Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to Result of validating output string with only an Object locator The validating in SOPAS Single Device will give the following result EtherNet IP assembly string OK Result in PLC with only an Object Locator The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos Data type Offset byte Variable from from XML configuration dataType example above 0 SINT 0 DECISION SINT 1 2 SINT 2 3 SINT 3 4 SINT 4 5 SINT 5 6 SINT 6 7 SINT 7 0 INT 8 1 INT 10 2 INT 12 3 INT 14 4 INT 16 5 INT 18 6 INT 20 7 INT 22 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherNet IP Interfaces Position ref pos Data type Offset byte Variable from from XML configuration dataType example above O DINT 24 IMAGE_NUMBER DINT 28 2 DINT 32 3 DINT 36 4 DINT 40 0 REAL 44 SCORE 1 REAL 48 SCALE 2 REAL 52 X 3 REAL 56 Y 4 REAL 60 ROTATION
87. ification Communication protocol EtherCAT protocol ETG 1000 Modulation method Baseband Transmission speed 100Mbps Physical layer 100BASE TX IEEE802 3 Connector Two M12 X1 EtherCAT in X2 EtherCAT out Communication medium CAT5 or higher Communication distance Distance between nodes slaves 100m or less 6 3 2 EtherCAT LED s Figure 6 1 EtherCAT LED on the Inspector PI50 ECAT page 37 shows the EtherCAT LED on the Inspector PI5O ECAT Link Act Es Err Link Function On Joey D Figure 6 1 EtherCAT LED on the Inspector PI50 ECAT Table 6 3 EtherCAT Run indicator LED Off Device in INIT mode Blinking Device in PRE OPERATIONAL mode Single flash Device in SAFE OPERATIONAL mode On Device in OPERATIONAL mode Table 6 4 EtherCAT Err indicator LED No error Blinking General configuration error Single flash Local slave error Double flash Application watchdog timeout Critical error SICK AG Advanced Industrial Sensors www sick com All rights reserved 9T Subject to change without notice Interfaces 38 EtherCAT Reference Manual Inspector Pl series Table 6 5 EtherCAT Link Act indicator LED for X1 X2 Green Off Physical link layer not established Flashing Physical link layer established and data is being sent On Physical link layer established 6 3 3 EtherCAT process data toggle indi
88. inciples c cae exec cats e eren na Eurer vera ce Eye n cena ey 31 5 3 2 Command Syntax arise peii oer DOR ee Re Aara nie iadaa siaa 31 5 3 3 Select Reference Object sss 32 5 34 Image TME ra Seadeeaencse Ea aseen etea te ba aaan ondt aTi 32 5 3 5 Input Assemblies Result Channel eese 32 5 3 6 Assemblies Command Channel esses 33 o ai E EENEEN 36 6 3 Introduction cuui eee e ir ete enr cete eie euet 36 6 2 EtherCAT Function Overview sssssssseeeeeennneemememmememen nenne 36 6 3 EtherCAT communication esses mee 37 6 3 1 EtherCAT Communication Specification essesusss 37 6 32 Ether CAT LEDIS 2 5 eese teri e oes va dean cenar Laiak EnA ELASTE rena AEETI tale 37 6 3 3 EtherCAT process data toggle indicators susss 38 6 3 4 EtherCAT cycle tiimie is 1 ec cineri etii perat ia ER RR eR RES REIS 38 6 4 Get Results via EtherCAT ccccceceee cece cee ee eeee ee ee eee aeeeeaeeeeneeeeaeneeees 38 6 4 1 Mandatory TxPDOss s e e eade cece ee ee ee eeee ee ee eee eeeeaeeeeeeaeeaeaeeeees 38 6 4 2 Optional TxPDO s aver cosets cerco ev sete ren bye aea ey 38 6 4 3 Results via EtherCAT Work flow eeeeeeeeeeneennen 40 6 4 4 Illumination trig output 2 0 cece eee cece eect eee m mH 41 6 4 5 Example Formatting Strings eeeeseeeeeeeeeeeeee 41
89. ing on attribute coordUnit or configured value in the Ethernet Result output dialog For a polygon with two corners single edge the estimated corner positions are the intersection between the found edge and the left and right borders of the search region The search region is defined by the user drawn edge and the position search parameter See also Operating Instructions for Inspector PI50 about Single edge tool 62 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8014694 2012 08 Reference Manual Result Output Formatting Appendix Inspector Pl series BLOB name any string Name attribute required if more than one Blob tool exists The name refers to the Blob tool s name in the tool tab index O 15 Index of found blob according to current blob sorting order Index O is the first blob X cO REAL Blob center of gravity x position ordUnit pixels or mm depending on at tribute coordUnit Y cO REAL Blob center of gravity y position ordUnit pixels or mm depending on at tribute coordUnit FOUND_ USINT Number of found blobs BLOBS LIVE_ USINT The lower threshold of the Blob THRESHOLD tool s intensity after applying ambi Low B ent light compensation LIVE USINT The upper threshold of the Blob THRESHOLD tool s intensity after applying ambi HIGH ent
90. ity of SOPAS Single Device The file format created by the Web API is not compatible with the sdv file format Backup Configuration The URL to export a configuration is http lt IP address gt backup_config configl Example URL http 192 168 1 110 backup_config configl The result of the request is a buffer containing the device configuration This file can be stored in the file system of the receiving unit and used later in the restore procedure The Web Server standard web pages requires a login to perform a backup A login is not re quired when doing a backup through the Web API Restore Configuration The restore operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file The operation is a multiple step procedure that requires a login The details of the procedure is described in Appendix B Web API page 83 The operation may take several minutes and the Inspector PI50 is automatically restarted after the configuration has been transferred to the Inspector PI50 Note During the restore operation the device is set in a special restore mode only expecting restore operation requests Operations and requests via other interfaces like field buses SOPAS Single Device Inspector Viewer or Web browsers other than shall then be avoided since they may interfere with the restore operation SICK AG Advanced Industrial Sen
91. l is based on the set of commands described above with parameters depending on what the user wants to do See tables below with a complete list of command channel actions and functions The index argument in the command descriptions below refers to tool s index when configured in SOPAS Single Device The index can be found in the Tools tab in SOPAS Single Device Hold the mouse pointer over the current tool to get the index number Table A 4 Command channel actions Save settings in aACT 1 No flash Re teach reference aACT 2 Yes only in int auto O use expos object Run mode Exp ure settings 1 auto adjust Perform calibra aACT 3 No int box 20 8 gs Dy tion Size int calibra 0 100 tionCover age Remove calibration a ACT 4 No Apply IP settings aACT 5 Yes int useDH O use manual CP settings 1 use DHCP Reset the Inspect aACT 6 Both in run or and edit mode In order to run this command the device must be set to Calibration mode sINT 20 1 PThe argument must be given in mm Returned value is the calibration target coverage in percent After the aACT 5 command has been executed the Inspector need to be restarted e g using aACT 6 before the new IP settings are in use The aACT 6 command will make the device being temporarily disconnected SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice
92. light compensation ANGLE unit 0 180 REAL In degrees or radians depending on attribute unit or configured value in the Ethernet Result output dialog AREA UDINT Blob area in pixels EDGE FLAG 0 1 USINT O blob fully within ROI 1 blob touches ROI border EDGE PIXELS UDINT Structure calculation value num ber of edge pixels inside the found blob This tag must be used inside the lt POLYGON gt container Only available for Ethernet Raw For EtherNet IP the position is represented as an INT value USe the scale attribute to get more decimals This tag must be used inside the lt BLOB gt container The value are given for each Blob ROI not for each found blob Note When a tool is related to the object locator and the object locator is not found in the live image the presented results for the related tools are undefined 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 63 Subject to change without notice Appendix 64 Result Output Formatting 7 3 1 Table 7 2 General Tags Generic Output String Tags Reference Manual Inspector Pl series MESSAGE_SIZE UINT Binary format The size of the message in bytes ASCII format The number of characters in the message IMAGE_NUMBER UDINT Analyzed image s number Resets at power up or device reset IMAGE_DECISION 0 3 USINT O Not located 1 Detail faile
93. lta y delta y pixels corner O 15 Get polygon corner int 0 7 corner x y pixels int x int y The polygon index argument corresponds to the order in which the polygons are listed in the Tools tab in the SOPAS Single Device starting with O Table A 11 Command channel functions Pixel counter Change pixel SINT 80 No int index O 31 counter intensity int min 0 255 min lt max range thresholds int max 0 255 min lt max Get pixel counter in gINT 80 Yes int index 0 31 tensity range int min 0 255 thresholds int max O 255 Change No of pixels sINT 81 No int index O 31 in range thresholds 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 75 Subject to change without notice Appendix 76 Command Channel Reference Manual Inspector Pl series int min 0 ROI size pixels min lt max 0 ROI size pixels min lt max int max Get No of pixelsin gINT 81 Yes int index O 31 range thresholds int min 0 ROI size pixels int max O ROI size pixels The index argument corresponds to the order in which the pixel counter edge pixel counter and pattern are listed in the Tools tab in the SOPAS Single Device starting with O The type of tool pixel counter edge pixel counter or pattern does not matter i e if two Pattern tool are listed a
94. lumination trig the time left until the exposure starts is the actual Inspector cycle time In order to turn on the illumination in time before the exposure starts the user should account for the possible EtherCAT cycle delay Note It is possible to read out the inspection cycle time via the CoE command channel See Sec tion A 2 Command descriptions page 68 6 4 5 Example Formatting Strings The auto generated example string will look different depending on the configuration in the selected reference object The intention with the example string is to give an idea of the available tags and to be a good starting point for creating the best format for the application that should be solved Below follow some short descriptions of example strings for different configurations For more information about the XML formatting see Chapter 7 Result Output Formatting page 59 SICK AG Advanced Industrial Sensors www sick com All rights reserved 41 Subject to change without notice Interfaces 42 EtherCAT Reference Manual Inspector Pl series It is possible to verify the actual size of the output result defined by the XML formatting string This is done by validating the output string in the Ethernet Result Output dialog Assign the ap propriate Inspection Result PDO s in the EtherCAT Master see Table 6 9 PDO over view page 55 Example string for configuration with only an Object locator MESSAGE SIZzE D
95. ly one command at a time can be executed Each command is followed by a return message ACK that includes result of the command as well as error codes The commands are not unique to a specific task it is the commands together with their parameters that uniquely point to a specific configuration change see list of command types and parameters in Appendix A Command Channel page 67 Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode e It is possible to block configuration changes by deselecting the setting Allow changes via Ethernet Raw in the Ethernet Raw tab in the dialog Interfaces and 1 0 Settings in InspectorPI50 menu 4 3 2 Command Syntax The command channel has the following syntax command identifier lt argl gt arg2 lt argN gt The ACK message has the following syntax XACK Command identifier errorCode returnValuel lt returnValue2 gt lt returnValueN gt lt errorMessage gt The command is sent as an ASCII string The combination of a command with its parameters will either change the devices configuration or fetch information from the device For more command examples see Section A 5 Command Examples page 79 and Section A 1 Command Syntax page 67 4 3 3 Select Reference Object To enable reference object selection via Ethernet Raw do the following 1 Choose Interface and 1 0 S
96. lyzed image and whether the formatting was correct or not The maximum size of the XML buffer is 7900 ASCII characters This means it will not be possible to e g paste a XML string into to the input field if it s too large For a larger configur ation it might not be possible to configure as much output information as wanted due to this limitation 7 2 XML Formatting The content of the Ethernet output is configured using an XML based formatting string The available tags can be categorized into two groups container tags OBJECT LOC lt POLYGON gt lt BLOB gt e value tags lt X gt lt PIXELS gt lt NEWLINE gt lt TIME gt 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 59 Subject to change without notice Appendix 60 Result Output Formatting Reference Manual Inspector PI series The value tags are replaced with a value whereas the container tags are used to group value tags The container tags do not generate any text on their own It is the value tags inside the container tags that generate the text Attribute value must always be enclosed in quotes There are three integer tags lt UINT1 gt lt UINT2 gt lt UINT3 gt for which the values can be changed in both Edit and Run mode using the Command channel The lt BLOB gt container tag contains special functionality for presenting values for a certain blob The index value specifies which blob ROl
97. mber 4 bytes PDO Sys Time 4 bytes System Time 4 bytes PDO Inspection Result 16 16 ByteO Byte15 16 bytes bytes PDO Inspection Result 32 32 ByteO Byte31 32 bytes bytes PDO Inspection Result 64 64 ByteO Byte63 64 bytes bytes PDO Inspection Result 128 128 ByteO Byte127 128 bytes bytes PDO Inspection Result 256 256 ByteO Byte255 256 bytes bytes PDO Inspection Result 512 512 ByteO Byteb11 512 bytes bytes Mandatory PDO Process Data from EtherCAT Master to Inspector RxPDO Detailed explanation PDO Control Control byte Contains Rx Toggle bit and Inspection Trig PD Trig One toggle bit for all RxPDO s All PDO entries in Control are mandatory process data Rx Toggle bit Toggle flag The RX Toggle bit has to be toggled each time the RxPDO has been updated or changed Bit O in the Control byte 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 55 Subject to change without notice Interfaces 56 EtherCAT Inspection Trig PD Trig PDO DC Sync Activate PDO DC Sync Start Reference Manual Inspector PI series Contains the inspection trigger Changing the Inspection Trig bit from O to 1 will trigger the Inspector PI50 ECAT Bit 1 in the Control byte This is the Activate register for the Programmable Trig feature See Section 6 8 DC Distributed Clock DC features page 51 This is the programmed DC StartTime for the Program mable Trig f
98. mode O Run 1 Edit Trig device TRIG No 0 31 Select reference object int object Get active reference int object object 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 69 Subject to change without notice Appendix 70 Command Channel Get number of con figured reference ob jects Reference Manual Inspector Pl series int object 0 31 or ticks SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice Change exposure SINT 14 No Jint 10 10000 exp 100 Get exposure gNT 14 Yes int exp 100 10 10000 Change gain SINT 15 No jint gain 0 400 Get gain gINT 15 Yes int gain O 400 Switch trigger SINT 16 No int mode O free running mode free running 1 trig trig Get trigger mode gNT 16 Yes int trigMode O free running 1 trig Change value of in SINT 18 Yes int index O 2 teger tags in result int value 0 65535 output UINT1 3 Get value of integer glNT 18 Yes int index O 2 tags in result output int value 0 65535 UINT1 3 Get frame period time gINT 19 Yes int framePeriod microseconds Enter leave calibration sINT 20 No int mode O normal mode mode 1 calibration mode Get calibration para gINT 20 Yes intparamet int parameterRes
99. n terface and the Fast Ethernet interface cannot be on the same sub net Note In this release the Web server has to run on the same computer as the EtherCAT Master runs e g the PC that TwinCAT runs on This means that it is not possible to connect a laptop computer to the Master computer and run the Web server on the laptop Figure 6 7 Configuring IP address in TwinCAT System Manager for using EoE page 48 show an example of configuring EoE in TwinCAT System Manager Advanced Settings Mailbox i CoE v Virtual Ethemet Port E Virtual MAC Id 02 01 05 10 03 9 o Distributed Clock O Switch Port E ESC Access IP Port O DHCP IP Address 192 168 0 127 Subnet Mask 255 255 255 0 Default Gateway 192 168 0 125 DNS Server A DNS Name Bex 1 PL 50 C Time Stamp Requested Figure 6 7 Configuring IP address in TwinCAT System Manager for using EoE The IP address entered is the IP address used for the EoE traffic That is this is the IP address that the Web server should use to connect to the Inspector over EoE Note that this is not the same IP address as the Inspector IP address used for the SOPAS connection The only Inspector PI50 ECAT traffic that can be tunneled via EoE is the Web server Web API traffic i e SOPAS Single device and Store images to FTP traffic only works on the Fast Ethernet interface Note The fact that EoE has been disabled is not reported by TwinCAT to the Inspector
100. n using EtherNet IP the at tribute DataType specifies the dataType section in the selected assembly pos O 43 All values No Used by EtherNet IP to determ ine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range of the attribute pos depends on which assembly is used Only available for Ethernet Raw PThe device must be calibrated for it to be possible to use the mm attribute Table 7 4 Sizes of datatypes See Section 4 2 3 Attributes page 20 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice USINT 1byte O 255 S SINT 1byte 128 127 5 UINT 2 bytes 0 65535 INT 2 bytes 32768 32767 j UDINT 4 bytes O 2 1 a DINT 4 bytes 2 t 221 4 REAL 4 bytes Represented as IEEE 754 binary 32 8014694 2012 08 Reference Manual Inspector Pl series Command Channel Appendix Command Channel 8014694 2012 08 The Command Channel is used to read and update a selected set of device parameters This section describes the Command Channel from a generic point of view The Command Channel is available via several of the device interfaces Ethernet Raw EtherNet IP EtherCAT Web API There are differences depending on the possibilities each interface provides The differences are described in the chapters about
101. nal TxPDO s that the user can select from sizes are 16bytes 32bytes 64bytes 128bytes 256bytes and 512bytes Any combination of these differently sized optional TxPDO s can be selected but only one of the same size This means SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces that the maximal size of the inspection result output selected by the XML formatting string is 16 32 64 128 256 512 1008bytes That is it is possible to select any total size between O and 1008bytes in step of 16bytes Note that the selection of optional TxPDO s are done from the EtherCAT Master side D Mandatory TxPDO 14 bytes Vc EE 2 Selected optional amp 4 TxPDO Available optional 512 TxPDO s Figure 6 2 Selecting optional TxPDO s for the result The order the inspection results appear in the XML formatting string is also the order that they will appear in the selected set of optional TxPDO s The size in bytes of the selected in spection result can be found in Section 7 3 Container Specific Tags page 60 To ease for the PLC programmer a function block generator is available that makes the mapping between the XML formatting string and variables in a PLC program see Section Section 6 11 ESI file page 57 Figure 6 3 Mapping results into the optional TxPDO
102. ned selected Programmable Trig is by default disabled in the Inspector Programmable Trig is enabled in the EtherCAT tab in the Interfaces and IO settings dialog in the Inspector PI50 menu in SOPAS by checking the box Enable Programmable Trig Note The use of the Programmable Trig feature and the Trig bit in the process data are allowed simultaneously However it is recommended to only use one of the features in a configuration Using Programmable Trig The Programmable Trig feature is programmed using the two EtherCat Slave Controller ESC registers StartTime 0x990 and Activate 0x981 on the Inspector The PLC programmer accesses these registers by using the PDO DC Sync Activate and PDO DC Sync Start PDO s see Section 6 10 PDO Overview page 54 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces Q StartTime T StartTime T Activate 3 Activate 0 Activate 3 Activate 0 D Imager exposure 4 EtherCAT cycles Programmable Trig signal 5 Delay from Programmable Trig to Imager DCtime exposure Pulse width of Programmable Trig fix value of 500 us Figure 6 10 Illumination trig Figure 6 10 Illumination trig page 53 shows how the Programmable Trig feature is used The following procedure can be used 1 Make sure the Activate register is set to O
103. ng to cur rent blob sorting order Index O is the first blob scale Any REAL 1 0 All values Yes Scales the values before they are printed Can for example be used to express positions as integers in 1 10 pixel units 0 15 base decimal decim octal hexj al Integers timeUnit s ms S TIME Yes name any string none ldentification Yes of tools value 0 255 0 lt ASCII gt No intValue O 255 O O lt USINT gt Yes Integer value to be sent 65535 0 lt UINT gt lt UD 2754 INT digits O 9 0 Integers and No Minimum number of characters REAL REAL No Number of decimals CORNERS decimals All iterates over all polygon corners Number O to 15 gives the properties of a single corner The index of this corner is the order in which the polygon corner was added when the polygon was drawn coordUnit pixels mm pixels Object locator Yes Gives result coordinates in pixel Blob and Poly or millimeter format gon coordin ates SICK AG Advanced Industrial Sensors www sick com All rights reserved 65 Subject to change without notice Appendix 66 Result Output Formatting dataType SINT INT All values Reference Manual Inspector PI series Casts to the specified datatype unit radians de de grees grees Angles DINT REAL Whe
104. of Contents Ve IINTFOCUCTION ces L EE M 7 1 IntrOdUcti n i ioi eei tuts Poets RR da edadatassncntoniabaleatuped dabeabatacgsvnandescatalacas ie 8 1 1 Interfaces Overview i eio eecix orn contents enne nha Kiei rung ho xa soa KANEN 8 1 2 Intended Readers 5 erro ette eese dein oiia rue Ee RE 8 2 Interfaces eT PEE 9 2 VO Extension BOX 2 2 i rete Eee Rie RE PES a een sods ive sndibeaediacadstghesdiniediagbes 10 2 1 Physical Network Connection cccceceee cece cee eeeeeeca ee eeeeeeeeneeeeeaees 10 2 2 Configuration of the IP Address on the I O Extension Box 10 2 2 1 Basic Configuration of the IP address sese 11 2 3 Setup of the I O Extension Box in the SOPAS Single Device Applica MOL LS 11 2 3 1 Enabling the I O Extension Box eeeeeenm 12 2 4 Input and Output Connections sesseessses eene 12 2 4 1 Special Conditions During Startup eeeeeesesesesse 13 2 4 2 Connection to the I O Extension Box lost During Operation 13 2 4 3 Object Selection with I O Extension Box eeseesssese 13 2 4 4 Timing ISsUues iere retenir reete ee Ta Yin d 13 2 4 5 Use of the Digital Outputs for Logic seeeeeeeeese 13 2 4 6 Change of Modules in the I O Extension Box 13 2 5 Troubleshooting er e irc ute erc deed dieere dex 13 2 5 1
105. of XML formatting string inspection output is 1008bytes If this limit is exceeded the following is displayed Error Formatting string specifies more data than supported by the Inspector 1008 bytes Required size 1024 bytes 6 4 4 Illumination trig output The mandatory TxPDO Status see Section Section 6 10 PDO Overview page 54 contains one bit for Illumination trig This bit is typically used for triggering external illumination sources controlled by the EtherCAT Master when the Inspector is not triggered by the Master The Illumination trig bit is a toggle bit where every toggle of the bit indicates a time point from where there is a defined time left until the exposure of the next image will start This is outlined in Figure 6 4 Illumination trig page 41 D Exposure 43 EtherCAT cycles Analysis 5 Inspector s inspection cycle time Q3 Illumination trig bit Illumination trig for the next exposure Figure 6 4 X Illumination trig As seen in Figure 6 4 Illumination trig page 41 the Inspector will trigger an EtherCAT Illu mination trig that is valid for the next image at the same time as the current image starts its exposure Note that since the EtherCAT cycle is not correlated to the inspection cycle the actual toggle of the Illumination trig bit can be delayed one or two EtherCAT cycles depending on EtherCAT cycle time before it reaches the Master This means that when the Inspector initiate to send out the Il
106. ontroller implementation all EoE errors reported from the Inspector PI5O ECAT is mapped to an unspecified error Ox1 on the EtherCAT Master side 6 7 FoE Configuration Handling and Firmware Download In the EtherCAT Master it is possible to download to the Inspector a device configuration file or a firmware file to the Inspector PI5O ECAT It is also possible to upload to the Master a device configuration file using the FoE mechanism To be able to do file transfers the In spector PI50 ECAT has to be set into BOOTSTRAP mode Note To be able to go into BOOTSTRAP mode the Inspector has to be in Edit mode Edit mode can be set via the COE command channel or the SOPAS GUI An FoE transfer can take in the range of minutes As an example a 3 6Mbyte large file takes 90seconds when having an EtherCAT cycle time of 2ms SICK AG Advanced Industrial Sensors www sick com All rights reserved 49 Subject to change without notice Interfaces EtherCAT Reference Manual Inspector Pl series EtherCAT_TwinCAT System Manager Storage tsm TwinCAT System Manager File Edit Actions Yiew Options Help Dc u ed amp t7 SYSTEM Configuration BA PLC Configuration amp ll 1 0 Configuration A sav Oo wu et General EtherCAT Process Data Startup CoE Online Online State Machine B 1 0 Devices y S F Device 1 EtherCAT Unit Bootstrap e urrent State afa Devies 1 Image Pre Op Saf
107. ositions O 7 and the dataType REAL in assembly 4 has 44 positions O 43 The contents of the assembly are defined from the Ethernet Result Output dialog Note Onthe installation CD there is an excel file with templates for the four result input assemblies file name AssemblyMappingPI5O xls These can be used to document the mapping between position in data structure and what is configured in the Ethernet Result Output dialog Assembly 1 Small Result Channel Instance ID 103 Size 64 bytes SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual EtherNet IP Interfaces Inspector Pl series Table 5 1 Input Assembly 1 SINT 8 1 byte each O in Wawro DINT 5 4 bytes each 24 REAL 5 4 bytes each 44 20 bytes Assembly 2 Medium Result Channel Instance ID 105 Size 124 bytes Table 5 2 Input Assembly 2 12 1 byte each 12 bytes 12 2 bytes each 12 24 bytes 11 4 bytes each 44 bytes 11 4 bytes each 44 bytes Assembly 3 Large Result Channel Instance ID 107 Size 248 bytes Table 5 3 Input Assembly 3 24 1 byte each 24 bytes 24 2 bytes each 24 48 bytes DINT 22 4 bytes each 72 88 bytes REAL 22 4 bytes each 160 88 bytes Assembly 4 Extra Large Result Channel Instance ID 109 Size 484 bytes Table 5 4 Input
108. p tions of which features each interface supports and which interfaces that are available for each product variant 1 2 Intended Readers The intended readers of the Reference Manual are users working with integration between the Inspector PI5O and other equipment for example PLC programmers and Custom HMI developers The readers are assumed to have knowledge about the Inspector PI50 product and features as described in the Operating Instructions for Inspector PI50 The readers are also assumed to have knowledge about the basic functionality of the technology of the interfaces used for the integration 8 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Interfaces Interfaces l o Extension Box Reference Manual Inspector Pl series 1 0 Extension Box The Inspector PI50 VSPP 5F2113 and VSPP 5F2413 can be connected to an 1 0 extension box that increases the number of digital inputs and outputs The I O Extension box is available as an accessory from SICK This section covers how the I O extension box is connected to the Inspector PI50 and how it is configured The I O extension box is not available for the Inspector PI50 ECAT VSPP 5F2134 The following basic steps are required to use the 1 0 extension box with the Inspector PI50 Details about the steps are found in the subsequent sections 1 Connect the I O extension box to the network 2 Configure
109. r more details about dataType and pos see table in Sec tion 7 3 2 Attributes page 65 Attribute pos Used by EtherNet IP to determine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range of the attribute pos depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 8 i e SICK AG Advanced Industrial Sensors www sick com All rights reserved 27 Subject to change without notice Interfaces EtherNet IP Reference Manual Inspector Pl series O 7 For more details about dataType and pos see table in Section 7 3 2 Attributes page 65 Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to Result of validating output string with only an Blob The validating in SOPAS Single Device will give the following result Result in PLC with only an Blob EtherNet IP assembly string OK The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos Datatype Offset byte Variable from from XML configuration dataType o SINT SINT SINT SINT SINT SINT SINT SINT INT INT INT INT INT INT INT INT DINT DINT DINT DINT DINT REAL REAL REAL REAL REAL B WIN PLO FF WN PIO NO OB WYN FP ON OD OH B W N
110. rammer sets the time for the Trig to occur in the StartTime register and then sets the Activate register When the Trig has occurred the Activate register has to be set low and the procedure starts over again This means that the PLC programmer cannot program a new Trig time until the previously programmed Trig has occurred i e there is no queue handling of Trig times Note Note that the Process data Trig PD Trig is always enabled It is not recommended to use the Programmable Trig at the same time as the PD Trig SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 EtherCAT Interfaces For more details see Section 6 8 2 Programmable Trig page 52 6 5 2 Using the CoE command channel Basic principles Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode Anew command can not be sent until the previous command has been completed It is possible to download and upload files using FoE though a command has not been com pleted CoE Command Syntax The command channel uses the protocol CANopen over Ethernet CoE and the standard CoE Command Object is used see ETG 1020 Command Object The index used for the CoE object in the EtherCAT Master is Ox2000 callCommandChannel The table below shows the used su
111. rence object Typically it takes in the order of one second to switch reference object For more information see Operating Instructions for In spector PI50 5 3 4 Image Trig To enable triggering via EtherNet IP do the following 1 Choose Interfaces and 1 0 Settings from the InspectorPI50 menu 2 In the tab Interface choose Ethernet and EtherNet IP in the list box 3 In the Image settings tab choose Trig by EtherNet IP To trigger an image acquisition via EtherNet IP specify that the slim command channel in stance no 100 is to be used here and set the value of Trigger to 1 The image capture is made immediately without any delays The Inspector PI50 will capture an image each time the value of Trigger is changed to 1 i e rising edge To trigger the next image caption you must first set the value to 0 When triggering via EtherNet IP the time between two image captions should be at least 4 times the RPI This means that the maximum triggering rate via EtherNet IP is approximately 15 Hz 5 3 5 Input Assemblies Result Channel There are four input assemblies each assembly corresponds to respective assembly in the EtherNet IP tab in the Interfaces and 1 0 Settings dialog Each assembly has four different dataType sections SINT INT DINT and REAL Each dataType section has a different number of posi tions the number of positions depends on the assembly and the dataType selected Example The dataType SINT in assembly 1 has 8 p
112. ror codes are valid for Ethernet IP Ethernet Raw EtherCAT and Web Server Both error code and an explaining text are shown when using Ethernet Raw for configuring the device through the command channel When using EtherNet IP for configuring the device through the command channel will only view the error code SICK AG Advanced Industrial Sensors www sick com All rights reserved T7 Subject to change without notice Appendix 78 Command Channel Reference Manual Inspector Pl series Table A 15 Error codes Command errors 0 No error 8000 Index out of bounds for example trying to use an image bank above 32 8001 Incorrect number of arguments too many or too few arguments are supplied 8002 A parameter value is out of bounds for example it was not in the allowed range as described in the command list 8003 Command with no valid identifier for example sINT 200 8004 An invalid mode was supplied SMOD for example sMOD 2 8005 The device is performing an operation and cannot accept new command 8006 Set commands are disabled for this interface Table A 16 Error codes Configuration errors 0 No error 8100 Operation is not allowed in current mode 8101 The reference bank is not used on the device 8102 Operation is not allowed for example trying sINT 20 O when not in calibration mode 8103 Calibration mode is not enabled when trying to perform calibra
113. rough the com mand channel UINT2 0 65535 UINT Value can be changed through the com SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice mand channel 8014694 2012 08 Reference Manual Inspector Pl series 8014694 2012 08 Result Output Formatting Appendix UINT3 0 65535 UINT Value can be changed through the com mand channel If a tool is fixed in field of view and not relative to the object locator the Image decision will report the value 3 in cases when the object locator does not locate the object and the result of the unrelated tool is failed 7 3 2 Attributes Attributes are used to control the formatting and identification of inspections The table below describes the formatting attributes for Inspector PI50 Some attributes can also be set for the whole formatting string in the Ethernet Result Output dialog in the InspectorPI50 menu in the section Message settings The attributes operate in a hierarchical way using inheritance So if Number of decimals has been set to 3 in the Ethernet Result Output dialog all REAL will be printed with 3 decimals unless they are inside a tag that states otherwise Some attributes can also be set from the Ethernet Result Output dialog from the InspectorPI50 menu in SOPAS Single Device see also Section 4 2 3 Attributes page 20 Table 7 3 Formatting attributes Index of blob accordi
114. sion box for object selection If the I O extension box is not available when the Inspector PI50 starts up the Inspector PI50 will use the last reference object selected in the SOPAS Single Device application before saving to flash Once the I O extension box is available the Inspector PI5O will read the inputs of the box and select the corresponding reference object 2 4 2 Connection to the I O Extension Box lost During Operation If the connection to the 1 0 extension box is lost during operation the last status of the inputs on the box will be used until the connection is re established 2 4 3 Object Selection with 1 0 Extension Box The status of the inputs on the I O extension box is checked in the end of each inspection cycle If the Inspector PI50 is configured to use external image trig the status of the external inputs will only be checked when an image trig signal has been received 2 4 4 Timing Issues The digital outputs on the I O extension box shall be read at minimum delay time as displayed in the SOPAS Single Device application 2 4 5 Use of the Digital Outputs for Logic The digital outputs on the I O extension box are not guaranteed to be jitter free It is not re commended to use these outputs for direct control of other devices The I O extension box shall be connected to a PLC for process control 2 4 6 Change of Modules in the I O Extension Box The Inspector PI5O supports I O extension box configurations with up to 16
115. sors www sick com All rights reserved 17 Subject to change without notice Interfaces Web Interface Reference Manual Inspector Pl series 3 4 Handle the Web API The Web Server and Web API interfaces can be activated or deactivated When activated it is possible to select port number and to allow command channel changes The same settings apply both to the Web Server and to the Web API The Web interfaces are configured in the Interfaces and 1 0 settings dialog in the InspectorPI50 menu The Web API is based on standard HTTP request and responses Recommended request timeout time is 3 seconds to allow for images to be transferred properly 18 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Ethernet Raw Interfaces Inspector Pl series Ethernet Raw 4 1 Introduction To set up the connection and output results for Inspector PI50 using Ethernet Raw see Oper ating Instructions for Inspector PI50 4 1 1 Port Interval The default interval for the ports used by the communication channels is 2114 2116 This interval can be changed e g if the controlling device does not support the default interval The interval is controlled by the field Start port in the Ethernet Raw tab of the Interface and I O settings dialog The ports are assigned according to the following Ethernet Result Output start port default 2114 Command channel s
116. t The tags are either container tags or value tags The container tags do not generate any text on their own It is the value tags inside the container tags that generate the text The following container tags are valid in the Inspector PI50 OBJECT_LOC Used to present values concerning the Object locator BLOB Used to present values for a found blob in a blob ROI The index points out the found blob in accordance with the blob sorting order If no index is given this is the same as index 0 PIXEL_COUNTER PATTERN Used to present values concerning inspections EDGE_PIXEL_COUNTER POLYGON Used to present values concerning a defined Polygon CORNERS Container tag within the POLYGON tag for presenting values concerning the polygon corners See example lt POLYGON gt lt CORNERS gt lt X gt lt Y gt lt CORNERS gt lt POLYGON gt The XML based formatting string is entered in the Formatting string for Ethernet Output part of the Ethernet Result Output dialog To get a default string for the current chosen reference object click Create default formatting string Click Validate output string to validate the formatting string The output that will be sent over Ethernet or errors are reported in the Current output string part of the Ethernet Result Output dialog Note When using binary transfer the Validate output string button will only show how many bytes that will be sent for the current ana
117. t locator and angle for blobs Pixels Millimeters Choose if position coordinates should be sent in pixel or milli meter unit Note The device must be calibrated for it to be pos sible to use the mm attribute An error message is given in the output string if the device is not calibrated and mm is chosen Note that the units can be individually changed for specific inspection results by the use of attributes to the result tag s All available attributes are listed in the table in section Sec tion 7 2 XML Formatting page 59 Enter the result output formatting string in the Formatting string for Ethernet Output window or click the Create example formatting string button to create an example formatting string Edit the string to adjust it if necessary Validate and find the size of the XML output string In the Ethernet Result Output dialog click the Validate output string button A text will now appear in the Current output string window that will indicate any syntax errors in the XML formatting string The text will also display the required size in bytes for the inspection result defined by the XML string That is this is the size that the optional TXPDO s have to match Below are three examples of validated output string in SOPAS Single Device when The Master has selected a total size for the optional TxPDO s that is too small Optional TxPDO size is in this example 16bytes and the required size form the XML formatting
118. tart port 1 Dedicated image trig start port 2 4 2 Get Results via Ethernet Raw The following settings are done in the Ethernet Result Output dialog under Inspector PI50 menu 4 2 1 TCP versus UDP The basic difference between these protocols for the Ethernet result output function is which side initiates the connection to receive send the data TCP UDP D PC PLC initiates the connection D Inspector PI5O sends results to the 2 Inspector PI5O sends results to the PC PLC specified IP address and port 3 PC PLC acknowledges that results are re no RHOWIHE elites Been Te ceived built into the TCP protocol Note For TCP the default port number that the Inspector PI5O listens to is 2114 4 2 2 ASCII versus Binary The Inspector PI50 supports the possibility to choose whether the configured output is to be sent in ASCII format or in a binary format The parameters that should be transferred in binary format are also defined in the XML based formatting but some tags are not supported in the binary format If such a parameter is added to the formatting it will be ignored by the Inspector PI5O In binary mode all added text and text formatting for example lt SPACE gt are ignored Only the 8014694 2012 08 SICK AG Advanced Industrial Sensors www sick com All rights reserved 19 Subject to change without notice Interfaces 20 Ethernet Raw Reference Manual Inspector Pl series values of the parameters des
119. the command port Another reason is that the Ethernet Result string must be retrieved from the sensor i e image trig and result handling cannot be performed in parallel when using the single port solution This is how the sensor is controlled by using only the command port The image acquisition is performed by the TRIG command with lower priority The Ethernet Result Output string is retrieved explicitly by the controlling device e g a PLC This is done by the command gRES The sensor does not send the result automatically on this port All other commands on the command channel are available as in the standard three port solution SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual EtherNet IP Interfaces Inspector Pl series EtherNet IP 5 1 Introduction The Inspector PI5O can be controlled and results m can be read out using the EtherNet IPTM standard EtherNet IP see http www odva org To be able to do this conformance tested some settings have to be done first To set up the connection and output results for Inspector PI5O using Ethernet IP see Operating Instructions for Inspector PI50 5 2 Get Results via Ethernet IP The following settings are done in the Ethernet Result Output dialog in the Inspector PI50 menu 5 2 1 Attributes Attributes are used to control the formatting and identification of inspections Some of t
120. the communication with the I O extension box It is recommended to try to increase the timeout as a first step and if this does not work try to increase the number of retries Increasing the number of retries will reduce the inspection speed If the problem persists even if the timeout and the number of retries have been increased verify that the network topology does not block the use of UDP packets SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Web Interface Interfaces Inspector Pl series Web Interface 3 1 Introduction The Web Interface is available in two variants the Web API and the Web Server The Web API is used to create custom HMI solutions and offers a wide range of functions to control and monitor the Inspector PI50 A subset of these functions is employed by the Web Server providing intuitive operation of the Inspector PI50 and high accessibility through a standard web browser The command channel shared with other interfaces is available through the Web API as well as specific functions to access images and to backup and restore configurations The Web Server interface is described in the Operating Instructions for Inspector PI50 The Web API is described in this manual 3 2 Get Results via Web API The Web API presents the inspection results as overlay graphics in the live image It is not possible to get detailed insp
121. tion file created with the Backup command in the Web server Web API see Section 3 3 5 Backup and Restore Configuration page 17 can be used for FoE configur ation download Vice versa an FoE saved configuration file can be used by the Web serv er Web API Restore command Note When downloading a configuration to the Inspector the Inspector will automatically be restar ted after the configuration has been stored in flash When downloading new FW to the In spector the FW is stored in flash but the user himself have to reset the Inspector in order for the new FW to be used 6 7 2 FoE Upload to Master A configuration file can be uploaded to the EtherCAT Master i e saved in the file system of the EtherCAT Master To start an upload supply the file name to use and the FoE password same password as for downloads In TwinCAT System Manager an FoE upload is started by clicking the Upload button in Figure 6 8 File transfers in TwinCAT System Man ager page 50 A file selection dialog then appears where the desired file for download is selected After that a new dialog appears where the FoE password must be supplied Note that TwinCAT has in this dialog also stripped the file extension but the file will still be named as selected in the initial dialog 50 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694
122. tion or trying to remove non existent calibration 8104 No object locator is available in current reference bank 8105 No blob tool with this index exists 8106 Polygon defect detection is not enabled 8107 No polygon with supplied index exists 8108 No pixel counter with supplied index exists 8109 No edge pixel counter with supplied index exists 8110 No pattern inspection with supplied index exists 8111 The move or rotation caused the ROI to appear outside of the FOV 8112 Trig is not activated 8113 The specified IP address was invalid or an invalid combination of addresses was used 8113 The specified network mask was invalid 8113 The specified gateway address was invalid 8113 The combination of IP settings was invalid 8114 Calibration failed 8115 Interface not available Only interfaces that exist in the product can be en abled disabled A 4 Version information The command channel is continually extended with new commands The intention is to always keep the command set backwards compatible with earlier versions This table lists the available versions and the updates between each version SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 Command Channel Appendix Table A 17 Command channel versions PI50 1 0 First official version PI50 ECAT Added possibility to move a Poly
123. to use the device for other purposes during the restore operation The operation may take several minutes to perform and the time is partly depending on the size of the backup file B 2 1 Create Session Cookie Asession cookie is used to handle operations requiring login with user name and password The session cookie is created before performing the login operation and the cookie must then be supplied in the login operation and for all following operations Operations CREATE COOKIE B 2 2 Login A login with the user name Maintenance is required to change information on the device The password is the password stored on the device Default password is Inspector Operations CREATE SOCKET CONNECT TO SOCKET lt IP address gt port 80 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Web API Appendix Inspector Pl series SEND HTTP POST REQUEST to HandleConfig data sopas username Main tenance amp sopas password login password CLOSE SOCKET URL template replace items in POST HandleConfig HTTP 1 1 r nHost IP address gt r nConnection Keep Alive r nCookie Session cookie gt r n r nsopas_username Mainten ance amp sopas password login password B 2 3 Prepare Restore Mode This operation will terminate normal device operation and set the device to
124. w the IP addresses can be configured for the Inspector PI50 the I O box and the PC 192 168 1 110 192 168 1 3 192 168 1 30 10 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8014694 2012 08 Subject to change without notice Reference Manual Inspector Pl series 8014694 2012 08 1 0 Extension Box Interfaces 2 2 1 Basic Configuration of the IP address The address selection switch on the I O extension box configures the host part of the IP ad dress that is the last of the four parts of the IP address By default the first three parts of the address also known as the network address are set to 192 168 1 If the switch is set to a value other than O all switches set to Off or 255 all switches set to On the 1 0 extension box will use the host part of the IP address assigned by the switch Figure 2 2 Example The setting above configures the I O extension box to have a host ID of 3 corresponding to the binary value 00000011 where switch 1 is bit O LSB and switch 8 is bit 7 MSB The 1 0 box will then have an IP address of 192 168 1 3 Advanced Configuration of the IP Address If the network part of the IP address must be changed from the default 192 168 1 for the 1 0 extension box the internal web server of the I O extension box can be used For details please refer to the manual delivered with the I O extension box 2 3 Setup of the I O Extension Box in the SOPAS Single Device Application
125. xO 2 Set the time T1 when you want the Trig to occur in the StartTime register 0x990 3 In the next EtherCAT cycle set the Activate register 0x981 to 0x3 4 When the rising edge of the Trig has occurred set the Activate register to OxO Go back to step 2 Note that when the Programmable Trig occurs the StartTime equals the Distributed Clock time there is a delay of approximately GOus until the exposure of the image starts indicated as Trig to exposure delay in Figure 6 10 Illumination trig page 53 This delay varies to some extent and the maximum measured delay is 9Ous and the minimum delay is 50us If SOPAS is connected to the Inspector the delay is increased to approximately 7Ous with a maximum delay of 120us and a minimum delay of 50us Note Note that the DC time of the Inspector is kept in a 32bit register and thus have a wrap around of approximately 4 2 seconds This has to be handled in the PLC program 6 9 EtherCAT related constants and variables 6 9 1 Station Alias In an EtherCAT network slaves are automatically assigned addresses based on their position in the network But when the device must have a positive identification that is independent of cabling a Station Alias is needed For Inspector PI5O ECAT the Station alias is configured in the EtherCAT Master and stored in the Inspector PISO ECAT When the Inspector PI50 ECAT is reset to factory default the Station Alias will also be reset to its default v
126. xtension box The host part of the IP address that is the last number in the IP address must not be the same as for the I O extension box or the Inspector PI50 SICK AG Advanced Industrial Sensors www sick com All rights reserved 13 Subject to change without notice Interfaces 14 1 0 Extension Box Reference Manual Inspector Pl series There are two tools available in Windows to check the network connection and the IP settings Ping Open the command prompt and type ping followed by the IP address of the 1 0 exten sion box If the I O extension box is available the following text will be displayed Reply from X X X X Where x x x x is the IP address of the I O extension box If the I O extension box could not be found an error message is displayed for instance Requesttimed out or Destination host unreachable Example ping 192 168 1 3 Ipconfig Open the command prompt and type ipconfig The current status for the network cards on the PC will then be displayed Ensure that the network settings are corresponding to the setting for the I O extension box The current IP address for the Inspector PI50 can be viewed by selecting Device Info from the InspectorPI50 menu The web browser on the PC must be configured not to use a proxy when communicating with the web server in the I O extension box 2 5 3 High Number of Unanswered Requests to the I O Extension Box The advanced communication mode User mode can be used to fine tune

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