Home

USER MANUAL Version 1.6

1. 0 000 Pause PRG program stopped lt F9 gt to Run Joystick Inactive Press X No Fault Y No Fault Z No Fault U No Fault Crw500Projects Hutchinson Hutch1 prg Run F9 Step F6 Break Ff End Stopped tos 474 1 6 Page 11 7 11 2006 MicroMMI Operator Manual 4 File Menu Selection General program functionality is available through the File menu selection MicroMMI Motion System Options PRG Program Debug Vision Measuremant Tools Help Log In Operator v Log 0500 Commands Project Ctrl P EXIT Ctrl 4 1 Log In Operator MicroMMI has been designed for use in the production environment In order ensure proper part and system operation MicroMMI limits the user s access to those functions that are required to complete the production operation The first time the program is run the level of access to the program functionality will be at the minimum The minimum access level is referred to as Operator Mode During Operator Mode the only functions that will be available will be the following Run Program Button End Program Button Abort Program Button Security Button Exit Button In order to activate the rest of the program functionality the operator must click on the Security Button under the live video display and the Security Option
2. IMAGETRAIN Roi name quality GRAPHICS HV SW SDRAWNG ON OFF SOVERLAY TYPE Integer OVERLAY COLOR Integer ERODE moe Rev 1 6 Page 55 7 11 2006 MicroMMI Operator Manual DILATE SHARPEN BRIGHTEN x THRESH BILEVEL Threshold value FINDEDGE Roi nam Direction polarity strength X Y FIND BLOB Roi_nam Min Max M Max color width width he height in ight 4FIND PATTERN Roi name Quality CentX CentY SROITRAIN Roi name Quality ROISHOW Roiname SROIHIDE Roiname Visible ROI DELETE Roi nam SKEY PPI integer key string string text for key number command 14 4 1 Machine Vision Proprietary Commands The machine vision subsystem allows the user to perform rudimentary image processing and measurement of features on live or still images The output from this processing may then be used to inspect the progress of part processing or make a decision based on some feature visible via the video subsystem Commands were added to the standard G Code syntax which allows the user to use the same PRG program to also apply the machine vision aspect of the application software There are many system variables that will affect the operation and successful application of the machine vision These include but are not limited to system lighting geometrical aspec
3. File Motion PRG Program Debug Vision Measuremant Tools Help 1 0 Labels Variables Watch List Set Command Buttons Calibration 11 1 Motion Controller Parameters The UNIDEX 500 motion controller will be shipped from Potomac with several files that must always be used when running the applications that contain motion capability There are several parameters that may be read from the motion controller parameter file the very first time the MicroMMI application is run The parameters may or may not be correct Potomac will set these parameters before the system is delivered however these parameters may also be changed at a later date if the application changes significantly from the way it was shipped Selecting the lt Motion Controller gt menu item will display a dialog box which allows the parameters read from the parameter file to be changed Motion Controller Parameters U500 Motion Parameters Program Steps to Millimeters 001 Machine Steps to Millimeters 0 002 Velocity Timebase 200 Metric Display Format 0 000 1 6 Page 31 7 11 2006 MicroMMI Operator Manual The only parameter that is not read from the UNIDEX 500 parameter file is the Velocity Time base This value must be set the first time the application is run The typical values for the motion controller parameters are the following Program Steps to Millimeters 0 001 Machine Steps to Millimeters 0 00025 Velocity Timebase 100 Metric Displa
4. 1 1 2 2 1 7 0000 000000000000000000000000000000000000 29 10 10 RESETTING THE MOTION CONTROLLER cccsessscesececeesseececececseseaececcceceeneseaecececeesenseaeeeeeeeees 30 SYSTEM OPTIONS MENU ec 31 11 1 MOTION CONTROLLER 8 2 200 202002 001010000000000000000000000000000 31 11 2 n a shun aima e t 32 11 3 EUR NR RIS 33 11 4 SET COMMAND BUTIONSZ xau Qasa a ees dae ews re ere ede 34 11 5 CALIBRATION y anar UU D em E QU ER 35 DEBUG PRG PROGRAMS it sevaseveorasesceecu oa R p 38 12 1 GENERATE DEBUG BIEES 5 5 tuqu D venne emamie onim aS 38 12 2 SET BREAK POINT hier RN ei eo A 12 3 REMOVE BREAK POINT u nece never A EDIT MOTION PROGRAMA 42 13 1 EDITOR FILE MENU rere a EEN 43 13 2 EDITOR EDIT eO Oe a a 44 13 3 SEARCH MENU SELERBCTION a A E ERRES eS 44 13 4 OPTIONS MENU SELECTION anet a a aE seta E Ni 45 13 5 PRG PROGRAM MENU SELECTION ssssssscccccecsessaececececsessascecececeesesseaesecececsesaueceeeceesessaaseeeees 47 13 5 1 Running PRG i ERE p Wee dn euren 47 13 5 2 Breaking d
5. Identifier lt statement_list gt EX gt GOTO lt label gt gt SUBROUTINE label gt lt statement gt lt comment gt gt LETTER DIGIT y 1 DELIMITERS Page 74 7 11 2006 MicroMMI Operator Manual 16 Appendix C PRG Programming Notes 1 EVERY SUBROUTINE MUST HAVE A STARTING LABEL AND A FINISHING RETURN STATEMENT LE EVERY SUBROUTINE MUST HAVE A SINGLE ENTRY POINT AND A SINGLE EXIT POINT If there is no return statement for a subroutine or a command is used to exit the subroutine prematurely the translator will assume that the next RETURN statement found is the RETURN statement for the previous subroutine Things can get very confused that way As MMI does not provide for multiple nested levels of subroutine calls they do not need to keep a count of subroutine entry and exit points as the translator does This was a judgement call by both Mike D and myself due to the fact that everyone has always ended a subroutine with a RETURN statement 2 EVERY PRG PROGRAM MUST USE AN EXIT STATEMENT or m2 INORDER TO TELL THE TRANSLATOR THATANY STATEMENTS THAT FOLLOW ARE SUBROUTINES OR OTHER CODE THAT SHOULD NOT BE EXECUTED AS PART OF THE PROGRAM I initially also required a START command statement in order to allow subroutine definitions at the top of the file however since Mike and Greg s programs differed on their use of the START command to indictae PRG program beginning I had to allow
6. V V x0D x0A 20 09 SPACE SPACE SPACE SPACE Cu CN i AI MicroMMI Operator Manual actual ABNF code ASC assumes ASC horizontal tab CRLF HTAB LPAREN RPAREN SPACE SPACE SPACE SPACE ha hs ul 03 ENDWH1 RETURN LE IF TH LOOP ENI WHI EN ELSE F LE SUBROUT CW C G43 M47 RCLE G44 G23 DWELL MO GOTO N DEX I NEAR GO Gl CCW_C IU G24 SKEY RCLE G2 G3 G4 G40 G90 691 092 CYCLE SCALE G41 G42 1 VELOC PROGRAM ENGLISH TY ROUNDING METR C ABSOLUTE NCREMENTAL ON OFF ALIS CANCEL INCREMENTAL UNI TS HOME SECOND MINUTE SOFTWARE D SABLE ENABLE GET SET WAIT SKEY ISPLAY SLEW POS I ON MESSAGE RE Page 70 7 11 2006 MicroMMI Operator Manual CENTERONFIDUCIAL FAULTACKNOWLEDGE 5 SCF ACCELERATION CYCLE DWELL VELOCITY DEFINE UNDEFINE PPI CUTTER MMEDIATE ROTATION SPLINE OUTPUT INPUT DAC FL FREERUN GAIN NOTCH DEADBAND CLAMP GEAR HALT LVDT CW CCW MC MSET PLANE WAIT START HALT ABORT PLANE QUEU
7. a Run runs the program from the first line of executable code until a break condition is met or until the end of the program is found b Step steps through the program by executing one line of code per each selection of the step command Step button or Step menu item c Break stops the execution of the program when it is running at whichever line of code the execution was on when the Break command was issued allows the program to continue executing from the place where it stopped by the selection of the Run command or continue command depending on the IDE interface d End prematurely stops the execution of the program and resets the program thereby not allowing the user to continue execution like the Break command This means that the IDE will be in one of the following states EDITING RUNNING BREAK or IDLE When the MicroMMI application is first started the application is in the IDLE state After the Run button is selected the program is in the RUNNING state When the Break button is selected the application is in the BREAK state After the PRG program execution is finished either by reaching the EXit command in the PRG program or after the user selects the End button the application is in the IDLE state Any time the user opens the editor and makes a change to the PRG source code the MicroMMI application is in the EDITING state The application will remain in that EDITING state until the PRG program is saved when the applicatio
8. produce images with a high noise level and exhibit a non linear reflectance behavior However with high level noise the noise pixels could be picked up as real pattern pixels Some pre processing is recommended such as eroding low pass filtering or median filtering before training and searching for the pattern Parts or objects with smooth or polished surfaces reflect light Very slight changes in the angle or intensity of the light source results in very large changes in the gray scale intensity levels Under inspection conditions light is often reflected unevenly non linearly Dealing with non linear reflectance has always been a problem in machine vision Any geometrical pattern may be trained and then searched for later in the application The pattern must be trained before it can be found At this time there is no ability to save the trained pattern over program instances therefor the pattern must be trained at the beginning of each PRG program execution Once trained the pattern may be found in any number of frames of image data either live or loaded into the display via the Image Load function Any previously defined ROI may be trained The only parameter is the name of the ROI to be trained The user will receive an error message if the ROI does not exist The ROI will be hidden from the live video display ROI TRAIN NameOfROI Quality Value Parameters NameOfROI String indicating a unique name for the ROI Rev 1 6 Page
9. sq 15 43 9 DOG PUES cx cet ants trt ei Sha t ette 15 LIVE VIDEO DISPLAY AREA 16 VISION MENU Dm 18 6 1 1 Grab Snap and Redraw Menu lltems 18 6 1 2 Load and Save Image Menu 18 LI Overlay Type Menu ltem aoa ar ede ear pere 19 6 14 Overlay Color Menu ltem iae fe dee rre deco 19 6 15 Graphics Mode Menu Hem ie e rde repre deco i 19 6 1 6 Camera Menu t1 ccccccccccccssssescecccccccsssecceccccccussseccececessusseccecesessuuesecescessususeseccsceseuuaaeesesees 20 VIDEO BUTTON BAR 21 7 1 LASER ON BUTION 52522555255 82 21 7 2 REDRAW BUTTON Ep ER ERE Bis 21 7 3 SNAP BUTTON Gi aan aet 21 7 4 GRABBUTIONZ s reed Aet tre ten etre eec Nd e 21 7 5 DRAW OVRLYS BUTIONz eicere rre a te EH PEN E re eH ERE URS 22 7 6 EXIT BUTTON nnt rte ee ere RC HERE rece ive deer 22 225042026445 508698060666 fear ep eL Y eve eese eua ree Led 23 PRG PROGRAM DISPLAY 24 9 1 RUNNING PRG 6 24 9 2 ENDING A PRG PROG
10. After a section of instructions or command has been evaluated as correct the operator would remove the break point to see if the program still runs correctly at run time speed It may also be desirable to set another break point after the first has been reached therefor executing the program in chunks 13 6 3 Setting the Program Start Line At times it is just easier to select the lt End gt menu item especially if the program is in some king of infinite loop However the operator would not want to have to completely start execution from the beginning It would be better to begin in the area where the program had just been stopped For this there is an option of setting the start position After the operator selects the starting line by clicking the mouse cursor on that line and then selecting the lt Set Start Point gt menu item the program can continue and so can the debugging process NOTE Any time the starting point is specified as something other than the correct sequence of execution there is the possibility that the program may no longer function as expected For example if the starting line were set after where the axes are enabled then no move operations or any other operations that operate on the axes may be executed An error message will be generated by the U500 DR500 if there is a problem with the command Perhaps it is useful to change a variable value before continuing on with debugging This would have to be performed
11. DDRAW is a much faster method of camera data transfer but it requires Rev 1 6 Page 19 7 11 2006 MicroMMI Operator Manual the graphics adapter to have full overlay capability and limits the number of colors used to 256 NOTE Potomac currently delivers an ATI Rage Pro graphics adapter with a slightly out of date adapter driver because functionality that ATI correctly implemented in their driver no longer works in their most recently updated driver MicroMMI Vision Display Overlay Color Dark Red 6 1 6 Camera Menu Item Up to four cameras may be connected to the system depending on the type of frame grabber delivered with the system The camera input connectors are labeled on the camera cable if the appropriate cable has been purchased If the cable does not allow for four cameras a new cable may be purchased from Potomac camera selection is made through the Camera menu item The default will always be camera 1 NOTE NEVER NEVER plug the camera into the frame grabber board while the computer is powered up The camera provides signals to the frame grabber board that indicate the resolution and hot plugging the cable into the frame grabber may and will eventually destroy the frame grabber hardware and the other devices in the computer Rev 1 6 Page 20 7 11 2006 MicroMMI Operator Manual 7 Video Button Bar The button bar below the live video display area contains buttons that con
12. Rev 1 6 Page 27 7 11 2006 MicroMMI Operator Manual 10 Motion Menu Selection The lt Motion gt menu contains all selections that operate on the UNIDEX 500 motion controller MicroMMI Motion Load Motion Program 10 1 Load Motion Program The Load Motion Program menu selection differs from the Load Project Files screen because the program loaded via this selection will not be remembered from one execution of MicroMMI to another This selection will display the typical file load dialog box and request the name of the file to load into the program display area This selection is only available in maintenance mode 10 2 Edit Motion Program This menu selection brings up the PRG program editor that is included with the MicroMMI application From within the editor the PRG programs can be run and debugged similarly to the functionality that appears on the MicroMMI main screen The editor is only available in maintenance mode The MicroMMI application IDE provides the ability to open the editor while the program is running This ability has been included to allow viewing of a larger amount of the PRG program while the program is running It also allows the execution of the PRG program while in the editor so that more intensive PRG program debugging is available At the time the PRG program editor window is closed however any execution is stopped and the file is saved to the hard drive 10 3 Running PRG Programs
13. operator mode 42 Operator Mode 12 Options Menu 45 Overlay Color 19 OVERLAY COLOR 67 overlay graphic colors 19 Overlay Type 19 OVERLAY TYPE 67 parameter file 6 14 31 32 Parameter File 14 pixels 16 Potomac Proprietary PPD commands 55 PRG 26 PRG Command 26 PRG motion control program 15 PRG Program 24 47 PRG program editor 42 PRG Programming Notes 75 Page 77 7 11 2006 Program Steps to Millimeters Project PSO File Redraw Regions Of Interest Removing a Break Point Resetting ROI ADD ROI DELETE ROI HIDE ROI SHOW ROI TRAIN ROIs Run RUNNING Running PRG Running PRG Programs Save Image Search Menu Security Security Button Set Command Buttons Setting a Break Point Rev 1 6 32 14 15 18 21 49 30 57 58 58 58 59 22 24 25 7 24 28 47 19 44 13 12 34 48 Page 78 MicroMMI Operator Manual Setting the Program Start Line 49 SHARPEN 66 SKEY 26 Snap 18 21 Special Keys 26 Step 24 Stepping a PRG Program 29 48 SUBROUTINE 52 53 55 70 72 74 75 76 SYNTAX ERROR 76 System Options 31 THRESH AUTO 63 THRESH BILEVEL 63 UNIDEX 8 23 27 28 30 31 32 38 41 50 variable display 9 Variable Display 2 9 Variable Watch List 32 Velocity Timebase 32 Vision Menu 18 Watch Variables 9 Windows NT 13 7 11 2006
14. 4 17 DILATE This function will enlarge the dark areas in an image This function is useful when dark edges in an image are very difficult to find DILATE Parameters None Returned Values 14 4 18 ERODE This function will enlarge all of the light areas in an image Eroding an image is helpful when the threshold function has reduced the accuracy of placement of the features in an image ERODE Parameters None Returned Values 14 4 19 OVERLAY TYPE Rev 1 6 Page 66 7 11 2006 MicroMMI Operator Manual This function will change the type of overlay graphic that is being displayed to the live video display area or it will allow the operator to draw a graphical overlay to that area OVERLAY TYPE OverlayTypeNumber Parameters OverlayTypeNumber Integer number corresponding to the type of overlay to draw Returned Values 14 4 20 OVERLAY COLOR This function will change the type of overlay graphic that is being displayed to the live video display area or it will allow the operator to draw a graphical overlay to that area ZOVERLAY COLOR OverlayColorNumber Parameters OverlayColorNumber Integer number corresponding to the color of which to draw the overlay graphics Returned Values 14 4 21 DRAWING This function will allow the operator to turn the drawing of the found lines blobs and patterns on or off depending on the function parameter DRAWING On Off Parameters On Off On indicates that all line
15. A GI COMMAND DOES NOT ALSO HAVE THE G90 OR G91 SPECIFIED IT IS SOMETIMES DIFFICULT TO KNOW WHAT STATE YOU ARE IN WHEN RETURNING FROM A SUBROUTINE Most of our example programs do not yet follow this standard and we see problems because of it As Potomac develops their Standards for PRG programming they will be forwarded 5 IF A SYNTAX ERROR OCCURS WHEN IT HAS BEEN DETERMINED THAT NO TRUE SYNTAX ERROR EXISTS THERE ARE SEVERAL ALTERNATIVES 1 If the syntax error occurs on a line that has a control flow statement on it such as a LOOP IF THEN ELSE WHILE etc an alternate control statement should be tried in order to correct the error If the incorrect syntax error is a bug in the PPI translator it is probable that if the same control flow is coded in a different way i e use a LOOP statement instead of a WHILE statement the syntax error will not be recognized and you can continue with your PRG programming until Potomac can correct the bug 2 If the syntax error occurs on a line that has a complex mathematical instruction multiply nested expressions in parentheses split the expression up into multiple lines Le make the expression simpler 3 If an error is occurring on every line even though it is known that no syntax error exists there is probably a comment that has begun with a colon instead of a semicolon and the translator is seeing it as a valid label statement Also check for line wrap No lines can wrap there must be a valid carr
16. Inactive X No Fault Y No Fault Z No Fault U No Fault Feedback Relative Absolute Break Ff End F8 RAVING OF turr g of fou C u500ProjectsHutchinson Hutch1 prg MAINTENANCE ok loraza The live video display area appears in the upper left corner During machining the video will be displayed allowing the operator to better control the process depending on the results of machining commands executing on the UNIDEX 500 motion controller Directly below the live video display is the axis position display area The axis position display is where the positions of the axes are reported throughout any movement commanded by the motion controller To the right of the axis position display are several buttons that allow the operator to perform an abort pause software home and use the joystick on the motion system Below the axis display is a status bar which provides continuous status update during program execution and other operator functions To the right of the axis display area there is a PRG program display area After the operator has loaded a program the program s lines of code will be displayed in the program display box The buttons to the right of the program display box allow the Rev 1 6 Page 8 7 11 2006 MicroMMI Operator Manual operator to start the program execution single step through the program end the program execution an
17. The loaded PRG program can be executed by choosing the Run menu selection or by pressing F9 The loaded program will execute all valid MicroMMI instructions Valid MicroMMI instructions are specified in Appendix A The Start button is available in all operating modes Rev 1 6 Page 28 7 11 2006 MicroMMI Operator Manual NOTE Be sure not to leave the Joystick enabled before running a PRG program When the joystick is enabled the U500 is in SLEW mode and will ignore all subsequent move commands sent to it via the user interface and via the PRG program 10 4 Ending a PRG Program The End menu selection can be chosen at any time during the execution to completely stop the program When the End selection is pressed the program must be restarted from the beginning The End selection is available in all operating modes 10 5 Stepping a PRG Program A PRG program can be stepped in order to debug that program For each Step menu selection press a single line of PRG code will be executed The Step selection is available only in maintenance mode Stepping into subroutines is not allowed at this time To see inside a subroutine set a breakpoint inside the subroutine and the program execution will stop there NOTE The laser should not be used in a program that is being stepped because the laser may stay too long in a particular location There is no code in the MicroMMI application which prevents the use of the laser during Stepping The
18. WA ON v41 xrp v51 yrp PR IN ME UN UN SE TRLI EN X Y HO X Y WA ON SO POX Y SO HO SCF X1 Y1 ROT X Y 0 Rev 1 6 Page 40 7 11 2006 MicroMMI Operator Manual WA ON G90 OU 3 1 OU 5 1 OU 4 1 OU 0 1 OU 1 1 V80 486 530 V81 107 2 V85 549 373 V86 107 07 OU 2 0 These are the PRG commands that are actually sent to the UNIDEX 500 controller card for execution All of the control flow commands that are interpreted strictly by the MicroMMI application are not written to this file Both of the above files can also indicate where the program execution is stopping due to some error either syntactical logical or mechanical The third file IdOut txt is not used at this time 12 2 Set Break Point The Set Break Point menu selection allows the operator when in maintenance mode to set a line number in the PRG program on which to stop execution The operator must put the mouse on the line on which to stop and then click the mouse button After the line has been selected the menu selection can be made and that will set the line as a breakpoint line Every time the program is executed the execution will stop on this line The only way to get rid of the break point line is to select the menu item lt Clear Break Point gt or select a different line as the break point line NOTE Sometimes if there are several comments around a line with a breakpoint set or several other non executable lines the program will stop on t
19. although it is possible for the ROI to begin at the master image origin The ROI dx dy size must be the same or smaller than the master ROIs may be placed inside or overlapping another ROI but they are always referenced relative to the master image and no information is retained to indicate they are nested or overlapping ROIs used to define the region within an image in which a function will be applied ROIs limit the size of the area that must be operated upon when applying a function The smaller the size of the ROI the less time a function will take to complete its operation Therefor ROIs should be made as small as possible for optimal execution speed ROIs may be added deleted hidden and displayed according to the following PRG program syntax 14 4 2 ROI ADD For an ROI to be added to the current list of ROIs the user must specify where the ROI is to be placed a unique name for the ROI and whether or not an outline of the ROI should be drawn to the live video display ROI ADD NameOfROI XStart YStart XLength YLength Visible Parameters NameOfROI String indicating a unique name for the ROI Xstart Starting X location upper left corner of ROI Ystart Starting Y location upper left corner of RROI Xlength Horizontal size of the RROI Ylength Vertical size of the RROI Visible Boolean indicating whether to show the drawn ROI Returned Values There is no returned value for the PRG programmer to use ho
20. bits as specified by the operator via the IO Status dialog box which appears after selecting the IO Labels menu item 3 3 Measurement Display Tab The Measurement Display tab displays the current status of any measurement tools that operator has enabled Via the Measurement Tools menu selection up to seven separate tools may be enabled and moved about the live video display area to measure part or process features The operator has the ability to insert more than one of the ellipse and rectangle measurement tools Only the last ellipse rectangle that was drawn to the live video display will have its positional data updated in the Measurements Tab Rev 1 6 Page 10 7 11 2006 Eile Motion System Options PRG Program Debug Vision Measuremant Tools Help MicroMMI Operator Manual Variable Display Static Circle Center gt 369 00 267 75 Ellipse most recent max min width 9 36 38 r Vertical And Horizontal Calipers Vertical 1 360 00 1 270 00 2 1080 00 Pt2 Pt Dist 2 810 00 d 72000 9 amp 540 00 Crosshair Center 711 00 535 50 Horizontal 144 i 288 l l 432 576 l 720 l 864 i I 1008 1152 Laser ON overs Motion Status Feedback OY oz Relative Absolute
21. greater than or equal to e lt less than or equal to Rev 1 6 Page 51 7 11 2006 MicroMMI Operator Manual 14 2 4 Control Operators Control operators are comprised of branching jumping looping and iteration statements These statements are all valid control structures in the Aerotech PRG programming language See the Aerotech documentation for further information lt selection_statement gt gt IF lt relational_expression gt lt label gt gt TF lt relational_expression gt lt label gt gt TF lt relational_expression gt THEN lt statement_list gt ENDIF gt lt relational_expression gt THEN lt statement_list gt ELSE lt statement_list gt ENDIF lt iteration_statement gt gt WHILE lt relational_expression gt lt statement_list gt ENDWHILE gt LOOP Integer lt statement_list gt NEXT gt LOOP Identifier lt statement_list gt NEXT lt jump_statement gt gt GOTO lt label gt SUBROUTINE lt label gt 14 3 Aerotech MMI Commands Abbreviation Interpreted MicroMMI Code MMI Name Supported AutoTuning No YS no YES DWELL VELOCITY ON VE ON VELOCITY OFF VE OFF G23 G2 ROUNDING ON OFF ROUNDING No YES 4 ON OFF PROGRAM ENGLISH Rev 1 6 Page 52 7 11 200
22. into the command text entry box the special keys available would look like the following m User Defined Feys LIBI clear TRAN CLROVRY Any keys that have not been enabled do not appear on the special key button bar After being enabled any key that is pressed executes whatever PRG command instruction has been assigned to it For example pressing the X Axis key causes the message EN X to be passed to the PRG command text box for interpretation and execution by the UNIDEX 500 motion controller The special key functions are only available in maintenance mode Rev 1 6 Page 26 7 11 2006 MicroMMI Operator Manual NOTE At this time only the ability to execute SINGLE line commands is implemented in the function keys although a subroutine may be called from a special function key as long as the subroutine is contained in the currently open PRG file The special function keys are used for debugging in that a current value of a variable may be recorded to the operator status display after a break point has been reached or a Pause 0 command has been reached If the special key has been programmed to display the value of a variable to the operator message area the corresponding special key need only be pressed in order to get the current variable results Otherwise the entire command ME DI Value for V2 V2 would have to be typed into the PRG command text box each time the information is needed
23. keys as explained in Section 9 7 The operator can individually program each of these buttons when the program is in maintenance mode There are two different ways to program the buttons The first is to select the lt Set Command Buttons gt menu item from the lt System Options gt menu This menu selection will display a screen like the following w Command Button Assignments Enable Disable Button Text PRG Command The Button Number is the number of the buttons starting from left to right as displayed on the main application window as seen below Button corresponds to the first button on the left button 2 the second button from the left and so on Rev 1 6 Page 34 7 11 2006 MicroMMI Operator Manual w User Defined Keps rf x xais TRAIN CLR OVRY If the box next to the phrase Button 1 is checked then that button is displayed on the interface otherwise the data is stored for later use The button text is the text that should appear on the face of the button when it is displayed in the user defined keys section on the main MicroMMI application interface The PRG command refers to a single line PRG command as it would be programmed in a PRG program When the operator presses a button MicroMMI executes the corresponding PRG command At this time no control structures may be used in the user defined function keys For example LOOP 23 can not be used bec
24. operator should take care of this himself 10 6 Pausing a PRG Program An execution may be paused and then resumed by choosing the Pause menu selection The pause will stop any more PRG program lines from being downloaded to the U500 processor for execution The U500 will continue to execute any instructions it may have in its buffer but no new instructions will be executed In that way a DWELL command will finish before the pause takes affect The paused program may be resumed at any time by pressing the Pause button again or selecting the Pause menu selection again This function is only available in maintenance mode 10 7 Using the Joystick The joystick may be activated at any time after selecting the joystick menu selection This function is only available in maintenance mode NOTE The axes that the joystick will control must be enabled before the joystick function will work 10 8 Aborting Execution The execution of a PRG program may be aborted by selecting the abort menu selection When a PRG program has been aborted the commands that are in the motion controller s instruction buffer are discarded and no further instructions are sent to the processor The program must be restarted after an abort has been selected This function is available in all modes of operation 10 9 Issuing a Fault Acknowledge A fault acknowledge must be initiated when there has been a fault in the motion controller Typical faults include axis ha
25. run the live video display is usually pointed toward the part that is being processed The status of the executing program can be monitored via this video display When programs are executed that contain Potomac proprietary vision commands then the machine vision aspects of the program are being utilized MicroMMI D xl File Motion System Options PRG Program Debug Vision Measuremant Tools Help INPUTS 5 OUTPUTS Laser Power START Button Interlock ee l l l l I 144 8 432 854 1008 1152 1296 14 Run F9 Laser Redrav Snap Grab Draw OVRLYS Exit ss Mae TI v m Relative Absolute Velocit Abort F2 1 NU ov oo ET oz gt ou 0 1500 Initialized Joystick Inactive NING OD ind pattern cra X No Fault Y No Fault Z No Fault u 2 Fault Potomac is currently experimenting with several types of machine vision solutions to augment the machining process Our goal is to increase the speed compensate for the variability when possible and improve the reliability of the overall machining process Rev 1 6 Page 16 7 11 2006 MicroMMI Operator Manual This may be achieved by reducing the number of times that the operator needs to interact with the system thereby decreasing proces
26. t modify this file unless you really know what you are doing Incorrect parameters can damage your motion system equipment 4 3 2 Firmware File Potomac also specifies this file when the system is shipped 4 3 3 PSO File Specified by Potomac if this option is enabled NOTE The above three files are specified when Potomac ships a system and should NEVER be changed unless directed to do so by Potomac personnel Always include these files in any backups that are made of the system The motion controller will not run properly without these files having the correct data in them Rev 1 6 Page 14 7 11 2006 MicroMMI Operator Manual 4 3 4 PRG Program File This is where the PRG motion control program file is specified This is a file type that can be changed by the operator but only when in maintenance mode The PRG motion control file cannot be changed unless the maintenance mode is enabled The file name that is loaded here will be the file that is displayed when MicroMMI starts If this file is deleted either no file will be loaded or a file that has the same name and resides in the MicroMMI application directory or another within the system PATH specification will be loaded instead NOTE Be very careful of having many files around with the same name and containing different data MicroMMI will always default to the directory specified in the PRG Program File path first and then it will look through the PATH specification in the Win
27. used by the system From there the video stream may be started and stopped and graphics may be overlaid There are many functions that can negatively affect the performance of the video including changing or removing the camera inserting another card which conflicts with the frame grabber or removing the frame grabber altogether or a malfunction of any of the video subsystem hardware 2 2 Motion Control Subsystem The motion control subsystem includes the U500 PC card that is plugged into an ISA slot in the computer the cable that leads from the U500 card to the DR 500 amplifier and the stages which are connected to the amplifier The U500 card has firmware on it which takes a PRG program written in G Code and interprets it to provide the control of the motion system and stages MicroMMI includes a visual interface that indicates the current state of the motion system including stage positions current PRG variable values and current IO status The motion system must be configured using a parameter file that is specific to the particular system and application There are other files that are necessary for the motion system to operate properly See the Aerotech documentation for more information 2 3 Laser Subsystem The laser subsystem includes the laser and the operation of the laser MicroMMI allows the user to fire the laser from the user interface and from within a PRG program That is the extent of MicroMMI s communication with the las
28. will be found The Blob function will always apply an automatic threshold function for a low contrast image before searching for the blob It is not necessary to first apply the threshold before calling this function The tuning application MicroCaliper will limit the difference between the minimum and maximums in both width and height to 50 pixels This way the blob function searches for blob of a very specific area If it is desired to find any blob of any size change the values of the minimum and maximum parameters so that the minimum size is quite small and the maximum size is quite large FIND BLOB NameOfROI MinWidth MaxWidth MinHeight MaxHeight Color CentX CentY Parameters NameOfROI String indicating a unique name for the ROI MinWidth Blobs with width X size less than MinWidth will be ignored MaxWidth Blobs with width X size greater than MaxWidth will be ignored MinHeight Blobs with height Y size less than MinHeight will be ignored MaxHeight Blobs with height Y size less than MaxHeight will be ignored Color Value that indicates the expected grayscale value of the blob where 0 white and 255 black Returned Values CentX X location of the center of the blob CentY Y location of the center of the blob Rev 1 6 Page 61 7 11 2006 MicroMMI Operator Manual The coordinates of the first found blob are returned to the user These coordinates will be calibrated according to the cal
29. 4 V12 43 2 V12 IN3 V12 2FP 14 2 OPERATORS 14 2 1 Math Operators These operators operate on two operands resulting in a single operand result Any group or combination of these operations can occur and the proper calculation of precedence will be performed These operations can occur in any assignment statement An assignment statement is an assignment of a value to an identifier in this case the Aerotech variables V0 255 NOTE Mathematical operations are not supported as a component or sub expression of other statement types unless the syntax checking has been turned off and the Translator is in Pass Through Mode Grouping Multiplication Division Addition Subtraction assignment 14 2 2 Unary Operators Unary operators are operators that operate on one operand resulting in a single operand result Unary operations may exist alone in a single assignment statement or may be embedded within a group of mathematical operations as defined above NOTE Unary Rev 1 6 Page 50 7 11 2006 MicroMMI Operator Manual operations are not supported as a component or sub expression of other statement types unless the syntax checking has been turned off and the Translator is in Pass Through Mode e NOT val inverse value of val e ABS val absolute value of val e SOR val square root of val e DEG radians Convert radians to degrees NOT MPLEM
30. 59 7 11 2006 MicroMMI Operator Manual Quality Value An integer value indicating the quality of the pattern that is being trained Returned Values There is no returned value for the PRG programmer to use however the user will receive an error message via a dialog box if the ROI does not exist 14 4 7 FIND EDGE Any previously defined ROI may be used with the FIND EDGE function FIND EDGE finds an extended edge in the ROI If the edge is approximately horizontal set Direction to 0 zero If the edge is approximately vertical set Direction to 1 one Horizontal or vertical means the direction of the tangent to the edge The ROI is then scanned in a direction normal perpendicular to the edge looking for the edge transitions Specify the Polarity of the transition as TRUE then you are looking for an edge that is dark to light If Polarity is FALSE then you are looking for an edge that is light to dark Edge transitions must be stronger than Strength to be considered The set of edge transitions that match the specified Polarity and that are stronger than Strength are used in a linear regression line fit to compute the equation of the line that is parallel to and at the edge An edge with the characteristics associated with the parameters will be found in the specified ROI Only one edge will be found in the ROI If there are many edges defined in the ROI than the results of the edge detect function will be undetermined FIN
31. 6 MicroMMI Operator Manual 071 PROGRAM METRIC PRME No YE mee ABSOLUTE SN 8 INCREMENTAL 092 SOFTWAREHOME SOHO No YES MO pase YE BOARD BO No DISABLE D Bust Ho HOME LOOP O NE SK SKEY xs YEST YES BB tri pri rl SL SPLINE SP SUBROUTINE SU RE WAIT ON OFF ALL ON L BRAKE Filter time constant FL FR GN GA GE LVDT R G L T SK SKEY E SL SP TP Eri Eri nin LVDT Motor Communication P Rev 1 6 Page 53 7 11 2006 MicroMMI Operator Manual SOD Noe i E PSOE No YE PLC PC No YE RA No YE QUEE QU No YE SEGMENT SE No YE WHILE ENDWHILE WH ENDW Yes YES 3c TRAJECTORY TR N YE G40 cutercompoff No YES G41 cutercomp onleff No YES G42 cuttercompon right No YE G43 definecuterradius No YES 044 define compensatedaxes No YES ACCELERATION AC No YE CY ON OFF No YES HA No YE pp G23 G2 ROUNDING ON OFF ROUNDING No YE
32. 8 14 4 5 auia see aq ni det 58 14 4 6 ROI TRAIN NameOfROI QualityValue eese nene 59 14 4 7 FIND EDGE S items EEE GES 60 14 4 8 atte em ties 61 14 4 9 FNO PATT R e hh puna 62 14 4 10 THRESH AUTO deci Ede des 62 14 4 11 THRESH BILDEVEL idi cc tore iiec eve c dre ir Eds 63 14 4 12 IMAGE LOAD wo uh ak ca Eee ea e pde 64 Rev 1 6 Page 3 7 11 2006 MicroMMI Operator Manual 14 4 13 IMAGEISAVE Z a e so T an ts 64 14 4 14 IMAGE REDRAWLz eee T tetro ee k eei ge ie cec orent taste 65 14 4 15 BRIGHTEN epe e 65 14 4 16 SHARPEN 5 EE 66 14 4 17 IP y EE 66 14 4 18 ERODEX a ha OE Natt E 66 14 4 19 OVERLAY TYPE ete 66 14 4 20 OVERLAY COLOR ense tie s 67 14 421 DRAWING N n cee A A 67 14 4 22 GRAPHICS tete a unpu e eoe RM e eh 67 15 APPENDIX B FORMAL GRAMMAR SPECIFICATION IN BNI 69 15 1 SYNTAX NOTATION e ade 69 15 2 LITERAL TOKENS ter eu eee ee ec
33. D EDGE NameOfROI Direction Polarity Strength CentX CentY Parameters NameOfROI String indicating a unique name for the ROI Direction Horizontal 0 or Vertical 1 indicates the direction of the expected edge Polarity Dark to Light 0 or Light to Dark 1 indicates the pixel intensity transition Strength Value between 0 and 100 indicating the minimum strength of transition to qualify as an edge Returned Values CentX The X coordinate of the midpoint of the found line CentY The Y coordinate of the midpoint of the found line Rev 1 6 Page 60 7 11 2006 MicroMMI Operator Manual The coordinate of the found edge is returned to the user This coordinate will be calibrated according to the calibration factors that the user has previously specified in the MicroMMI program The user will receive an error message via a dialog box if the ROI does not exist 14 4 8 FIND BLOB Searches the region of interest and finds blobs connected areas of pixels with the same color Blob analysis is used to segment an image into islands of pixels with uniform intensity and then to measure characteristics of each island Any previously defined ROI may be used with the FIND BLOB function blob with the characteristics associated with the parameters will be found in the specified ROI Only one blob will be found in the ROI If there are more than one blobs then only the first blob found with respect to the origin of the ROI
34. E AGAIN CANCEL MAP RAMP TRAJECTORY SEGMENT UMFO ACCELERATION AT BOARD BRAKE FREERUN FL GAIN GEAR LVDT MC MSET PLANE PLC QUEUE RAMP SEGMENT SLEW ACCELERATION TE TD TP TRAJECTORY UMFO PSOP PSOD PSOF GRAPHICS DRAWING OVERLAY TYPE OVERLAY COLOR ERODE DILATE SHARPEN BRIGHTEN IMAGE SAVE IMAGE LOAD IMAGE REDRAW THRESH AUTO THRESH BILEVEL FIND PATTERN FIND BLOB FIND EDGE ROI TRAIN ROI HIDE ROI SHOW ROI ADD 15 7 Grammar Specification In order to parse any language the language must be described by a formal context free grammar A formal grammar is a mathematical construct The most common formal system for describing grammatical rules for humans to read is Backus Naur Form or BNF which was developed in order to specify the language Algol 60 Any grammar expressed in BNF is a context free grammar In the formal grammatical rules for a language each kind of syntactic unit or group 15 named by a symbol Those which are built by grouping smaller constructs according to grammatical rules are called non terminal symbols those which can t be subdivided are called terminal symbols or token types We call a piece of input c
35. ENTED YET e RAD degrees Convert degrees to radians NOT MPLEMENTED YET all angles in radians e TAN angle tangent e angle arctangent e SIN angle sine e ASIN angle arcsine e COS angle cosine e ACOS angle arccosine The following unary expressions can not be used within Aerotech s MMI because they are additions to the language specifically for this program Therefore in order to use te following operators the program can not be in Pass Through Mode e RAN val returns a random number using val as the key e EXP val val raised to the power of 2 e LOG val natural log of val e SEC angle secant e ASEC angle arcsecant 14 2 3 Relational Comparison or Boolean Operators Relational operators operate on two operands resulting in a single temporary operand result Relational operations are usually part of a control structure such as an iteration statement or a conditional branching statement The operand result of the conditional expression is used to determine whether a particular set of statements should be executed or not executed Relational expressions are not to be used within a mathematical assignment statement but only as the test condition for a conditional branch or other control statement e EQ equal to e lt LT less than gt GT greater than e lt gt not equal to gt
36. MMI is run so make sure to copy it to another file name if it is desired to save it This MicroMMI attribute is not saved from one instance of MicroMMI to the next 43 Project MicroMMI is software that allows an operator to write a PRG program load it into the MicroMMI interface and then execute that program on the LMT micromachining system As long as the PRG program that has been loaded follows the syntax specified Rev 1 6 Page 13 7 11 2006 MicroMMI Operator Manual by the Aerotech MMI PRG program specification and the Potomac proprietary format the program should execute just fine from within MicroMMI mw Load Project Files C u500 Projects Hutchinson Hutch1_prm C AuBOO Projects Hutchinson 112898 cah OOOO E C VU5003MMISNU500c iwp D Potomac MicroMMI MM_Log log _ Load Project Files screen that is displayed after the lt File gt lt Project gt menu selection has been chosen is where all of the parameter and configuration files that MicroMMI uses are specified After a valid program name is entered on any of these lines and the Accept button is pressed the file selections will be saved in the PCs registry Therefore the selections will be saved from run to run NOTE Be sure to reinitialize the motion controller after a new parameter file has been chosen 4 3 1 Parameter File The parameter file corresponds to the parameter file used for the Aerotech motion controller Make backup and don
37. MicroMMI Operator Manual USER MANUAL LASER MICROMACHINING SYSTEM SOFTWARE MicroMMI Version 1 6 Software By Dana Lee Church DanaChurch teosys com Rev 1 6 Page 1 7 11 2006 1 2 10 MicroMMI Operator Manual OVERVIEW 5 5 4 6 24 5 c stir sca itte t ten ac m a te EGE acm a itte ie 6 2 2 MOTION CONTROL SUBSYSTEM a uuu ai anqusuna ui anqana D iG ag Aa 6 2 3 9 6 2 4 INTEGRATED DEVELOPMENT ENVIRONMENT n 6 22050000 een ino rias eo uW WQ E PL DN M na e 8 3 1 VARIABLE DISPLAY 9 3 2 perdis 9 3 3 MEASUREMENT 10 FILE MENU SELECTION eet 12 4 1 LOGIN OPERATOR erede deve dent 12 4 2 LOG UJ500 COMMANDS Samaq eee et etae etae qusqa sapaq 13 4 3 C 13 4 3 1 Parameter Filet aoi S 14 4 3 2 QUARE TTE 14 45 3 PSO File Sunan ed cp Pe e EU CE Pelo Re cle ade 14 ABA PRG Program File Aon shan ste nnne hane
38. OI Parameters NameOfROI String indicating a unique name for the ROI Rev 1 6 Page 58 7 11 2006 MicroMMI Operator Manual Returned Values There is no returned value for the PRG programmer to use however the user will receive an error message via a dialog box if the ROI does not exist 14 4 6 ROI TRAIN NameOfROI QualityValue A Pattern Finding tool is a machine vision tool that measures and reports the location of a previously trained pattern in an image pattern is a region of interest in an image that contains meaningful and unique information A pattern can be as simple as an edge with few pixels or a very complex pattern of thousands of pixels such as human face Typically a pattern is trained once and searched for in other images This function is designed to overcome real world problems such as rotated scaled or occluded pattern missing part of pattern non linear reflectance contrast reversal oxidization deposits and contour type images Changes occur in a part caused by use wear or by manufacturing process Some common examples are changes in reflectance integrity missing part of the pattern scale and mechanical positioning The light source used to illuminate the part could change with age or the intensity of the light source may vary with respect to the position of the part of these would make the search pattern differ from the trained model Some types of imaging devices such as electron microscopes
39. PRG Program sea o ee ede oae uen 48 13 5 3 Stepping q PRG POETAM iUe nc aaa ees 48 13 5 4 Ending a PRG Program aea RE tegen rr Eee 48 13 6 DEBUGGING A 2 200000000000000000000000000000000000 48 13 6 1 Setting Break Point sc dieser e e oe ett 46 13 6 2 Removing Break Point iia dee ase t rper 49 13 6 5 Setting the Program Start 49 13 6 4 Setting Translator Options gr eee rte 49 APPENDIX A PRG PROGRAMMING SYNTAKX 50 14 1 IDENTIEIERS ere ISSN AS 50 14 2 OPERATORS ente neos aes 50 14 2 1 Math Operators icta d Reo DER rte Ee Dey das cp deed 50 14 2 2 Uriaty Operat OTS sott d EUR ch bp mean ome 50 14 2 3 Relational Comparison or Boolean Operators eese eene 51 14 2 4 eter etr p nc E TRU a nre petit 52 14 3 AEROTECH MMI COMMANDS ccccesssssnsececececsessnaececececsenseaececececeeseaseaecececeeseaaeceeeesenensaaeeeeees 52 14 4 POTOMAC PROPRIETARY COMMAND FORMAT 22 440000 0 01000000000000000000000000000 55 14 4 1 Machine Vision Proprietary Commands eee eene nre 56 14 4 2 ewe Es ce re m un E yere 57 14 4 3 ROFDEEETE cou tene dni er 57 14 4 4 bin Em 5
40. RAM O E E E EE EEE EEA 24 9 3 STEPPING A PRG 2 4 25 9 4 BREAKING 25 9 5 RESTART A 2 u anu EEE ai ui EEEE AEE as 26 9 6 PRG COMMAND TEXT ENTRY n a anis 26 9 7 USING THE COMMAND TEXT ENTRY BOX TO ENTER SPECIAL KEYS 26 MOTION MENU SELECTIONN 28 10 1 2 e ead ea ede end 28 10 2 EDIT MOTION 28 1 6 Page 2 7 11 2006 11 12 13 14 MicroMMI Operator Manual 10 3 RUNNING PRG PROGRAMS 2 2 212 12 006000000000000000000000000000000 28 10 4 ENDING A PRG PROGRAM ccsssessscecececsesseaececececsensaaeaecececeesssaaecececeesesaaececeesesensaaececececeenenaees 29 10 5 STEPPING A PRG 29 10 6 PAUSING A PRG PROGRAM iecit reru ie ey ebrei e veter RSEN SS 29 10 7 USING THE TOYSTICK EEE Sium EY eerte edere vers 29 10 8 ABORTING EXECUTION cssssssseccececeessssaccececeessssnaececececsessnaeaecececeensnaeaecececsensanaaececsesensaaeaecees 29 10 9 ISSUING A FAULT ACKNOWLEDGE
41. RETE 69 15 3 RELATIONAL see tetas ease see ee 69 15 4 MATHEMATICAL 8 2 0000040000000 0000 69 15 5 a Sas eie adeat 70 15 6 5 5882 setuedes ete erede decals etel eset ee needed ap rons 70 15 7 GRAMMAR 5 999999999999 71 16 APPENDIX C PRG PROGRAMMING NOTES 75 17 INDEX t csc E NE E E S EE E E 77 Rev 1 6 Page 4 7 11 2006 MicroMMI Operator Manual 1 Overview The MicroMMI application is a Graphical User Interface GUI which allows a user to program a Potomac LMT micromachining system using a superset of RS 274 or G Code motion control programming commands and view a live video feed set up to display aspects of the micromachining process Proprietary machine vision commands have been added to the motion control programming commands to allow the user to make motion based decisions from the output of real time image processing and measurement functions The basic MicroMMI program was designed for use in the production environment In order ensure proper system operation the basic application limits the user s control to those functions that are required to complete the producti
42. S 4 ON OFF PROGRAM ENGLISH PROGRAM METRIC PR ME ws ABSOLUTE INCREMENTAL pause EXIT G aa AGAIN AG ABORT 1 Fault Acknowledge FA C 1 6 Page 54 7 11 2006 BEBE F a CLEAR SCREEN LRSCR m YES MicroMMI Operator Manual MESSAGE Yes NNP OU Ye YE SCALEFACTOR SCF No YES ROTATION ROT N YES SoftwaeKcy SK SKEY Ye YES S N YE es a _ SP C NS ES SOFTWARE POSITION SOPO No YES S G40 SUBROUTINE SU RE YES RETURN Yes VARIABLES Yes WAIT ON OFF ALL WA ON OFF AL WHILE ENDWHILE WH ENDW G40 cutter comp off 041 cutter comp on left G42 cutter compon right 0643 define cutter radius No 044 define compensated No ACCELERATION CYCLEONOFP CY ON OFF No YES Ld HALT Notes Not all arguments syntax supported at this time 14 4 Potomac Proprietary Command Format The Potomac Proprietary PPI commands are single word commands that are prefixed by a hash pound sign parameter parameter parameter parameter Command Integer number of beeps SIMAGEREDRAW noe IMAGELOAD Filename IMAGESAVE Filename
43. This load program dialog box does not save the value of the PRG program loaded for more than the existing MicroMMI execution Only the lt File gt lt Project gt menu selection will bring up a window allowing the operator to save a PRG file name to the operating system s Registry thereby always opening this PRG file when MicroMMI begins execution Load Motion Program kika Look ire E Micic perster e 21 Gts6mv3 Femme Files of tyne G Code Files Cancel Open as readonly The rest of the menu selections on the File menu operate as would be expected in any program that has the ability to load and edit text files Rev 1 6 Page 43 7 11 2006 MicroMMI Operator Manual NOTE The lt Save gt menu selection does not append the PRG extension to the files if the operator does not explicitly type in that extension If it is desired that the extension for a newly saved file should be PRG then the operator must type in the extension 13 2 Editor Edit Menu The general edit selections such as select cut paste and copy are all available when MicroMM is in maintenance mode NOTE After having made changes to the PRG using the editing commands the file is always saved automatically when the editor window is closed Editor nl x r i aez SEE 0 Edit Time Date 13 3 Search Menu Selection The lt Search gt menu selection brings up th
44. abel the inputs and outputs the operator must select the lt IO Labels gt menu selection The following screen appears when the operator selects the IO Labels menu selection x Digital 1 0 Identification sa START Button The operator may then enter the name for each input and output that has been configured by the hardware After the names have been entered they will appear in the IO Status Tab if the operator has selected that tab option on the main MicroMMI application window The inputs and outputs must be hardwired into the system when it was delivered or set up by qualified technical personnel Rev 1 6 Page 33 7 11 2006 MicroMMI Operator Manual 11 4 Set Command Buttons The lt Set Command Buttons gt menu selection displays a screen whereby the operator may enter values for a set of user defined buttons that are enabled on the MicroMMI user interface NOTE These keys do not correspond to the through F5 keys a computer keyboard These keys are operator programmable command keys that must be clicked using the left mouse button in order to be activated Pressing the F2 key will perform the ABORT command as specified in the user interface NOT perform special key number 2 s command functionality The function keys are displayed above the operator status area and the PRG program display area on the main MicroMMI application window After the keys are enabled they will appear as buttons on the user defined
45. ated is called U500Out txt which contains all PRG commands that are sent to the UNIDEX 500 motion controller for execution as opposed to being executed by the MicroMMI application itself The next files is called PRGOut txt and contains all lines of the PRG program that are translated and executed by the MicroMMI application in the exact order in which they are translated That way if a LOOP 3 PRG command is being executed there will be three references to the PRG code contained within the LOOP command Below is an example of the prgout txt file output Output of internal program execution during translation for C u500 Projects Hutchinson Hutch1 prg On gt 12 17 99 5 21 50 PM Passthrough Mode True Passing all MMI expressions directly to U500 Pass Math Expressions True Passing all Math expressions directly to U500 Use U500 Variables True Using the Variable values V0 255 from U500 V1 50 Rev 1 6 Page 38 7 11 2006 MicroMMI Operator Manual V2 0 16 V3 0 6879 V4 62 859 V6 10 7 100 Going to subroutine TRAIN so po xy WA ON v41 xrp v51 yrp Returning from subroutine TRAIN Calling PPI function OVERLAY 2 PR IN ME UN UN SE TRLI EN X Y HO X Y WA ON SO PO X Y SO HO SCF X1 Y1 ROT X Y 0 WA ON G90 START OU 3 1 OU 5 1 OU 4 1 OU 0 1 OU 1 1 Calling PPI function STATUS PROCESSING FIRST PLATE V80 486 530 V81 107 2 V85 549 373 V86 107 07 Goin
46. ause there 1s not another line to indicate where to return from the loop NOTE The contents of this display screen are saved in the operating system s Registry and therefore saved from one execution of MicroMMI to the next If the executable is moved or the program is reinstalled the values will have to be specified again The command buttons are used for debugging in that a current value of a variable may be recorded to the operator status display after a break point has been reached or a Pause 0 command has been reached If the special key has been programmed to display the value of a variable the operator only needs to press the corresponding button to get the currents variable results 11 5 Calibration The Calibration menu selection displays a dialog box that allows the operator to enter values that will convert the machine vision pixel space into whatever calibrated units are desired ir MicroMMI System ptions Motion Controller The calibration must be determined by inserting a known object into the field of view so that the live video can completely see it Rev 1 6 Page 35 7 11 2006 MicroMMI Operator Manual 1 Using the MicroTools application select pixels as the desired units in the calibration configuration screen of that application 2 Then open the Inspector window and click on the Init Video button then the Acquire Video button Live video should be in the display area and the known object
47. bol for that token A non terminal symbol in the formal grammar is represented as a group A group is defined as a rule that is made up of other non terminals and tokens For example in the PPI language one kind of group is called an expression One rule for making an expression might be An expression can be made of a NOT sign and another expression Another would be An expression can be an integer As can be seen rules are often recursive however there must be at least one rule which leads out of the recursion By convention all non terminals are written in lower case such as expression term or primary The PPI context free language is characterized as an LR 1 In brief this means that it is possible to tell how to parse any portion of an input string with just a single token of look ahead The Translator was written however to allow for additional look ahead if the PPI grammar is changed so that it no longer meets the restrictions of a single token look ahead grammar lt file gt gt lt program gt lt subroutine gt lt subroutine gt gt lt label gt lt statement_list gt RETURN lt program gt gt START lt statement_list gt EXIT lt statement_list gt gt lt statement gt lt statement gt lt statement gt gt lt labeled_statement gt gt lt assignment_statement gt gt lt selection_statement gt gt lt iteration_statement gt gt lt jump_statement gt gt
48. ccount copy the administrator account to the new user and use the copied administrator MicroMMI system parameter values to change the defaults that come up the first time the new user runs the application Also the operational mode will have to be reset to Maintenance by entering the Maintenance Mode password again The password has been set by Potomac and is provided when the system is delivered The password is not displayed as it is typed Instead asterisks will be displayed in the place of each character typed If an incorrect character is typed use the backspace key to erase the incorrect character Do not use the mouse to select the incorrect characters NOTE Do not use the mouse to select and clear the password or an incorrect password selection as that will cause the security screen to not function properly If the correct password has been typed and the program does not recognize it close the Security screen and re open it using the Security button Then type the correct password and the software will recognize it 4 2 Log U500 Commands Whether or not this file is written depends on whether the operator has selected the File Log U500 Commands menu selection When the operator selects this then all of the commands that follow are written to the log file The user specifies the name of the log file via the dialog box that opens when the user chooses Load Project Files menu item The log file is overwritten each time Micro
49. cted and then multiple instances of each type of graphic may be drawn to the display area as many times as is desired To draw the dynamic graphics select the type of graphic to be drawn and then click on the display area where the graphic is to be started Drag the mouse in the desired direction and the graphic should shrink and expand accordingly MicroMMI Vision Display Overlay Type No Overlay 6 1 4 Overlay Color Menu Item The overlay graphic colors may be selected using the lt Display Overlay Color gt menu item The color of the overlay graphics may be changed however the line thickness may not be changed at this time 6 1 5 Graphics Mode Menu Item The graphics mode indicates the hardware and software that is used to generate the live video and the overlay graphics to the live video display All methods of transfer of the camera data from the frame grabber to the live video display have their advantages and disadvantages The DIB_IMAGE menu item will enable the most flexible method of transferring live video but it is also the slowest methodology Each frame of camera data will pass through the computer s RAM before it is ultimately delivered to the rightful party The DDRAW mode is considered a hardware transfer because it uses the Microsoft DirectX functionality to transfer the camera data directly from the frame grabber memory straight to the live video adapter memory and therefore directly to the screen display
50. cution begins immediately To perform a restart press the End button and then press the Run button 96 PRG Command Text Entry Box The operator uses the edit line above the display box to enter any PRG program single line instruction This edit line will remember previous instructions that were entered The operator may access previously run commands by clicking on the Check Mark V button next to the text entry box The command entry text box is as follows PRG Command E3 97 Using the Command Text Entry Box to Enter Special Keys The PRG command text entry box can also be used to activate the user defined special function keys There are only 5 function keys available in this release If any numbers greater than 5 are used to specify a function key an error will be reported The syntax for the function keys corresponds to the Aerotech definition for user defined function keys but with one addition The addition is the ability to define a Potomac Proprietary Interface PPI type of function key The syntax for specifying a PPI function key is as follows SKEY PPI Key PRG Command Key Text SKEY PPI 3 EN X X Axis SKEY PPI 1 CLRSCR Clear SKEY PPI 5 OVERLAY CLEAR CLR OVRY SKEY PPI 4 SU TRAIN TRAIN As soon as the SKEY command is entered into the PRG command entry box the user defined function key is added to the user defined button bar If the operator had entered the above four commands
51. d restart the program There is a status line available to the U500 PRG programmer via the instruction STATUS Text To Display Single U500 commands may be sent to the motion controller using the text entry box above the operator status line The large black box to the right of the live video display is the operator message box All messages that are displayed via the U500 message display ME DI command are printed to this box The tabbed dialog box contains several different groups of data that would be of benefit to the operator at different times 3 1 Variable Display Tab The variable display allows the operator to select which motion system variables are continuously displayed during PRG program execution Via the Watch Variables menu selection under the System Options menu up to ten variables may be specified for continuous update during processing A label may be assigned to a variable to better indicate its functionality File Motion System Options PRG Program Debug Vision Measuremant Tools Help Variable Display clr ovrly 945 4 PROCESSING FIRST PLATE n D 1 1 1 1 I I D 144 288 432 576 720 864 1008 1152 1296 14 Run F9 Redrew Snap Grab Draw ovu Ste Feedback Relative Absolute Break Fy ev oz PRG program stopped Pr
52. dows NT environment when it cannot find a file So make sure that multiple copies of files have not been saved there by accident 4 3 5 Log Files This file contains a copy of all of the commands that have been sent to the 17500 Whether or not this file is written to will depend on whether the operator has selected the lt File gt lt Log U500 Commands gt menu selection When the operator selects this then all of the commands that follow are written to the log file The log file is overwritten each time is run so make sure to copy it to another file name if it must be saved The log file name is not saved from one instance of MicroMMI to the next Rev 1 6 Page 15 7 11 2006 MicroMMI Operator Manual 5 Live Video Display Area Live video is displayed in the live video display area throughout the duration of program execution The live video comes from a frame grabber that is attached to an analog video camera of any variety that can make the physical connection This includes CCD cameras camcorders and digital cameras that have analog output The live video display is measured in pixels The dimensions of the video picture are dependent upon the camera hardware as the camera specifies the number of horizontal lines HSYNCH it is capable of capturing MicroMMI usually ships with a 640x480 pixel image The origin of the picture is in the upper left corner of the display and cannot be changed During a production
53. e screens for the search and replace functionality The search and replace functions are similar to those always maintained by editors Editor D x Dizi me aal soe 3 zi Find Previous Shift F4 The find window is a non modal window allowing the operator to search for multiple instances of the search string After a search has been performed the search string is also maintained in the toolbar of the editor for ultra fast searches The search edit box in the toolbar allows the operator to enter a new string to search The search operation will use the existing search parameters of Find Whole Word Only Match Case and the direction Rev 1 6 Page 44 7 11 2006 MicroMMI Operator Manual mome E 3 Direction All Find Whole Word Only Replace Match Case Hel The replace operation can be used with the same parameters as the search However there is not ability to put a replace phrase on the main editor interface as there is with the search function Replace x Find What for Replace With fo Close Direction jan ER Find Whole Word Only Text found 350 78 Match Case Help 13 4 Options Menu Selection The lt Options gt menu selection allows the operator to modify some of the editor s interface parameters such as text font text color background color and the type of
54. er subsystem See the Potomac Operator s Manual for the laser for more information 2 4 Integrated Development Environment MicroMMI allows the user to load and edit any PRG program Editing is tightly integrated with PRG program execution From within the editor s interface the user may run the currently loaded PRG program or single step through each line of the PRG program Because motion programming is a real time operation single stepping through a PRG program may significantly affect the operation of the program It is not a good Rev 1 6 Page 6 7 11 2006 MicroMMI Operator Manual idea to single step through a laser fire line of code as the laser will continue firing until the laser is told to stop firing by another command The ability to single step through a PRG program allows the user to step through sections of the program to debug the control logic The combination of the editing and the PRG program execution makes up the Integrated Development Environment IDE of the MicroMMI application MicroMMI is an Integrated Development Environment IDE for PRG G Code programming An IDE allows among other things the loading editing and debugging of PRG G Code programs similar in nature to what the Visual Basic IDE provides for Visual Basic programmers As such there are many ways that the environment may be used that will affect the execution of the PRG program The following will provide an overview of the programming proce
55. ess Run F9 to Run Joystick X Y Velocity vi X No Fault Y No Fault Z No Fault U No Fault C u500iProjectsiHutchinsoniHutch prg Stopped tos raza we 3 2 IO Display Tab Rev 1 6 Page 9 7 11 2006 MicroMMI Operator Manual The IO status tab displays the current status of the motion controller s digital Input Output bits Via the lt IO Labels gt menu selection under the lt System Options gt menu up to eight inputs and eight outputs may be specified for continuous update during processing A label may be assigned to the IO bit to better indicate its functionality MicroMMI File Motion System Options PRG Program Debug Vision Measuremant Tools Help START Button 945 PROCESSING FIRST PLATE l x b 144 28 432 576 720 864 1008 1152 1296 Run F9 Laser Redraw Snap Grab Draw ovALys Exit Step F6 Motion Status ex Feedback Relative Absolute Break F7 eY End oz PRG program stopped Press lt Run F9 gt to Run Joystick X Y Velocity HIGH X No Fault Y No Fault Z No Fault U No Fault Panel 1 C wu500 Projects Hutchinson Hutch1 prg Stopped ok fos 474 The different colors indicate the enabled disabled status of the IO
56. ession gt lt label gt IF relational expression THEN statement list ENDIF IF relational expression THEN statement list vv ELSE lt statement_list gt ENDIF lt relational_expression gt gt lt expression gt GT lt expression gt lt expression gt LT lt expression gt lt expression gt EQ lt expression gt lt expression gt NE lt expression gt lt expression gt LTEQ lt expression gt lt expression gt GTEQ lt expression gt lt input_expression gt lt expression gt gt gt gt gt gt gt gt gt lt expression gt 11 gt gt gt gt gt gt lt expression gt lt expression gt EQ lt expression gt lt expression gt NE lt expression gt lt expression gt LTEQ lt expression gt lt expression gt GTEQ lt expression gt lt input_expression gt lt expression gt Rev 1 6 Page 73 7 11 2006 input expression gt iteration statement jump statement comment statement comment blank statement gt Rev 1 6 MicroMMI Operator Manual input port V_DIGIT 1 gt WHILE lt relational_expression gt lt statement_list gt ENDWHILE gt LOOP Integer lt statement_list gt EX gt LOOP
57. for both Since the START command does not have to be used it is specified in the Aerotech manual to be used I can not allow the definition of subroutines or any other code before the actual PRG code to be executed In order to provide for subroutines at all they have to be somewhere in the file and there has to be a command statement that indicates where the PRG main code stops and the subroutines begin This command is the EXIT command It is required by all MMI and Translator programs for correct execution although if the command is missing both programs will continue execution beyond the expected end of the main PRG program and thus the execution will be unpredictable 3 WHEN USING THE SUBROUTINE COMMAND THE NAME OF THE SUBROUTINE TO JUMP TO MUST BE DEFINED THE TRANSLATOR IS NOT CASE SENSITIVE IN THAT THE SUBROUTINE LABEL NO LONGER HAS TO BE THE EXACT ASCII CHARACTERS AS THE NAME OF THE SUBROUTINE THAT YOU WANT TO JUMP TO Correct SU MYSUB MYSUB Now also correct SU mysub MYSUB Rev 1 6 Page 75 7 11 2006 MicroMMI Operator Manual This functionality was designed to be that way but can be changed if people have a problem with it Of all the PRG programs that I have seen so far most people define their label and use the exact same characters to jump to that label I don t know what MMI does here as no one has complained before 4 ALWAYS USE THE G90 AND G91 COMMANDS ON THE SAME LINE AS THE LINEAR OR CCW COMMANDS IF
58. format in which the editor saves the file text Editor File Edit Search PRG Program Debug Dic ai E alal amp 2 z v Text Color After the operator selects the lt Options gt lt Font gt menu item the lt Options gt lt Selection Font gt or the lt Options gt lt Background Color gt menu selection the typical font dialog box will appear The operator may then choose the font characteristics for the corresponding interface attribute Rev 1 6 Page 45 7 11 2006 MicroMMI Operator Manual NOTE If the font size or any other characteristic that is selected causes the program lines to wrap around to the next line the syntax of the program will be incorrect PRG programming syntax does not allow word wrap so make sure that all lines begin and end on the same editor line or there will be errors during the Syntax Check operation The default text font color is yellow The default background color is black The font point size has been set to 12 and the font name is Verdana Verdana was chosen because of its ability to display properly the minus signs that often appear before numbers in a PRG motion control program Color mI BI mr mmm EHI SN NE B NENNEN EERE eee r mm m man RE Define Custom The typical color dialog box is displayed when the operator chooses to change the color of either the text or the background The ope
59. g to subroutine PLATE PLATE Going to subroutine TARGET OU 2 0 Returning from subroutine TARGET Executing LOOP start Executing LOOP number 1 Executing LOOP start Executing LOOP number 1 Going to subroutine DEBUS Returning from subroutine DEBUS Executing LOOP number 2 Going to subroutine DEBUS Rev 1 6 Page 39 7 11 2006 MicroMMI Operator Manual Returning from subroutine DEBUS Executing LOOP number 3 Going to subroutine DEBUS Returning from subroutine DEBUS Executing LOOP number 4 Going to subroutine DEBUS Returning from subroutine DEBUS Executing LOOP number 10 Going to subroutine DEBUS Returning from subroutine DEBUS Returning from subroutine PLATE It is very easy to see exactly where the execution flow is going This file is helpful for control flow errors in the PRG program Below is the U500out txt file output which corresponds to the above prgout txt file output you can tell by the time as all files are created at the same time and overwritten at the same time Output of actual statments sent to 500 during translation for C u500 Projects Hutchinson Hutch1 prg On gt 12 17 99 5 21 50 PM Passthrough Mode True Passing all MMI expressions directly to U500 Pass Math Expressions True Passing all Math expressions directly to U500 Use U500 Variables True Using the Variable values V0 255 from U500 1 50 2 0 16 V3 0 6879 V4 62 859 V6 10 V7 100 so pox y
60. he line after the breakpoint NOTE At this time there is no indication in the user interface of a line that has a breakpoint associated with it When in doubt of a breakpoint location select lt Debug gt lt Remove Breakpoint gt to make sure there are no breakpoints set 12 3 Remove Break Point This menu selection clears the selected break point line It does not matter where the selected line resides because there may be only one breakpoint set at a single time Rev 1 6 Page 41 7 11 2006 MicroMMI Operator Manual 13 Edit Motion Program The operator may invoke the PRG program editor when in maintenance mode by selecting the Motion Edit Motion Program menu selection Those operators who have extensive knowledge of the motion control programming process usually bring up the PRG file editor Using the editor interface has advantages over the MicroMMI interface when debugging a motion control program MicroMMI System Options Program Debug Vision Measuremant Tools Help Load Motion Program F4 Edit Motion Program Run Motion Program Step Break F Pause Motion End Motion Program Joystick F5 Abort Motion F2 Fault Acknowledge F11 Reset Motion Controller F12 If the only requirement is to run a motion control program that performs the same operations over and over again the best way to run MicroMMI would be to maintain the operator mode That way the secu
61. iage return at the end of each line in order for the interpreter to tell that the line is a new line Rev 1 6 Page 76 7 11 2006 17 Index Aborting axes axis positions BNF Break BREAK Breaking a PRG Program BRIGHTEN Calibration calibration constants calibration dialog box camera command buttons DDRAW debugging a PRG DIB_IMAGE DILATE Display Overlay Type Draw OVRLYS DRAWING Edit Edit Menu Edit Motion Program EDITING editor Editor End Ending a PRG Program ERODE EXIT STATEMENT Fault Acknowledge File Menu FIND BLOB FIND EDGE FIND PATTERN frame grabber G Code Generate Debug Files Grab GRAPHICS graphics adapter Graphics Mode IDE IDLE Rev 1 6 29 23 23 69 24 25 7 24 48 65 36 37 37 16 36 19 38 19 66 19 22 67 42 44 28 7 24 28 43 24 48 66 75 29 2 3 12 43 61 60 62 19 20 5 6 7 52 56 38 18 21 68 20 19 7 43 7 24 MicroMMI Operator Manual IMAGE LOAD 64 image processing 57 IMAGE REDRAW 65 IMAGESAVE 65 IO Display Tab 2 10 IO Labels 33 IO status 6 10 joystick 23 29 Joystick 29 JOYSTICK 23 Laser On 21 live video 16 Live Video 16 Load Image 19 Load Motion Program 28 Load Project Files 14 Log Files 15 Log In Operator 12 Log U500 Commands 13 Machine Steps to Millimeters 32 machine vision 16 machine vision subsystem 56 Maintenance Mode 12 Measurement Display 10 Metric Display Format 32 Motion Controller Parameters 31
62. ibration factors that the user has previously specified in the MicroMMI program The user will receive an error message via a dialog box if the ROI does not exist 14 4 9 FIND PATTERN The search will take place in the current display area Only one pattern may be trained at one time therefor only one pattern may be searched for at a single time Only a single instance of the found pattern is returned at this time Any previously trained ROI may be found The only parameter is the name of the ROI to be found The user will receive an error message if the ROI does not exist The user will also receive an error message if no pattern has been trained FIND PATTERN NameOfROI Quality Value CENT_X CENT_Y Parameters NameOfROI String indicating a unique name for the ROI Quality Value Integer between 0 and 100 indicating the required conformance to the trained pattern A value of 10 would be very little conformance whereas a value of 98 would require an exact match high conformance Returned Values CentX X location of the center of the pattern CentY Y location of the center of the pattern The coordinates of the found pattern are returned to the user These coordinates will be calibrated according to the calibration factors that the user has previously specified in the MicroMMI program There is no returned value for the PRG programmer to use however the user will receive an error message via a dialog box if the ROI does n
63. ificantly affected Live video requires the real time transfer a 640x480x8 bit image to the display and will take up processing time away from the PRG program execution For best performance be sure to close ALL OTHER applications when running MicroMMI Also when minimizing MicroMMI Be sure to press the Snap button so that the live video data is not being transferred to a display that is not being viewed 6 1 2 Load and Save Image Menu Items The Load Image and Save Image buttons allow the operator to save a copy of the current video display area and to reload it at a later date This functionality is extremely Rev 1 6 Page 18 7 11 2006 MicroMMI Operator Manual useful when training a Region of Interest to be used as a Search pattern at a later date The image file types that are available are the following BMP TIFF PCX ITI and Cognex Use Microsoft Photo Editor for conversion to and from available image formats 6 1 3 Overlay Type Menu Item Selecting the Display Overlay Type menu item will provide for the change the overlay type There are many overlay graphics from which to choose The graphics comprise two categories static and dynamic The static overlays are those that once they are placed on the display area they do not move and cannot be redrawn by the operator Static overlays are generally used as a reference to a known position such as the center of the field of view The dynamic overlays may be sele
64. lt U500_statement gt gt lt PPI_statement gt gt lt comment_statement gt gt blank line statement gt lt null_statement gt lt labeled_statement gt gt lt label gt lt statement gt lt label gt gt Identifier assignment statement gt Identifier expression gt Identifier axis_position lt axis_positon gt gt S lt axis gt FP gt S lt axis gt RP gt S lt axis gt AP lt input_port gt gt IN V_DIGIT 1 gt INP V_DIGIT 1 lt gt gt wey wn gt 1 6 Page 72 7 11 2006 MicroMMI Operator Manual gt Z zn gt y u lt expression gt gt lt term gt lt add_operator gt lt term gt lt add_operator gt gt an gt wow lt term gt gt lt primary gt lt mul_operator gt lt primary gt DIV lt mul_operator gt lt unary gt NOT lt primary gt ABS lt primary gt SIN lt primary gt COS lt primary gt TAN lt primary gt ASIN lt primary gt ACOS lt primary gt ATAN lt primary gt EXP lt primary gt LOG lt primary gt RAN lt primary gt SEC lt primary gt ASEC lt primary gt DEG lt primary gt RAD lt primary gt Identifier Number lt unary gt lt expression gt lt input_port gt lt axis_position gt lt primary gt lt selection_statement gt IF lt relational_expression gt lt label gt lt input_expr
65. m After the program execution has been paused it can be resumed by pressing the lt Run gt menu item The lt Break gt menu selection is available only in maintenance mode NOTE The laser should not be enabled in a program that is being debugged because the laser may stay too long in a particular location 13 5 3 Stepping a PRG Program A PRG program can be stepped in order to debug that program For each lt Step gt menu item selection a single line of PRG code will be executed The lt Run gt menu item can be selected at any time during a stepping operation If the lt Run gt item is selected it will operate similar to a continue operation in that the normal execution of the program will continue until the end of the program is reached or the operator selects the lt Break gt or lt End gt menu items The Step button is available only in maintenance mode NOTE If the lt Step gt command becomes unavailable during program execution such as when it reaches a LOOP command SUB command etc the lt Break gt button must be selected in order to continue the stepping operation NOTE The laser should not be enabled in a program that is being debugged because the laser may stay too long in a particular location 13 5 4 Ending a PRG Program The program display will scroll along with the program s execution so that the operator may view the exact lines being executed The lt End gt menu item can be selected at any time duri
66. m execution such as when it reaches a LOOP command SUB command etc the lt Break gt button must be selected in order to continue the stepping operation Not required for normal operation NOTE The laser should not be enabled in a program that is being debugged because the laser may stay too long in a particular location 9 4 Breaking a PRG Program Because the ability to Break into the execution of a program is provided there is also the ability to continue execution from the point where the program was stopped MicroMMI uses the Run button to continue execution after any break has been performed There are several ways to break program execution They are 1 to press the Break button 2 set a breakpoint on a specific line of PRG code and 3 arrive at an MO PRG programming command After any of these break conditions have been met the user has several options The user may 1 select the Run command by pressing the Run button or the Run menu item 2 select the Step command by pressing the Step button or the Step menu item or 3 ending the program execution and resetting the program by selecting the End button or the End menu item Therefore the Run button may be enabled even though the program is in the Running state Rev 1 6 Page 25 7 11 2006 MicroMMI Operator Manual 9 5 Restart a PRG Program Restarting ends program execution and repositions the instruction pointer to the beginning of the program Program exe
67. n will revert back to the state that the application was in before it was edited 9 1 Running PRG Programs The loaded PRG program can be executed by pressing the Run button on the right side of the PRG program display area or by pressing F9 loaded program will execute all valid MicroMMI instructions Valid MicroMMI instructions are specified in Appendix A The Start button is available in all operating modes 9 2 Ending a PRG Program The program display will scroll along with the program s execution so that the operator may view the exact lines being executed The End button can be pressed at any time during the execution to completely stop the program When the End button is pressed the program will restart from the top or beginning of the PRG program The End button is available in all operating modes Rev 1 6 Page 24 7 11 2006 MicroMMI Operator Manual 9 3 Stepping a PRG Program A PRG program can be stepped in order to debug that program For each Step button press a single line of PRG code will be executed The Run button can be selected at any time during a stepping operation If the Run button is selected it will operate similar to a continue operation in that the normal execution of the program will continue until the end of the program is reached or the operator selects the End button The Step button is available only in maintenance mode NOTE If the lt Step gt command becomes unavailable during progra
68. nap Button The Snap button is used to display only a single frame of video data from the camera to the live video display area 7 4 Grab Button The Grab button will display live video data continuously to the live video display area until another button is pressed or a command has been executed from within a PRG program that halts the live video display Rev 1 6 Page 21 7 11 2006 MicroMMI Operator Manual 7 5 Draw OVRLYS Button MicroMMI contains machine vision functionality that is implemented via the PRG programming capability It has been determined that ability to create Regions Of Interest directly within the MicroMMI application is a necessary capability Therefore when this button says Draw ROIs the user may create an ROI directly within the live video display area by clicking with the left mouse button where the upper left hand corner of the ROI should be and dragging until the lower right hand corner is placed in the desired location A green bounding box will show where the bounds of the rectangular ROI exist and a dialog box will appear prompting for the name of the newly created ROI 7 6 Exit Button The Exit button does just what it sounds like it ends the operation of the program Rev 1 6 Page 22 7 11 2006 MicroMMI Operator Manual 8 Axis Position Display The MicroMMI program has been written to have direct communication with the UNIDEX U500 motion controller The motion axes status and position values that a
69. ng the execution to completely stop the program When the lt End gt menu item is pressed the program may be restarted from the beginning by selecting the lt Run gt menu item The lt End gt selection is available in all operating modes 13 6 Debugging a PRG Program For the experienced operator there are special functions that are available in maintenance mode 13 6 1 Setting a Break Point A break point may be set on any valid PRG command line When execution reaches that line the execution stops and waits for the operator to select the lt Run gt menu item If the operator has set a watch on a particular variable and the value is incorrect the operator also has the option of ending the program to continue the edit of the program instructions NOTE Sometimes the execution may stop on the after the one that was set for the breakpoint This may be avoided by setting breakpoints on lines where there are no blank or commented lines around the desired breakpoint line The operator may set a break point before a set of instructions are reached in order to slow down the execution by stepping through those instructions that follow the break Rev 1 6 Page 48 7 11 2006 MicroMMI Operator Manual point In this way the operator can closely watch the variable values and the control path through the instructions to verify their validity and correctness Editor mme deluj V Ctrl F9 13 6 2 Removing a Break Point
70. olding out 5x5 connector pin tips try a 10x10 grid This function is useful for setting images to a considerably high contrast representation whereby an edge detect or a blob function can more easily be applied THRESH AUTO Sensitivity Level Smooths SubX SubY Parameters NameOfROI String indicating a unique name for the ROI Sensitivity Percent of the pixels in the region have average brightness values that are separated by a range of 25 gray levels Level Threshold may be biased high or low by the Level parameter where a level of 0 corresponds to a threshold at the lower likely threshold limit and 100 corresponds to the upper likely limit Smooths Resulting variable threshold function is smoothed Smooths times and applied across the entire image SubX Width of subregion SubY Height of subregion Returned Values There is no returned value for the PRG programmer to use 14 4 11 THRESH BILEVEL Thresholds image converting it into a two level bi level image Pixel values in image below or equal to thresh are set to value below Pixel values above thresh are set to pixel value above This function is useful for setting images to a considerably high contrast representation whereby an edge detect or a blob function can more easily be applied THRESH BILEVEL Thresh Rev 1 6 Page 63 7 11 2006 MicroMMI Operator Manual Parameters Thresh Value at which all pixels less than will be forced to 0 and all pixel
71. on operation With the addition of machine vision MicroMMI now requires a tremendous knowledge of the specific application domain as well as the particulars of the MicroMMI application itself The program has been designed for use in the production environment In order ensure proper part and system operation MicroMMI limits the user s control to those functions that are required to complete the production operation MicroMMI is especially useful in environments where the operators computer skills are limited or where process consistency is essential Due to its self contained and automatic nature MicroMMI is an ideal package for ISO 9002 operations Rev 1 6 Page 5 7 11 2006 MicroMMI Operator Manual 2 Background The MicroMMI application consists of five main parts 1 Video subsystem 2 Motion control subsystem 3 Laser subsystem 4 Integrated Development Environment 2 1 Video Subsystem The video subsystem provides the visual display of the part in process In order for the video subsystem to display a live video stream a frame grabber card must inserted into a PCI slot of the computer on which the application runs It is the job of the frame grabber to convert the analog video stream into a digital representation which may then be written to the video display memory of the computer where it can be seen on the monitor MicroMMI s video subsystem configures the frame grabber to communicate with the specific camera being
72. orresponding to a single terminal symbol a token and a piece corresponding to a single non terminal symbol a group Rules are given for constructing the groups from their parts as one or more syntactic groups are specified We can use the PPI language as an example of what symbols terminal and non terminal mean The terminal symbols or tokens of PPI are identifiers constants numeric and the various keywords arithmetic operators and punctuation marks So the tokens of a grammar for PPI include identifier number plus one symbol for each keyword operator or punctuation mark if loop while endwhile else subroutine return open bracket close bracket comma and many more These tokens be subdivided into characters but that is a matter of lexicography not grammar convention tokens should be written in upper case to distinguish them from non terminal symbols for example INTEGER IDENTIFIER IF LOOP WHILE ELSE SUBROUTINE or RETURN A terminal symbol that stands for a particular keyword in Rev 1 6 Page 71 7 11 2006 MicroMMI Operator Manual the language should be named after that keyword converted to upper case A terminal symbol can also be represented as a character literal just like a C character constant You should do this whenever a token is just a single character parenthesis plus sign etc use that same character in a literal as the terminal sym
73. ot exist 14 4 10 THRESH AUTO This is an automatic thresholding function which analyzes subregions of the master image whose size is defined by SubX and SubY Each region is analyzed to determine whether Sensitivity percent of the pixels in the region have average brightness values that are separated by a range of 25 gray levels If so a threshold is determined from a statistical analysis of the region This threshold may be biased high or low by the Level Rev 1 6 Page 62 7 11 2006 MicroMMI Operator Manual parameter where a level of 0 corresponds to a threshold at the lower likely threshold limit and 100 corresponds to the upper likely limit In the event that no threshold can be determined for a subregion the subregion is classified as low contrast and its threshold is determined based on the threshold determined by its neighbors resulting variable threshold function is smoothed Smooths times and applied across the entire image Smoothing the threshold one or two times is almost always a good idea This function normally works best on two intensity images Its advantage is that the two intensities may vary from one picture to the next Over Time or from one image area to the next over Space Define subregion sizes SubX SubY to be 1 2 times the size of the smallest feature which you wish the thresholding to find For example if you are thresholding 30x60 pixel characters a 30x60 grid should be fine If you re thresh
74. ration dialog box in the MicroMMI application The calibration constants for both the X and the Y axis are needed for the calibration dialog box although they are usually the same value Measure a known object in both vertical and horizontal directions to obtain the calibration constants for both axes Rev 1 6 Page 36 7 11 2006 MicroMMI Operator Manual Display Calibration At this time Potomac is not using the Direction Sense however it will be used in a future application to further enhance the usability of the MicroMMI application Rev 1 6 Page 37 7 11 2006 MicroMMI Operator Manual 12 Debug PRG Programs There are several functions available for the operator during maintenance mode for debugging a PRG program before running it on the actual parts or hardware PRG Program Debug Draw Generate Debug Files 12 1 Generate Debug Files When writing and debugging PRG programs it is often helpful to know exactly which PRG commands are being executed and more specifically which commands are being sent to the UNIDEX 500 controller card for execution When the lt Generate Debug Files gt menu item is selected three files are generated at the same time a PRG program is running These files will be written to the same directory that the PRG program resides Sometimes the files will be written to the directory that contains the MicroMMI application D Potomac The first file that is gener
75. rator may also specify custom colors using the Define Custom Colors button on the color dialog box window Rev 1 6 Page 46 7 11 2006 MicroMMI Operator Manual 13 5 PRG Program Menu Selection The lt PRG Program gt menu selection provides all of the execution capabilities that the Motion menu in MicroMMI provides and one more The additional selection is the lt Check Syntax gt menu item where the operator may choose to verify the correctness of any changes made to an existing program or of a newly loaded program Editor e Ed PRG Program see 1 simis 0 The Run Break Step and End menu items maintain the same functionality as the execution buttons provided on the PRG Program Display area of the main interface window of MicroMMI 13 5 1 Running PRG Programs The loaded PRG program can be executed by pressing the Run menu item or by pressing F9 The loaded program will execute all valid MicroMMI instructions Valid MicroMMI instructions are specified in Appendix A The Run menu selection is available in all operating modes MicroMMI provides extended debugging functionality Typical debuggers provide the following functions a Run runs the program from the first line of executable code until a break condition is met or until the end of the program is found b Step steps through the program by executing one line of code per each selection of the step command Step b
76. rdware limits which can be reached if an axis is Rev 1 6 Page 29 7 11 2006 MicroMMI Operator Manual driven too far to the edge of its area of operation This function is only available in maintenance mode 10 10 Resetting the Motion Controller It is desirable at times to reset the motion controller especially when a new program is about to be run If there has been a series of faults resetting the motion controller can initiate a known state at which all variables and stored axis positions are reset to their initial values NOTE The UNIDEX 500 motion controller must be reset when the MicroMMI application is first run Rev 1 6 Page 30 7 11 2006 MicroMMI Operator Manual 11 System Options Menu The System Options menu selections allow the operator to change various parameters that determine how the MicroMMI application will run and display data These parameters are saved to the registry and only need be determined the very first time the application is run However if a new user has been added to the computer that user will have to reload the MicroMMI application variables that were loaded by Potomac upon application delivery Potomac installs all application code into the Administrator profile If another user account need be added to the computer the administrator profile must be copied to the new users profile and these parameters must be reloaded upon first running the application in the new user account
77. re controlled via PRG programming commends are always be available The axis position display area is a standard display which shows the relative absolute and feedback positions of the axes during any given program execution ial x The axis positions are also displayed when the operator is using the joystick in order to move around The axis display area provides a button bar that allows the operator to abort a move perform a software home pause a series of commands or enable the joystick mode To set the values of the position registers back to zero the motion controller can either be reset or software home can be performed NOTE The axes must be enabled in order for the joystick to work as expected NOTE Be sure to deactivate the JOYSTICK before running a PRG program because the U500 controller does not process any commands sent to it when it is in JOYSTICK or SLEW mode Rev 1 6 Page 23 7 11 2006 MicroMMI Operator Manual 9 PRG Program Display The program display area is used to display the motion control program that has been selected by the operator The operator may select a motion control program either via the File Project or the Motion Load Motion Program menu selections The File Project screen will save the loaded program file name from one instance of MicroMMI to the next MicroMMI provides extended debugging functionality Typical debuggers provide the following functions
78. rity controls inherent in the software will prevent the operator from accidentally modifying files or variables that could cause irreparable harm to the entire system C u500 Projects Hutchinson Hutch1_ prg File Edit Search Options PRG Program Debug C u500 Projects Hutchinson Hutch1 X A 9 for gy Could not Initalize the UNIDEX 500 Verify U500 file settings Rev 1 6 Page 42 7 11 2006 MicroMMI Operator Manual The MicroMMI application IDE provides the ability to open the editor while the program is running This ability has been included to allow viewing of a larger amount of the PRG program while the program is running It also allows the execution of the PRG program while in the editor so that more intensive PRG program debugging is available The editor included with is a typical editor with typical editing functions There are several additions the typical editor functions which include the ability to run and debug a PRG program directly from the editor 13 1 Editor File Menu Either a new or an existing PRG program may be loaded into the editor Be sure to validate all programs with the same name that reside in different directories Programs may be Opened Saved Printed and Closed Editor lol x elza EEE File The lt File gt lt Open gt menu selection opens the typical dialog box for the operator to select the PRG program in which to load
79. s blobs and patterns found will be depicted with graphics Off indicates that no graphics will depict the found items Returned Values 14 4 22 GRAPHICS This function will allow the operator to specify whether the live video update and the overlay drawing will be performed with full hardware acceleration or by software emulation There are times that full hardware acceleration may cause certain problems with the live video display As we at Potomac are remedying all potential situations this Rev 1 6 Page 67 7 11 2006 MicroMMI Operator Manual command when used to set full hardware acceleration should be used with care If there are any problems noticed when using full hardware emulation choose software instead and inform Potomac Photonics of the situation GRAPHICS HW SW Parameters SW Software emulation HW Full hardware acceleration Returned Values Rev 1 6 Page 68 7 11 2006 MicroMMI Operator Manual 15 Appendix B Formal Grammar Specification in BNF 15 1 Syntax Notation gt defined as OR AND union is an operator which means optionally operator which means or more times Any time the symbol gt is seen in an expression it means that the left hand side LHS may be replaced with the right hand side RHS For example see the following lt expression gt gt lt term gt lt mult_operator gt lt term gt gt lt term gt lt add_operator gt lt
80. s duration and increasing process throughput If more inspection work can be allocated to the PC and less to the operator the PC can usually achieve a much higher production throughput Rev 1 6 Page 17 7 11 2006 MicroMMI Operator Manual 6 Vision Menu Vision Display Overlay Type No Overlay 6 1 1 Grab Snap and Redraw Menu Items The lt Grab gt and lt Snap gt buttons allow the operator to grab live video continuously and to turn live video off by snapping a single image Live video is generally used when the part processing must be viewed in order to determine processing acceptability The lt Snap gt button may be selected to turn the live video acquisition off thereby allowing for the execution of a PRG program to continue at an extremely high rate The lt Redraw gt menu item is typically used to restore the palette of the live video display area when another window has been displayed on top of the live video As the MicroMMI application executes in 256 color mode see Display Properties the palette of a displayed grayscale image will often times be corrupted by another window that changes the operating system display palette To restore the palette select the lt Redraw gt menu item or press the Redraw button on the button bar below the live video display NOTE When selecting the lt Grab gt button has enabled live video mode the performance of the system when running a PRG part program will be sign
81. s greater than will be forced to 255 Returned Values There is no returned value for the PRG programmer to use 14 4 12 IMAGE LOAD Any bitmap file may be loaded into the current display and all available functions may be used on the newly loaded image The image can be subsequently saved to either the same or to a different file name The image MUST be an 8 bit 256 grayscale image for the image to be recognized by this program If the image does not meet the necessary specifications for loading into MicroMMI Microsoft s Photo Editor and many other programs may be used to convert the image into the correct format before loading IMAGE LOAD Filename Parameters Filename String indicating a file name to be loaded into the current display Returned Values There is no returned value for the PRG programmer to use 14 4 13 IMAGE SAVE The current display may be saved to a bitmap and several other file formats These images may be subsequently reloaded into MicroMMI or used for any other purpose The images are saved as 8 bit grayscale images IMAGE SAVE Filename Parameters Rev 1 6 Page 64 7 11 2006 MicroMMI Operator Manual Filename String indicating a file name into which to save the current display Returned Values There is no returned value for the PRG programmer to use 14 4 14 IMAGE REDRAW The current display may be redrawn if for any reason the display has not fully updated or another window has ca
82. s screen will pop up This screen provides two options Operator Mode and Maintenance Mode x MicroMMI Advanced Options Login Enter Password for Maintenance Mode C Operator Mode Rev 1 6 Page 12 7 11 2006 MicroMMI Operator Manual If at any time the Maintenance Mode selection is made without entering the appropriate password and the OK button is pressed the maintenance functionality will be disabled and the Operator Mode will be enabled The correct password must be typed into the edit area in order for the maintenance functionality to become available The MicroMMI application runs under the Windows NT operating system which m allows multiple users to log into the computer and establish their own working environment via profiles Potomac installs all applications in the Administrator profile Therefore if a user is added to the computer a new profile will be created for that user At the time of the creation of the new profile the administrator s profile must be copied to the new user s profile so that the new user will have access to all of the applications that are available to the administrator It also means that any MicroMMI or other Potomac application setup parameter values such as System Options must be reset the first time the user runs the specific application NOTE When creating a new user account under Windows NT copy down all the values of the application s parameters used in the administrator a
83. should be visible 3 When the known object is completely in view click on the Freeze Video button 4 Insert two horizontal or vertical measuring calipers into the Frozen video display If you do not see them then you probably did not freeze the video by clicking on the Freeze button 5 Move the calipers around until each is on either side of the known object so that the distance between the calipers is equivalent to the known object distance 6 Go to the Display Tools Configuration menu item and select the corresponding Caliper Configuration menu selection so that the dialog box which allows the display of the caliper results appears Click the checkbox corresponding to the set of calipers that are being used 7 Look to the right of the Inspector window and the Delta Results for the calipers that are being used should be highlighted and changing value when the calipers are being moved This value will correspond to the number of pixels per the known object distance 8 After you have measured the number of pixels that correspond to the number of known units the calibration constant can be calculated as follows cal Constant user units pixels For example if the object is known to be 100 ums and the MicroTools application has been used to measure the number of pixels which was 212 then the calibration constant would be the following Cal Constant 100 212 0 4716 This would be the value entered into the calib
84. ss with an emphasis on how using MicroMMI may differ from the normal programming process The steps involved in the average programmer s development process are the following 1 Load existing program or existing program which is similar to the desired functionality 2 Edit the loaded program to contain the new desired functionality 3 Run the program to see what it does 4 Edit the program to change undesired functionality MicroMMI provides the above functionality but it also provides extended debugging functionality Typical debuggers provide the following functions a Run runs the program from the first line of executable code until a break condition is met or until the end of the program is found b Step steps through the program by executing one line of code per each selection of the step command Step button or Step menu item c Break stops the execution of the program when it is running at whichever line of code the execution was on when the Break command was issued allows the program to continue executing from the place where it stopped by the selection of the Run command or continue command depending on the IDE interface d End prematurely stops the execution of the program and resets the program thereby not allowing the user to continue execution like the Break command This means that the IDE will be in one of the following states EDITING RUNNING BREAK or IDLE When the MicroMMI application is first started
85. term gt The expression on the second line lt term gt lt add_operator gt lt term gt can be used to define the expression value as well as the expression on the first line lt term gt mult operator term This is what is meant by rule The expression expression may be replaced with the lt term gt lt mult_operator gt lt term gt expression The entire sentence is considered a rule 15 2 Literal Tokens DIGIT gt TO Se mo LETTER gt MAW LETTER_V gt oye V_DIGIT gt O 255 V_DIGIT 1 gt 1 256 NUMBER gt Wa JXDEIGITEF DIGIT 1 LPAREN gt m RPAREN gt jr DIV gt 15 3 RELATIONAL OPERATORS gt gt gt gt gt LTEQ gt lt EQ gt wow NE gt lt gt 15 4 MATHEMATICAL OPERATORS MUL gt xn DIV gt n m Rev 1 6 Page 69 7 11 2006 5 DD UB 15 5 UNARY OPERATORS NOT MOD ABS SIN COS TAN EXP DEG RAD ASIN ACOS ATAN RAN LOG SEC ASEC v v v v v v v v Vv V v V v V NOT MOD ABS STN EXP DEG RAD ASIN ACOS ATAN RAN LOG SEO ASEC 15 6 TOKEN DELIMITERS specifies end of one token and beginning of another CRLF SPACE HTAB DEL M Keywords Rev 1 6
86. the application is in the IDLE state After the Run button is selected the program is in the RUNNING state When the Break button is selected the application is in the BREAK state After the PRG program execution is finished either by reaching the EXit command in the PRG program or after the user selects the End button the application is in the IDLE state Any time the user opens the editor and makes a change to the PRG source code the MicroMMI application is in the EDITING state The application will remain in that EDITING state until the PRG program is saved when the application will revert back to the state that the application was in before it was edited Rev 1 6 Page 7 7 11 2006 MicroMMI Operator Manual 3 MicroMMI Interface MicroMMI consists of an interface to a micromachining controller currently the Aerotech UNIDEX 500 series an interface to a frame grabber and an editor which allows the more advanced operator to execute programs written specifically for the UNIDEX 500 The screen that comes up after the operator has run the program looks as follows ir MicroMMI Eile Motion System Options PRG Program Debug Vision Measuremant Tools Help TUER oe D l l l l l l l 144 432 576 720 864 1008 1152 Laser ON Redraw Snap Grab Draw OVRLYS Motion Status mus oY 02 0 000 So o u 0000 0500 Initialized Joystick
87. trol some aspects of the machine vision and some which are used generally throughout the operation of the program Any of these buttons may also be called from within a PRG program by using the appropriate syntax for the command For example a call to the camera functionality would be the following SNAP GRAB And so on The Draw OVRLYS button does not have an equivalent PRG program syntax and is only used to switch between the drawing of overlays to the live video display and the drawing of Regions Of Interest ROIs 7 1 Laser ON Button The Laser On button is used to toggle the laser on and off This button will toggle between on and off depending on the state of the laser 7 2 Redraw Button The Redraw button will redisplay the live video display area including any static graphical overlays that have been selected by the operator The static graphical overlays are the LARGE CROSSHAIRS TEXT GRID and the CROSS SQUARE These overlays do not have to be drawn by the operator as with the dynamic graphical overlays such as ELLIPSE RECTANGLE and FREE HAND DRAWING The Redraw button is also used whenever the live video display area has lost its palette Because the MicroMMI application runs in 256 color mode see Display Properties the display area palette may be lost each time a window other than the display area receives the focus or is drawn Selecting the Redraw button will correct the multicolor symptoms of a lost palette 7 3 S
88. ts of the part under inspection image background noise near field obstructions and density of features focus and magnification of optics and computer system loading MicroMMI applies standard image processing algorithms to 8 bit 256 grayscale images that are captured via the video subsystem Still images that have not been captured by the video subsystem may be loaded and examined as long as they are in an 8 bit 256 grayscale and bitmapped format The following will explain the different functions that may be applied to an image captured by the live video subsystem There are two kinds of images in MicroMMI master images and rectangular regions of interest ROIs that exist inside master images The master image corresponds to the entire video display area in the main user interface of MicroMMI Both kinds of images are described similarly and so appear nearly identical to the MicroMMI image processing functions For master images the starting location of the image is always 0 0 and is referred to as the image origin For ROIs the starting location or origin is relative to Rev 1 6 Page 56 7 11 2006 MicroMMI Operator Manual the origin of the master image In both master and ROI images dx dy is the size of the image in the X horizontal or length and Y vertical or height directions The master image has 0 0 and size dx dy 640 480 The next two specify ROIs In this example neither ROI has 0 0
89. used part of the current display window to be cleared Redraw is also helpful when a message box has been displayed on top a still video image and the image has lost its color palette The color palette is often rewritten by other Window based applications running concurrently with the MicroMMI program Because MicroMMI performs image processing on monochromatic images containing 8 bits there is the limitation that the program must be run using the Windows display setting of 256 colors When Windows is running in 256 color mode palettes are used to draw to the monitor s display screen When a palette that contains different colors than what is currently being used for the image processing the previously grayscale image may turn to multicolor When this happens REDRAW can be used to recover the correct display palette IMAGE REDRAW Parameters None Returned Values There is no returned value for the PRG programmer to use 14 4 15 BRIGHTEN This function will significantly brighten up an image that is very dark If the image also has low contrast some type of threshold with an ERODE may be helpful also BRIGHTEN Parameters None Returned Values Rev 1 6 Page 65 7 11 2006 MicroMMI Operator Manual There is no returned value for the PRG programmer to use 14 4 16 SHARPEN This function will sharpen an image that has low contrast resulting in indistinguishable edges SHARPEN Parameters None Returned Values 14
90. utton or Step menu item c Break stops the execution of the program when it is running at whichever line of code the execution was on when the Break command was issued allows the program to continue executing from the place where it stopped by the selection of the Run command or continue command depending on the IDE interface d End prematurely stops the execution of the program and resets the program thereby not allowing the user to continue execution like the Break command This means that the IDE will be in one of the following states EDITING RUNNING BREAK or IDLE When the MicroMMI application is first started the application is in the IDLE state After the Run button is selected the program is in the RUNNING state When the Break button is selected the application is in the BREAK state After the PRG program execution is finished either by reaching the EXit command in the PRG program or after the user selects the End button the application is in the IDLE state Any time the user opens the editor and makes a change to the PRG source code the MicroMMI application is in the EDITING state The application will remain in that EDITING state until the PRG program is saved when the application will revert back to the state that the application was in before it was edited Rev 1 6 Page 47 7 11 2006 MicroMMI Operator Manual 13 5 2 Breaking a PRG Program A PRG program can be stopped at any time during the execution of the progra
91. wever the user will receive an error message if the name of the ROI conflicts with an ROI of the same name which has already been added to the list of ROIs 14 4 3 ROI DELETE Rev 1 6 Page 57 7 11 2006 MicroMMI Operator Manual Any defined ROI may be deleted The only parameter is the name of the ROI to be deleted The user will receive an error message if the ROI does not exist The ROI will be removed from the live video display ROI DELETE NameOfROI Parameters NameOfROI String indicating a unique name for the ROI Returned Values There is no returned value for the PRG programmer to use however the user will receive an error message via a dialog box if the ROI does not exist 14 4 4 ROI HIDE Any previously defined ROI may be hidden The only parameter is the name of the ROI to be hidden The user will receive an error message if the ROI does not exist The ROI will be hidden from the live video display ROI HIDE NameOfROI Parameters NameOfROI String indicating a unique name for the ROI Returned Values There is no returned value for the PRG programmer to use however the user will receive an error message via a dialog box if the ROI does not exist 14 4 5 ROI SHOW Any previously defined ROI may be displayed in the live video The only parameter is the name of the ROI to be shown The user will receive an error message if the ROI does not exist The ROI will be drawn to the live video display ROI SHOW NameOfR
92. while the program was not running Then the operator can set the new start point and continue debugging after planting the correct value for a variable 13 6 4 Setting Translator Options The translator options are for Potomac personnel who have extensive familiarity with the translator itself and Aerotech motion control programming This option is not available to Potomac customers at this time Rev 1 6 Page 49 7 11 2006 MicroMMI Operator Manual 14 Appendix PRG Programming Syntax For a description of the specific syntax concerning the rules about programming the Aerotech UNIDEX 500 motion controllers see the Aerotech documentation in the 17500 directory of the Aerotech installation directory The following information concerns what MMI commands have been implemented in this version of MicroMMI and what Potomac specific commands have been implemented 14 1 IDENTIFIERS Identifiers are strings of the LETTER_V and a V_DIGIT which is a number from 0 through 255 assignment statement always has an identifier as its left hand side LHS The right hand side RHS may be comprised of any expression or series of expressions The input bit stream may be the RHS as well as the current axis position feedback relative or absolute Vn where nis an integer between 0 and 255 Identifier gt LETTER _V V_DIGIT Identifier Examples VO V12 V34 V250 etc Assignment Statement Examples V12 V1 3 ABS V
93. y Format 0 000 When MicroMMI is run it will look to the parameter file for the appropriate motion controller values These values may be then changed via the above dialog box and will remain in effect while the current instance of the application is running When MicroMMI is closed and then re run the values will again be read from the parameter file which is loaded when MicroMMI starts NOTE If the parameter file is changed and the motion controller values are not known they may be read from the parameter file by closing the MicroMMI application and re running it 11 2 Variable Watch List The variables that are watched may be set via the Variables Watch List menu selection The following screen will appear if that menu selection is made Variable Watch T x Space Between Buses Busses per Column Debus Dwell Time Rotation Value The field called No corresponds to the motion controller variable number The operator may assign a symbolic label name to which the variable is referred when it is displayed in the variable display The variable watch list is only accessible when the program is in maintenance mode Rev 1 6 Page 32 7 11 2006 MicroMMI Operator Manual The variables that are watched at a regular basis can be seen when the Variables Tab on the main MicroMMI application window is selected The variable values are displayed as follows xw Variable Watch Tab 11 3 IO Labels In order to l

USER MANUAL Version 1.6

Contents

Download Pdf Manuals

Related Search

Related Contents