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Inspector PIM60 ver 2.0

1. Identifier Error code DINT Returnvalue 1 DINT 12 Returnvalue 2 DINT 16 Returnvalue 3 DINT 20 Returnvalue 4 DINT 24 Returnvalue 5 DINT 28 Returnvalue 6 DINT 32 101 input Command channel result SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 37 Appendix Reference Manual Result output formatting Appendix Inspector PIM Result output formatting A 1 XML based formatting The formatting of the result string is defined by a formatting string written in XML It is possible to mix XML tags and free text in the formatting string The text parts will appear as is in the result string whereas the XML tags will be replaced by the appropriate values All white spaces in the formatting strings are ignored In order to include whitespace in the result string use the tags lt SPACE gt lt TAB gt and lt NEWLINE gt The tags are either container tags or value tags The container tags do not generate any text on their own It is the value tags inside the container tags that generate the text The following container tags are valid in the Inspector PIM6O OBJECT_LOC Used to present values concerning the Object locator BLOB Used to present values for a found blob ina blob ROI The index points out the found blob in accordance with the blob sorting order If no index is given this is the same
2. Table A 4 Sizes of datatypes USINT 1byte 0 255 i SINT 1 byte 128 127 A UINT 2 bytes 0 65535 a INT 2 bytes 32768 32767 UDINT 4 bytes 0 277 1 a DINT 4 bytes 2 t 231 1 a REAL 4 bytes Represented as IEEE 754 binary 32 See Section 4 2 3 Attributes page 23 SICK AG Advanced Industrial Sensors www sick com All rights reserved 51 Subject to change without notice Appendix 52 Command channel Reference Manual Inspector PIM Command channel The Command Channel is used to read and update a selected set of device parameters This section describes the Command Channel from a generic point of view The Command Channel is available via several of the device interfaces Ethernet Raw EtherNet IP Web API There are differences depending on the possibilities each interface provides The differ ences are described in the chapters about each interface It is possible to block changes via the command channel individually for each interface using a setting in the interface configuration as described in the Operating Instructions for Inspector PIM6O This makes it possible to allow changes via a PLC oriented interface while blocking changes via the Web API B 1 Command syntax The tables below describe the different command types as well as ACK messages and their syntax The basic principle is that there are three major types of commands sINT gINT a
3. 2 5 3 High number of unanswered requests to the 1 0 extension box The advanced communication mode User mode can be used to fine tune the communication with the I O extension box It is recommended to try to increase the timeout as a first step and if this does not work try to increase the number of retries Increasing the number of retries will reduce the inspection speed If the problem persists even if the timeout and the number of retries have been increased verify that the network topology does not block the use of UDP packets SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM Web interface Interfaces Web interface 8015726 2013 11 3 1 Introduction The Inspector PIM60 s web interface can be used in two different ways Users can use a web browser to open web pages served by the Inspector s built in web server The Inspector PIM60 is delivered with a set of web pages for handling the Inspector but you can also create custom web pages that can be accessed through the Inspector s built in web server When you create custom web pages all functions available through the Web API can be used Custom applications running on separate systems can use the Web API to directly retrieve images and results and retrieve and set parameters on the Inspector Details on how to manage and access the web pages served by the
4. 2147483647 int z 100 2147483648 2147483647 While possible to trig over al Digital 1 0 In3 Ethernet Raw port 2116 EtherNet IP small assembly gt The exposure is expressed in ms multiplied by 100 i e 3 8 ms is expressed as 380 The result is O normal mode or 1 calibration mode The result is O not calibrated or 1 calibrated The result is expressed in mm pixel x 10000 fThe result is expressed in pixels for x and y The result is expressed in degrees The delay is expressed in ms multiplied by 10 i e 1 5 ms is expressed as 15 In order for the settings to take effect the aACT 7 command needs to be sent to the device Table B 7 Command channel functions Object locator interfaces it is recommended to use only the following for high speed applications Change object locator match threshold Get object locator match threshold sINT gINT int threshold int threshold O 100 percent O 100 percent Change object locator rotation search mode SINT int mode O off 1 on SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix Get object locator rota gINT int mode O off 1 on tion search mode Change object locator sINT int limit
5. 5 2 2 Example formatting strings eeeseeseeeseeeeese 28 5 3 Control the sensor via EtherNet IP sseseesseeeeseeneeeee 33 5 3 1 Basic prihnclples hese niin ea 34 5 3 2 Command syntax man en 34 5 3 3 Select reference object z22444444n nennen ernennen nn 34 5 3 4 Image triggering coerente rn rennen 35 5 3 5 Input assemblies result channel 35 5 3 6 Assemblies command channel essueesssl 36 Appendix 38 Result output formatting uuuuuuunnnnunnnnnnnnnnnnnnnnnnnn nennen nennen nnn 39 A 1 XML based formatting eeeesssesssseeeem mme 39 A 2 AML formatting m 39 A 3 Container specific tags osien eniste ehitisi isah nennen nennen 40 A 3 1 General tags ae anien ea 48 A 3 2 Attributes 3 rii cent eR E REED ee DER sinis 49 Command channel eeeeeeeeeeeeeeer eren rre ne nnn nnn nnn nnn 52 B 1 Command Syntax u a in ne area 52 B 1 1 Commands ID numbers for EtherNet IP 53 B 2 Command channel index handling ceeeeeee eee HH nese tessa en 54 B 2 1 Introduction net E 54 B 2 2 Blob indexing eiii ne ea Bene 54 B 2 3 Polygorn Indexirig eicere eene ERR nx nn 54 B 2 4 Tools ind amp xing orte ran 54 B 3 Command descriptions cece eee ce cece eee cece ee nen nn namen nn nennn nn en 54 B 4 Erf r codes EE 72 B 5 Version information sans seaso
6. CLOSE SOCKET URL template replace items in lt gt POST HandleConfig HTTP 1 1 r nHost IP address gt r nConnection Keep Alive r nCookie Session cookie gt r n r nsopas_username Mainten ance amp sopas password login password C 4 Prepare restore mode This operation will terminate normal device operation and setthe device to focus on receiving the backup file contents After the completion of this step the device is in transfer file mode All other interaction with the device except the transfer file requests may interfere with the transfer file operation and should be avoided Operations CREATE SOCKE ONNECT TO SOCKET lt IP address gt port 80 C SEND HTTP GET REQUEST to SelectRestore prepare_on CLOSE SOCKET URL template replace items in lt gt GET SelectRestore prepare_on HTTP 1 1 r nHost lt IP address gt r nConnec tion Keep alive r nCookie lt Session cookie gt r n r n C 5 Transfer restore file to device During the transfer phase the contents of the backup file is transferred to the device Operations CREATE SOCKET ONNECT TO SOCKET lt IP address gt port 80 END HTTP POST REQUEST to RestoreConfig data lt full path to backup LOSE SOCKET URL template replace items in lt gt POST RestoreConfig HTTP 1 1 r nContent Length File
7. max 1000 0 63 O 1 O pixels 1 millimeters O VGA image diagon al O VGA image diagon al Change edge count single edge polarity sINT 199 No int index int polarity 0 63 0 2 O any 1 bright to dark 2 dark to bright Get edge count single edge polarity gINT 199 Yes int index int polarity int polarity 0 63 0 2 O any 1 bright to dark 2 dark to bright For information about tools indexing see Section B 2 4 Tools indexing page 54 Big is the only valid value for circular Table B 20 Command channel functions Get names Get name of gSTR 1 Yes device Get name of refer gSTR 2 Yes int referenceOb 0 31 ence object ject string name Get name of Object gSTR 3 Yes int referenceOb 0 31 Get name of Pixel 8STR 4 Yes int referenceOb O 31 counter ject g 0 63 int index string name SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 71 Appendix 72 Command channel Reference Manual Inspector PIM Get name of Edge gSTR 5 Yes int referenceOb 0 31 pixel counter ject 0 63 int index string name Get name of Pat gSTR 6 Yes int referenceOb 0 31 tern ject 0 63 int index string name Get name of Blob gSTR T
8. method int method O High quality 1 Nor mal 2 High speed SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Command channel Move and rotate blob locator int index int x int y int angle Appendix O 7 X y pixels angle de grees Ar uments are delta values as com pared to the current po sition and angle These can be negative Get blob ROI posi tion and rotation Set number of blobs int x int y int angle O 7 X y pixels angle de grees Return values are absolute values for the center of the ROI These can be negative as compared to the origin O 7 0 16 min lt max 0 16 min lt max Get number of blobs int min int max 0 7 0 16 min lt max 0 16 min lt max Get blob area thresholds in mm int min 1000 int max 1000 O 7 10 pixel size 307200 pixel size min lt max 10 pixel size 307200 pixel size min lt max Get blob region width and height int w int height 0 7 0 640 0 480 For information about blob indexing see Section B 2 2 Blob indexing page 54 Table B 9 Command channel functions Polygon Change polygon posi sINT 64 No int index O 7 tion sea
9. rorMessage mands including error code and error message rglNT identifier errorCode ret1 Response to fetch integer parameter including para ret2 retN errorMessage meter value error code and error message raACT identifier errorCode er Response to the action command including error code rorMessage and error message rTRIG errorCode errorMessage Response to the trig command including error code and error message rgSTR identifier errorCode er Response to the get string command If errorCode is rorMessage nameString O No error the errorMessage is instead the actual response string rgRES errorCode errorMessage res Response to the get latest available Ethernet Result ultString Output string If errorCode is O No error the errorMes sage is instead the actual Ethernet Result Output string rgSTAT statistics in XML format Response to get the latest statistics from the device in XML format If returned errorCode is O no errorMessage will be shown For explanation of errorCode and errorMessage see Section B 4 Error codes page 72 The response message is a receipt that the command is valid and is executed on the Inspector However the following commands take longer time to execute and may not have finished executing when you receive the command response All action commands aACT Select reference object sINT 1 Set mode SMOD When sent over Ethernet Raw
10. 0 180 degrees rotation search limit Get object locator rota SINT int limit 0 180 degrees tion search limit Change object locator sINT int mode O off 1 on scale search mode Get object locator gINT int mode O off 1 on scale search mode Change object locator sINT int rob O High robustness robustness 1 Normal 2 High speed Get object locator ro gINT int rob O High robustness bustness 1 Normal 2 High speed Change object locator sINT int acc O High accuracy accuracy 1 Normal 2 High speed Get object locator ac gINT intacc O High accuracy curacy 1 Normal 2 High speed Move and rotate ob int x int x y pixels angle ject locator y int degrees Arguments angle are delta values as compared to the cur rent position and angle These can be negative Get object locator pos gINT int x int x y pixels angle ition and rotation y int degrees Return values angle are absolute values for the center of the ROI These can be negative as compared to the origin Get object locator int w int O 640 0 480 width and height height Table B 8 Command channel functions Blob Change blob in sINT 48 No O 7 tensity thresholds 0 255 min lt max O 255 min lt max SICK AG Advanced Industrial Sensors www sick com All rights reserved 59 Subject to change without notice Appendix 60 Command c Get blob intensity thresh
11. 2 5 2 No contact with the I O extension box Ensure that the network card on the PC has the same network address for instance 192 168 1 as the I O extension box The host part ofthe IP address that is the last number inthe IP address must not be the same as for the I O extension box or the Inspector There are two tools available in Windows to check the network connection and the IP settings Ping Open the command prompt and type ping followed by the IP address of the I O exten sion box If the I O extension box is available the following text will be displayed Reply from X X X X where x x x x is the IP address of the I O extension box If the I O extension box SICK AG Advanced Industrial Sensors www sick com All rights reserved 11 Subject to change without notice Interfaces 12 1 0 extension box Reference Manual Inspector PIM could not be found an error message is displayed for instance Requesttimed out or Destination host unreachable Example ping 192 168 1 3 pconfig Open the command prompt and type ipconfig The current status for the network cards on the PC will then be displayed Ensure that the network settings are corresponding to the setting for the I O extension box The current IP address for the Inspector can be viewed by selecting Device Info from the InspectorPIM60 menu The web browser on the PC must be configured not to use a proxy when communicating with the web server in the I O extension box
12. CmdChannel is added and all space characters are replaced by an underscore character The ACK messages still contain spaces Example URL The successful execution of the following command http 192 168 1 110 CmdChannel sINT 1 1 will perform the command to select reference object with index 1 and then return the fol lowing string rsINT 1 0 while a failed command may return rsINT 1 8101 Ref bank index is not used 3 3 3 Current reference object The reference image of the current reference object can be retrieved using the URL http lt IP address gt ActiveReferencelImage jpg The response to the request is a JPEG image The reference image of any reference object in the Inspector can be retrieved using the URL http lt IP address gt getRefObject 0 where the argument 0 is the index of the reference object The object index that corresponds to each reference object can be found in the Reference object list in the Main view The response to the request is a JPEG image An empty image with a smaller size than a normal image is returned if no reference object is available for a certain position Example URL http 192 168 1 110 ActiveReferenceImage jpg http 192 168 1 110 getRefObject 1 3 3 4 Backup and restore configuration It is possible to backup and restore the device configuration through the Web API This is the same functionality also available through the standard web pages of the Web
13. REAL X position for the mid point of the feature edge see foot note In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog coordUnit REAL Y position for the mid point of the feature edge see foot note In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog ANGLE 0 180 REAL SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice Only applicable for Feature type Single edge A positive value is 8015726 2013 11 Reference Manual Result output formatting Inspector PIM Appendix a clockwise rotation and a negative value is a counter clockwise rotation The angle of the single edge in degrees or radians depending on attribute unit or con figured value in the Ethernet Result output dialog INTERN AL_ANGLE WIDTH 0 180 REAL REAL Only applicable for Feature type Dark or Bright The edge s or feature s angle in the search region The angle of the feature in de grees or radians depending on attribute unit or configured value in the Ethernet Result out put dialog Only applicable for Feature type Dark or Bright If the chosen Edge counter is rectangular the value shows the width pixels or mm de pending on attribute co
14. last Get edge tool line gINT 151 Yes int index O 63 fit criteria intcri O 2 O best fit 1 terion first 2 last Change edge tool sINT 152 No int index O 63 polarity int polarity 0 2 0 any 1 bright to dark 2 dark to bright Get edge tool polar gINT 152 Yes int index 0 63 ity int cri 0 2 0 any 1 terion bright to dark 2 dark to bright Change edge tool sINT 153 No int index O 63 score threshold int threshold 0 100 Get edge tool score gINT 153 Yes int index 0 63 threshold int O 100 threshold Change find maxim sINT 220 No int index O 63 um edge contrast int contrast O 100 Get find maximum gINT 220 Yes int index 0 63 edge contrast int con O 100 trast Change find maxim sINT 221 No int index O 63 um criteria int criterion 0 2 0 first 1 last Get find maximum gINT 221 Yes int index O 63 criteria int cri 0 2 0 first 1 terion last Change find maxim sINT 222 No int index O 63 um polarity int polarity 0 2 0 any 1 bright to dark 2 dark to bright SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 65 Appendix 66 Command channel Reference Manual Inspector PIM Get find maximum gINT polarity 222 Yes int index int cri terion 0 63 0 2
15. 0 name Blob 1 Found_blobs lt SPACE gt lt FOUND_BLOBS gt lt NEWLINE gt lt NEWLINE gt Blob information NEWLINE 6 Position X Y SPACE X SPACE Y lt NEWLINE gt SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Ethernet Raw Interfaces Area lt SPACE gt lt AREA gt lt NEWLINE gt D Angle lt SPACE gt lt ANGLE gt lt NEWLINE gt Structure lt SPACE gt lt EDGE_PIXELS gt lt NEWLINE gt Touches_ROI_border lt SPACE gt lt EDGE_FLAG gt lt NEWLINE gt do lt BLOB gt D Explanatory text Start of container for the blob tool named Blob 1 and instruction to fetch the first in dex 0 blob in accordance with the Sort by criteria Explanatory text and number of found blobs in analyzed image Separator Explanatory text Explanatory text and information of blob with index 0 concerning position and center of gravity x and y position in pixels or mm Explanatory text and blob index 0 area in pixels Explanatory text and blob index 0 angle value in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog OO 6060 GO 9 Explanatory text and bl
16. 2 3 1 Enabling the I O extension box eee 10 2 4 Input and output connections uassasesnennnnnnnnnennn nennen en nennen 10 2 4 1 Special conditions during startup ssss 10 2 4 2 Connection to the I O extension box lost during opera MnE 11 2 4 3 Object selection with I O extension box T1 2 4 4 Timing issues en es 11 2 4 5 Use of the digital outputs for logic eee eee ener eee 11 2 4 6 Change of Modules in the I O extension box 11 2 5 Troubleshooting u a ehe ade 11 2 5 1 The I O LED flashes 10 times eesesssee 11 2 5 2 No contact with the I O extension box 11 2 5 3 High number of unanswered requests to the I O exten SION DOX qt 12 LLEIuCIiec nEn 13 3 1 Introduction DI 13 3 2 Get results via Web API sess nme 13 3 2 1 DUE HIST n siisii sae eirean aaia aaa paa iann 13 3 2 2 Detailed results ac era 13 3 2 3 Synchronize live image with result essssse 14 3 2 4 Logged images an ae ran 14 3 2 5 SICCA MERECE 15 3 3 Control the sensor via Web API uasussesnsnennannnnennnnnnnn nen nennen 15 3 3 1 Basic princlples ae edel 15 3 3 2 Command syntax 0 cece eee eee cece ee nen nennen en nnnnn ann 15 3 3 3 Current reference object Rennen ernennen en 16 3 3 4 Backup and r
17. 4 Tools indexing page 54 PROI size is the size of the edge pixel counter ROI in the reference object Value can be fetched with the command gINT 87 Table B 12 Command channel functions Pattern Change pattern posi sINT 84 No int index O 63 tion tolerance int tolerance 0 4 pixels Get pattern position gINT 84 Yes int index O 63 tolerance inttol O 4 pixels Change pattern SINT 85 No int index 0 63 score threshold int threshold 0 100 percent Get pattern score gINT 85 Yes int index O 63 threshold int 0 100 percent threshold For information about tools indexing see Section B 2 4 Tools indexing page 54 Table B 13 Command channel functions Edge tool Change edge tool sINT 150 No int index O 63 edge contrast int contrast 0 100 Get edge tool edge gINT 150 Yes int index O 63 contrast O 100 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel For information about tools indexing see Section B 2 4 Tools indexing page 54 Table B 14 Command channel functions Find maximum Appendix int con trast Change edge tool sINT 151 No int index O 63 line fit criteria int criterion 0 2 O best fit 1 first 2
18. EXEMPT RISK according to IEC 62471 2006 IR LED light A 850 nm DISCLAIMER SICK uses standard IP technology for its products e g IO Link industrial PCs The focus here is on providing avail ability of products and services SICK always assumes that the integrity and confidentiality of data and rights involved in the use of the above mentioned products are ensured by customers themselves In all cases the appropriate security measures e g network separation firewalls antivirus protection patch management etc are always im plemented by customers themselves according to the situation SICK AG 2013 11 28 All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM Inspector PIM60 Table of Contents 8015726 2013 11 Introduction 5 Introduction me aa 6 1 1 Interfaces overview RP 6 1 2 Intended readers zoo t eue a itches seeks irn eR ERE due 6 Interfaces 7 1 O extenslon boxX 5 orci ese cesdececcceedwadavssnvasctsscecaczessleceseses snes 8 2 1 Physical network connection cceceee cece cece ee ee eece ee nen nennen namen nn 8 2 2 Configuration of the IP address on the I O extension box 8 2 2 1 Basic configuration of the IP address 9 2 3 Setup of the I O extension box in the SOPAS Single Device applica LOT zx resin efe XR de vee Rinse was Vans O XEME eee Taf ERN e EE rro PRAE E lea RENTEN 9
19. Get active reference gINT Yes int object 0 31 object Get number of con gINT 2 Yes int object 0 31 figured reference ob jects Change internal illumin sINT 13 No ilntillum ation mode Mode Get internal illumina gINT 13 Yes int illumMode tion mode SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Command channel Change exposure int Appendix 10 10000 exp 100 Get exposure int exp 100 10 10000 Change gain int gain 0 400 Get gain gINT 15 Yes int gain 0 400 Switch trigger SINT 16 No int mode O free running mode free running 1 trig trig Get trigger mode gINT 16 Yes int trigMode O free running 1 trig Change value of in SINT 18 Yes int index O 2 teger tags in result int value 0 65535 output UINT1 3 Get value of integer gINT 18 Yes int index O 2 tags in result output int value 0 65535 UINT1 3 Get frame period time gINT 19 Yes int framePeriod microseconds Enter leave calibration sINT 20 No lint mode O normal mode mode 1 calibration mode Get calibration para gINT 20 Yes intparamet int parameterRes O calibration nor meters er ult mal mode 1 calibrated 2 scaling 3 ori gin 4 rotation 5 mean pixel er ro
20. O any 1 bright to dark 2 dark to bright For information about tools indexing see Section B 2 4 Tools indexing page 54 Table B 15 Command channel functions Circle larity SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice Change circle SINT 160 No int index O 63 edge contrast int contrast 0 100 Get circle edge gINT 160 Yes intindex O 63 contrast int contrast O 100 Change circle dia sINT 161 No int index 0 63 meter thresholds int min 1 max without Search int max 5 circle within FOV enabled int unit O 1 O pixels 1 millimeters Change circle dia sINT 161 No int index 0 63 meter thresholds int min shortest search region ie en itae side 3 max int unit min shortest search region side O 1 O pixels 1 millimeters Get circle diamet gINT 161 Yes lintindex O 63 er thresholds int unit 0 1 0 pixels 1 int min millimeters int max Min threshold in the unit specified Max threshold in the unit specified Change circle line sINT 162 No int index 0 63 fit criteria int criterion O 2 0 strongest 1 first 2 last Get circle line fit glNT 162 Yes intindex 0 63 criteria int criterion O 2 O strongest 1 first 2 last Change circle po SINT 163 No int index 0 63 8015726 2013 11 Refe
21. Yes int referenceOb 0 31 ject O 7 me b int index string name Get name of Poly gSTR 8 Yes int referenceOb 0 31 gon ject O 7 int index string name Get name of edge gSTR 9 Yes int referenceOb O 31 tool ject 0 63 ir 3 a int index string name Get name of circle STR 10 Yes int referenceOb 0 31 ject 0 63 P a int index string name Get name of gSTR 11 Yes intreferenceOb O 31 Measure distance ject 0 63 int index string name Get name of gSTR 12 Yes int referenceOb 0 31 Measure angle ject 0 63 int index string name Get Edge counter gSTR 13 Yes intreferenceOb O 31 name ject O 4 int index string name Get all tool names gSTR 14 Yes int referenceOb 0 31 except the Object ject 0 1 O CSV Locator int format string list of format names 1 JSON format For information about tools indexing see Section B 2 4 Tools indexing page 54 PFor information about blob indexing see Section B 2 2 Blob indexing page 54 For information about polygon indexing see Section B 2 3 Polygon indexing page 54 desy Comma separated values in accordance with RFC 4180 JSON JavaScript Object Notation in accordance with RFC 4627 B 4 Error codes The tables below list error codes that may result from commands or configuration of the device The error codes are valid for EtherNet IP Ethernet Raw and Web Ser
22. all command responses have a start and end character Start character stx This character has the ASCII decimal number 2 End character ETX This character has the ASCII decimal number 3 B 1 1 Commands ID numbers for EtherNet IP Table with command ID numbers to be used as replacement for the normal command strings for interfaces where strings not are possible or preferred SICK AG Advanced Industrial Sensors www sick com All rights reserved 53 Subject to change without notice Appendix 54 Command channel Reference Manual Inspector PIM Table B 3 Command ID numbers for EtherNet IP Set mode sMOD 0 Get mode gMOD 1 Set integer sINT 2 Get integer gINT 3 Get string gSTR 6 Get version gVER 7 Action command aACT 8 Trig device TRIG 9 B 2 Command channel index handling B 2 1 Introduction The index argument in the command descriptions below refers to tool s index when configured in SOPAS Single Device The index can be found in the Tools tab in SOPAS Single Device Hold the mouse pointer over the current tool to get the index number There are different indexes depending on which tool is used B 2 2 Blob indexing The blob index argument in the commands corresponds to the order in which the blobs are listed in the Tools tab in the SOPAS Single Device starting with O B 2 3 Polygon indexing The polygon index argument corresponds to the order in which the polygons are listed in the T
23. as index 0 PIXEL_COUNTER PATTERN Used to present values concerning inspections EDGE_PIXEL_COUNTER POLYGON Used to present values concerning a defined Polygon CORNERS Container tag within the lt POLYGON gt tag for presenting values concerning the polygon corners See example lt POLYGON gt lt CORNERS gt lt X gt lt Y gt lt CORNERS gt lt POLYGON gt The XML based formatting string is entered in the Formatting string for Ethernet Output part of the Ethernet Result Output dialog To get a default string for the current chosen reference object click Create default formatting string Click Validate output string to validate the formatting string The output that will be sent over Ethernet or errors are reported in the Current output string part of the Ethernet Result Output dialog Note When using binary transfer the Validate output string button will only show how many bytes that will be sent for the current analyzed image and whether the formatting was correct or not The maximum size of the XML buffer is 7900 ASCII characters This means it will not be possible to e g paste an XML string into to the input field if it s too large For a larger config uration it might not be possible to configure as much output information as wanted due to this limitation A 2 XML formatting The content of the Ethernet output is configured using an XML based formatting string The available tags can be
24. gt and ETX are the START OF TEXT and END OF TEXT characters ASCII codes 2 and 3 respectively The command is sent as an ASCII string The combination of a command with its parameters will either change the device s configuration or fetch information from the device For more command examples see Section B 6 Command examples page 75 and Section B 1 Command syntax page 52 4 3 3 Select reference object To enable reference object selection via Ethernet Raw do the following 1 Choose Interface and I O Settings from the InspectorPIM60 menu 2 Inthe Interface tab choose Ethernet and Ethernet Raw in the listbox To select reference object via the command channel use the command sINT 1 object index The object index that corresponds to each reference object is shown in the Reference objects list in the Main view 4 3 4 Image triggering It is possible to trigger image acquisition via Ethernet The communication runs on UDP or TCP port 2116 configurable In order to use this function the triggering has to be enabled in SOPAS Single Device In the InspectorPIM60 menu and Interfaces and I O settings dialog check the Ethernet box and in the list Ethernet Raw in the Interfaces tab For the selected reference object choose Triggered by Ethernet in the Image settings tab 4 3 5 Single port solution In real time applications the Inspector is controlled using three ports However it is possible to use only the comm
25. its parameters will either change the devices configur ation or fetch information from the device For more command examples see Section B 1 Command syntax page 52 and Section B 6 Command examples page 75 5 3 3 Select reference object There are two ways to select reference object with EtherNet IP and command channel SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 EtherNet IP Interfaces The first way to select reference object To select the reference object via the slim command channel change the value of Select reference object inthe slim command channel assembly instance no 100 The object index that corresponds to each reference object can be found in the Reference object list in the Main view If the value in Select reference object does not correspond to any reference object the Inspector will ignore the attempt to switch reference object The second way to select reference object To select reference object via command channel change to Edit mode 0 0 change the value to select the reference object 2 1 object index and then change back to Run mode 0 1 in the command channel assembly instance no 102 The object index that corresponds to each reference object can be found in the Reference object list in the Main view The time it takes to switch reference object depends
26. on the number of inspections inspection type and sizes of the regions in the reference object Typically it takes in the order of one second to switch reference object For more information see Operating Instructions for In spector PIM6O 5 3 4 Image triggering To enable triggering via EtherNet IP do the following 1 Choose Interfaces and 1 0 Settings from the InspectorPIM60 menu 2 Inthe tab Interface choose Ethernet and EtherNet IP in the list box 3 Inthe Image settings tab choose Trig by EtherNet IP To trigger an image acquisition via EtherNet IP specify that the slim command channel in stance no 100 is to be used here and set the value of Trigger to 1 The image capture is made immediately without any delays The Inspector will capture an image each time the value of Trigger is changed to 1 i e rising edge To trigger the next image caption you must first set the value to 0 When triggering via EtherNet IP the time between two image captions should be at least 4 times the RPI This means that the maximum triggering rate via EtherNet IP is approximately 15 Hz 5 3 5 Input assemblies result channel There are four input assemblies each assembly corresponds to respective assembly in the EtherNet IP tab in the Interfaces and 1 0 Settings dialog Each assembly has four different dataType sections SINT INT DINT and REAL Each dataType section has a different number of posi tions the number of positions depends on t
27. presented results for the related tools are undefined A 3 1 General tags Table A 2 Generic output string tags MESSAGE_SIZE UINT Binary format The size of the message in bytes ASCII format The number of characters in the message IMAGE_NUMBER UDINT Analyzed image s number Resets at power up or device reset IMAGE_DECISION 0 3 USINT O Not located 1 Detail failed 2 All passed 3 Not located and detail failed REF OBJECT 0 31 USINT Reference object index ASCII value 0 255 IGNORED Used to send single control characters SPACE IGNORED Same as ASCII value 32 gt TAB IGNORED Same as ASCII value 9 gt LAB IGNORED Left angular bracket Useful when generating XML formatted output RAB IGNORED Right angular bracket gt Useful when generating XML formatted output SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Result output formatting Appendix NEWLINE IGNORED Same as lt ASCII value 10 gt RETURN IGNORED Same as lt ASCII value 13 gt TIME timeUnit s ms UDINT Current time since device boot Restarts from zero after 10 years using seconds and 49 days using milliseconds SERIALCODE UDINT Device serial code FOCUS 0 100 REAL Only valid while the device is in Edit mode This is the focus va
28. section in the selected assembly The attribute dataType can be SINT INT DINT or REAL For more details about dataType and pos see table in Sec tion A 3 2 Attributes page 49 Attribute pos Used by EtherNet IP to determine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range of the attribute pos depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 8 i e O 7 For more details about dataType and pos see table in Section A 3 2 Attributes page 49 Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to Result of validating output string with only a Polygon The validating in SOPAS Single Device will give the following result EtherNet IP assembly string OK If the used assembly is too small the validating will give the following result EtherNet IP assembly string not OK Out of slots for data type INT Use a larger assembly to solve this problem Choose a larger assembly in the dialog Interfaces and I O settings in the InspectorPIM60 menu and the EtherNet IP tab Result in PLC with only a Polygon The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos Data type Offset byte Variable from fr
29. the procedure is described in Appendix C Restore configuration over Web API page 77 The operation may take several minutes and the Inspector PIM6O is automatically restarted after the configuration has been transferred to the Inspector PIM6O Warning During the restore operation the device is set in a special restore mode only expecting restore operation requests Operations and requests via other interfaces like field buses SOPAS Single Device or other web browsers shall then be avoided since they may interfere with the restore operation 3 4 Create custom web pages When creating customized web pages to be stored on and served by the Inspector you use the Web API to display images retrieve results and settings and change parameters in the Inspector The functions that use the command channel retrieving results and getting and setting parameters returns the result in text strings which you need to parse in order to extract the information that you are interested in To make this easier the Inspector PIM60 provides a JavaScript that you can use in your web pages and that helps parsing the results You use the functions by including the script file inspector 4s in your page and then create an Inspector object in your own script Note The inspector js script uses JQuery so you need to also include the provided jquery js script For more information on JQuery see www jquery com lt html gt lt head gt lt t
30. without notice Interfaces 26 Ethernet Raw Reference Manual Inspector PIM 5 End of container for polygon Result of validating output string with a Polygon The result of validating the example formatting output string with output format ASCII will be as follows Polygon 1 Corners 4 X Y i 329 15 235 70 4 271 91 235 60 X Y 372 58 314 97 X Y 329 82 315 22 The result of validating the example formatting output string for a polygon with output format binary will be as follows Binary output OK Number of bytes 39 Example of a JSON formatted string It is possible to get an example string in JSON format This is typically used in conjugation with web based HMls for easier result extraction MESSAGE IMAGE NUMBER IMAGE NUMBER SPACE Pixel counter 1 PIXEL COUNTER name Pixel counter 1 gt DECISION DECISION SPACE PIXELS PIXELS PIXEL COUNTER MESSAGE IMAGE NUMBER 2975780 Pixel_counter_1 DECISION 1 PIXELS 4 3 Control the sensor via Ethernet Raw The Inspector has a command channel accessible via the Ethernet Raw interface The com mand channel makes it possible to read and write a defined set of configuration parameters and to trigger image acquisition via UDP or TCP This section describes how to setup image triggering and command ch
31. 255 thresholds intmax O 255 Change polygon max sINT 70 No int index O 7 defects threshold int max O 100 pixels Get polygon max de gINT 70 Yes int index O 7 fects threshold int max O 100 pixels Change polygon de sINT 71 No int index O 7 fect detection mode int mode O off 1 on Get polygon defect gINT 71 Yes int index O 7 detection mode int mode O off 1 on Move polygon SINT 72 No int index O 7 int x int y X y pixels Argu ments are delta val ues These can be 62 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix negative as com pared to the origin Reserved for future gINT 72 use Move polygon corner sINT 73 No int index O 7 int corner 0 15 int delta x int delta x delta y delta y pixels Arguments are delta values These can be negative as compared to the ori gin Get polygon corner glNT 73 Yes int index 0 7 int corner 0 15 int x int y x y pixels For information about polygon indexing see Section B 2 3 Polygon indexing page 54 Table B 10 Command channel functions Pixel counter Change pixel SINT 80 No int index O 63 counter intensity int min 0 255 min lt max range thresholds int max 0 255 min lt max Get pi
32. 9 02 27 43 41 E Mail info sick it Japan Phone 81 0 3 3358 1341 E Mail support sick jp Magyarorszag Phone 36 1 371 2680 E Mail office sick hu Nederland Phone 31 0 30 229 25 44 E Mail infoGsick nl SICK AG Waldkirch Germany www sick com Norge Phone 47 67 81 50 00 E Mail austefjord sick no Osterreich Phone 43 0 22 36 62 28 8 0 Mail office sick at Polska Phone 48 22 837 40 50 Mail info sick pl Rom nia Phone 40 356 171 120 Mail office sick ro m m m Russia Phone 7 495 775 05 30 Mail info sick ru m Schweiz Phone 41 41 619 29 39 E Mail contact sick ch Singapore Phone 65 6744 3732 E Mail sales gsg sick com Slovenija Phone 386 0 1 47 69 990 E Mail office sick si South Africa Phone 27 11 472 3733 E Mail info sickautomation co za South Korea Phone 82 2 786 6321 4 E Mail info sickkorea net Suomi Phone 358 9 25 15 800 E Mail sick sick fi Sverige Phone 46 10 110 10 00 E Mail info sick se Taiwan Phone 886 2 2375 6288 E Mail sales sick com tw T rkiye Phone 90 216 528 50 00 E Mail info sick com tr United Arab Emirates Phone 971 0 4 88 65 878 E Mail info sick ae USA Mexico Phone 1 952 941 6780 1 800 325 7425 tollfree E Mail info sickusa com More representatives and agencies at www sick com SICK Sensor Intelligence
33. After this command the new IP address will have to be used in order to connect to the device Returned value is the calibration target coverage in percent 76 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Restore configuration over Web API Appendix Inspector PIM Restore configuration over Web API The restore configuration operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file The operation is a multiple step procedure with the following steps 1 Create session cookie 2 Login 3 Prepare restore mode 4 Transfer restore file to device Device restart The restore operation will remove the previous configuration and replace it with a new con figuration The IP address and the chessboard calibration will not be updated by the restore operation It is not possible to use the device for other purposes during the restore operation The operation may take several minutes to perform and the time is partly depending on the size of the backup file C 1 Restore configuration The restore configuration operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file The operation is a multiple step procedure with the following steps 1 Create session c
34. ECT X coordUnit REAL Coordinate of the first found pixel that was within the defect thresholds In pixels or mm depending on attribute co ordUnit or configured value in the Ethernet Result output dialog Return 1 if defect detection is not active or no defect found Undefined for single edge tool DEFECT Y coordUnit REAL Coordinate of the first found pixel that was within the defect thresholds In pixels or mm depending on attribute co ordUnit or configured value in the Ethernet Result output dialog Return 1 if defect detection is not actived or no defect found Undefined for single edge tool CORNERS corners 0 1 15 all All iterates over all polygon corners Number O to 15 gives the properties of a single corner The index of this corner is the order in which the poly gon corner was added when the polygon was drawn x coordUnit REAL REAL SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice Polygon corner coordinate In pixels or mm depending on attribute coordUnit or con 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Result output formatting Appendix figured value in the Ethernet Result output dialog For a polygon with two corners single edge the estimated corner positions are the inter section between the found edge
35. FLAG 2 SINT 2 3 SINT 3 4 SINT 4 5 SINT 5 6 SINT 6 7 SINT 7 0 INT 8 1 INT 10 2 INT 12 3 INT 14 4 INT 16 5 INT 18 6 INT 20 7 INT 22 0 DINT 24 IMAGE NUMBER 1 DINT 28 AREA 2 DINT 32 EDGE PIXELS 3 DINT 36 4 DINT 40 0 REAL 44 X 1 REAL 48 Y 2 REAL 52 ANGLE 3 REAL 56 4 REAL 60 Part of default string for configuration with only a Polygon IMAGE NUMBER dataType DINT pos 0 D lt POLYGON name Polygon 1 lt NUM_CORNERS dataType SINT pos 0 gt lt CORNERS corners 0 gt 4 SICK AG Advanced Industrial Sensors www sick com All rights reserved 31 Subject to change without notice Interfaces EtherNet IP Reference Manual Inspector PIM lt X dataType INT pos 1 gt lt Y dataType INT pos 2 gt lt CORNERS gt D lt POLYGON gt Analyzed image s number attributes dataType and pos Start of container for Polygon Name refers to the Polygon tool s name in the Tools tab Number of corners used for this Polygon tool Number O to 15 gives the properties of a single corner The index of this corner is the order in which the polygon corner was added when the polygon was drawn Polygon corner coordinate x pixels or mm Polygon corner coordinate y pixels or mm End of tag for corners 090 AONO End of container for Polygon Attribute dataType Casts to the specified datatype When using EtherNet IP the at tribute dataType specifies the dataType
36. For more details about dataType and pos see table in Section A 3 2 Attributes page 49 Used by EtherNet IP to determine a position in the dataType section in the selected assembly The first position number of the dataType section is O The range depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is O 7 The combination of dataType and pos determine which parameter the result will be mapped to For more details about dataType and pos see table in Section A 3 2 Attributes page 49 Result of validating output string with only an Object locator The validating in SOPAS Single Device will give the following result EtherNet IP assembly string OK Result in PLC with only an Object locator The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos from XML configuration dataType O FP OPN OO A UO NIe OINI OA AJOIN SINT SINT SINT SINT SINT SINT SINT SINT INT INT INT INT INT INT INT INT DINT DINT 24 28 Data type Offset byte Variable from example above DECISION IMAGE_NUMBER SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 29 Interfaces EtherNet IP Reference Manual Inspector PIM Position ref pos Data type Offset byte Variable from from XML configuration dataTyp
37. I O extension box is not available when the Inspector starts up the Inspector will use the last reference object selected in the SOPAS Single Device application before saving to flash SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 1 0 extension box Interfaces Once the I O extension box is available the Inspector will read the inputs of the box and select the corresponding reference object 2 4 2 Connection to the 1 0 extension box lost during operation If the connection to the I O extension box is lost during operation the last status of the inputs on the box will be used until the connection is re established 2 4 3 Object selection with I O extension box The status of the inputs on the I O extension box is checked in the end of each inspection cycle If the Inspector is configured to use external image trig the status of the external inputs will only be checked when an image trig signal has been received 2 4 4 Timing issues The digital outputs on the I O extension box shall be read at minimum delay time as displayed in the SOPAS Single Device application 2 4 5 Use of the digital outputs for logic The digital outputs on the I O extension box are not guaranteed to be jitter free It is not re commended to use these outputs for direct control of other devices The I O extension box shall be connected t
38. INT 690 Set defect intensity thresholds to 200 255 for polygon 2 Get defect intensity thresholds for gINT 69 2 rglNT 69 O 200 255 if OK polygon 2 rgINT 69 8107 polygon does not ex ist if not OK Get name of second reference ob gSTR 2 1 rgSTR 2 O Object 2 if OK ject rgSTR 2 8000 Ref bank index is not used if not OK Get name of second polygon in gSTR811 second reference object rgSTR 8 O Polygon 2 if OK rgSTR 8 8107 No polygon with this index exists if not OK SICK AG Advanced Industrial Sensors www sick com All rights reserved 75 Subject to change without notice Appendix Command channel Reference Manual Inspector PIM Table B 25 Commands Ethernet Raw device settings and actions examples Set device IP address SINT 120 192 168 1 110 rsINT 120 O Apply IP settings aACT 5 0 raACT 50 Set device netmask SINT 121 255 255 255 O rsINT 121 0 Apply IP settings aACT 5 0 raACT 50 Set device gateway optional sINT 122 192 168 1 1 rsINT 122 O Apply IP settings aACT 5 0 raACT 50 Enter calibration mode SINT 20 1 rsINT 20 O Perform calibration aACT 36 raACT 3 0 75 The below examples can also be done by sending the set device IP address set device netmask and set device gateway in a sequence and then send the aACT 5 command to activate all these settings PThe aACT 5 command will make the device being temporarily disconnected while the new settings are applied
39. IP address If the network part of the IP address must be changed from the default 192 168 1 for the 1 0 extension box the internal web server of the I O extension box can be used For details please refer to the manual delivered with the I O extension box 2 3 Setup of the I O extension box in the SOPAS Single Device application The communication with the I O extension box is configured using the Interfaces and 1 0 Settings dialog from the InspectorPIM60 menu Check the Digital 1 0 and 1 0 extension boxes in the Inter faces tab The I O extension box is disabled if EtherNet IP is selected in the same tab Interfaces and I O Settings setup Web Server Interfaces i Digital I O External object selection Enable interfaces V Digital 1 0 I O extension box v Web Server Figure 2 3 I O Extension Box setup Communication mode It is possible to adjust the way that the Inspector is communicating with the I O extension box The settings are made in the 1 0 extension box setup tab in the Interfaces and 1 0 Settings dialog from InspectorPIM60 menu There are three modes available Robust mode This is the default communication mode and it is the recommended one if the Inspector is connected to the SOPAS Single Device application during operation Fast mode This mode allows the Inspector to operate at a higher frame rate but there is a risk that some data in the communication with the I O extension box is lost if there is high load o
40. Inspector is described in the Operating Instructions for Inspector PIM60 Note All URLs on the Inspector are case sensitive For example trying to use LiveImage jpg to retrieve the live image will not work 3 2 Get results via Web API 3 2 1 Live image The live image can be retrieved through the Web API by a live image request using the URL http lt IP address gt Livelmage jpg The response to the request is a data buffer containing a JPEG image If the image is not available an empty image is returned with a smaller size than a normal image Note The live image is not available when SOPAS is connected to the Inspector PIM6O Live image response can be much slower when activatingthe Send to FTP feature Example URLs Request a live image without overlay graphics http 192 168 1 110 Livelmage jpg The response to the request is a JPEG image Request a live image with overlay graphics http 192 168 1 110 LiveImage jpg ShowOverlay Request a live image with simplified overlay graphics http 192 168 1 110 LiveImage jpg SimplifiedOverlay 3 2 2 Detailed results The result string containing the results from the last analyzed image can be retrieved through the Web API by a request using the URL http lt IP address gt CmdChannel gRES The response is a string that has the following syntax rgRES lt errorCode gt lt resultString gt SICK AG Advanced Industrial Sensors www sick com All rights reser
41. Integer value to be sent 65535 0 lt UINT gt lt UD oca INT digits O 9 O0 Integers and Minimum number of characters decimals O 9 2 Number of decimals corners 0 15 lt CORNERS gt All iterates over all polygon corners Number O to 15 gives the properties of a single corner The index of this corner is the order in which the polygon corner was added when the polygon was drawn coordUnit pixels mm pixels Object locator Gives result coordinates in pixel aligned Blob Pattern millimeter or robot aligned milli Single edge meter format Circle Edge counters and Polygon coordin dataType SINT INT Casts to the specified datatype DINT REAL When using EtherNet IP the at tribute DataType specifies the dataType section in the selected assembly pos O 43 Used by EtherNet IP to determ ine a position in the dataType section in the selected as sembly The first position num ber of the dataType section is O The range of the attribute pos depends on which assembly is used SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Result output formatting Appendix unit radians de de Angles Yes grees grees Only available for Ethernet Raw gt The device must be calibrated for it to be possible to use the mm or aligned attribute
42. O pixels 1 millimeters min lt max Get Edge counter gINT 192 Yes intindex O 63 feature width int unit 0 1 O pixels 1 int min 10 millimeters int max 10 0 VGA image diagon al O VGA image diagon al Change Edge SINT 193 No int index 0 63 counter feature int type O bright 1 dark type 2 single edge 63 bustness int type bright 1 dark 2 single edge Change edge count sINT 194 No int index O 63 min max features int min 0 63 int max 0 63 min lt max Getedgecountmin gINT 194 Yes intindex O 63 max features int min 0 64 int max 0 64 Change edge count sINT 195 No int index 0 63 search method ro introbustness 0 4 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix Get edge count search method ro bustness gINT 195 Yes int index ness int robust 0 63 0 4 Change edge count pitch threshold sINT 197 No int index int min 1000 int max 1000 int unit 0 63 O VGA image diagon al O VGA image diagon al O 1 O pixels 1 millimeters min lt max Get edge count pitch threshold gINT 197 Yes int index int unit int int min 1000
43. REFERENCE MANUAL Inspector PIM60 ver 2 0 Vision sensor SICK Sensor Intelligence WARNING VSPM 6F2113 Inspector PIM60 VSPM 6B2113 Inspector PIM60 Base The Inspector is equipped with a LED illumination that must be considered as a lamp system of Risk Group 1 low risk according to IEC 62471 2006 Accessible irradiance at distances gt 200 mm Lg 4 x 10 W m sr within 100 s Ly 109 W m sr within 10 s WARNING OPTICAL RADIATION DO NOT STARE INTO BEAM RISK GROUP 1 LOW RISK according to IEC 62471 2006 Visible LED light A 400 800 nm VSPM 6F2313 Inspector PIM60 LUT The Inspector is equipped with a LED illumination that must be considered as a lamp system of Risk Group 1 low risk according to IEC 62471 2006 Accessible irradiance at distances 200 mm Es lt 3x 10 W m within 10 s Eyva lt 33 W m within 300 s La lt 7 x 10 w m sr within 10 s WARNING OPTICAL RADIATION DO NOT STARE INTO BEAM RISK GROUP 1 LOW RISK according to IEC 62471 2006 UV LED light A 385 nm VSPM 6F2413 Inspector PIM60 IR VSPM 6B2413 Inspector PIM60 IR Base The Inspector is equipped with an LED illumin ation that must be considered as a lamp system of Risk Group O Free Group exempt risk ac cording to IEC 62471 2006 Accessible irradiance at distances gt 200 mm Ei lt 100 W m within 10 s Lig lt 1 2 x 10 W m sr within 10 s NOTICE IR EMITTED FROM THIS PRODUCT RISK GROUP O
44. RLs http 192 168 1 1 http 192 168 1 1 Retrieve a logged image without overlay graphics http 192 168 1 1 Retrieve a logged imagi 110 LockLog 110 LockLog Unlock 10 LogImage jpg 00 e with overlay graphics http 192 168 1 11 Retrieve a logged image with simplified overlay graphics 0 LogImage jpg 00 amp ShowOverlay http 192 168 1 110 LogImage jpg 00 amp SimplifiedOverlay 3 2 5 Statistics To retrieve statistics using the command channel execute the following command gSTAT Statistics can also be retrieved using the URL http IP address CmdChannel gSTAT The response is rgSTAT 0 followed by an XML formatted string To read the response in an web browser change the view in the web browser to reflect the source code Note The statistic response is only for the active reference object 3 3 Control the sensor via Web API The Web API supports using the command channel for reading and updating parts of the device configuration The Web API also supports the functionality to do a backup of the device configuration to a file and to restore the configuration again This is a convenient way to handle configurations without installing and using SOPAS Single Device 3 3 1 Basic principles The command channel has a set of basic principles Only one command at a time can be executed Inspector PIM6O responds to each command with a response that includes the result of the command as well as error c
45. SHOLD_ USINT SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice The upper threshold of the Blob tool s intensity after apply 43 Appendix Result output formatting Reference Manual Inspector PIM ing ambient light compensa tion ANGLE unit 0 180 REAL In degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog Blob area in pixels In pixels or mm depending on attrib ute coordUnit or configured value in the Ethernet Result out put dialog EDGE_FLAG 0 1 USINT O blob fully within ROI 1 blob touches ROI border EDGE_PIXELS UDINT Structure calculation value number of edge pixels inside the found blob DECISION O 1 USINT O not found 1 found EDGE_LOCAT name any string Name attribute required if OR more than one Edge tool exist x coordUnit REAL X position of the reference point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog Y coordUnit REAL Y position of the reference point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog SCORE 0 100 REAL Edge matching score ANGLE unit 0 180 REAL In degrees or radians depend ing on attribute unit o
46. SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel Table B 4 Save settings in flash Command channel actions No Appendix Re teach reference object Yes only in Run mode int auto Exp O use expos ure settings 1 auto adjust b i Size int calib rationCov erage Perform calibration Remove calibration Apply IP settings aACT 5 Yes O use manual settings 1 use DHCP int useDH CP Restart the Inspect Both in run or and edit mode No Perform calculate coordinate align ment In order to run this command the device must be set to Calibration mode sINT 20 1 PThe argument must be given in mm Returned value is the calibration target coverage in percent after the aACT 5 command has been executed the Inspector need to be restarted e g using aACT 6 before the new IP settings are in use The aACT 6 command will make the device being temporarily disconnected while it is rebooted This command can only be used if the 4 control points have been set via the sINT 300 command SICK AG Advanced Industrial Sensors www sick com All rights reserved 55 Subject to change without notice Appendix 56 Command channel Table B 5 Set in
47. Server interface The backup data contains the device name and reference objects including corresponding inspection and interface settings Note The backup and restore functionality of the Web Server and the Web API corresponds to the Export Sopas Parameter backup and Import Sopas Parameter backup in the InspectorPIM60 menu The backup data used by the Web API is saved as sbp files which can be imported to and exported from SOPAS Single Device The Web API can not use sav files Backup configuration The URL to export a configuration is http IP address backup config configl Example URL http 192 168 1 110 backup config configl The result of the request is an spb file containing the device configuration This file can be stored in the file system of the receiving unit and used later in the restore procedure SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Web interface Interfaces The Web Server standard web pages requires a login to perform a backup A login is not re quired when doing a backup through the Web API Restore configuration The restore operation takes a device configuration created with the backup functionality and replaces the current configuration with the configuration in the backup file The operation is a multiple step procedure that requires a login The details of
48. age image src Livelmage jpg gt This image will not update automatically so you could add some JavaScript that makes the live image refresh with a certain interval lt script type text javascript gt 1 function refreshLivelmage var image document getElementById liveImage image src Livelmage jpg ShowOverlay new Date getTime The new Date is a trick to make the browser retrieve the image from the Inspector and not from cache setTimeout refreshLivelmage 500 SICK AG Advanced Industrial Sensors www sick com All rights reserved 19 Subject to change without notice Interfaces Web interface Reference Manual Inspector PIM Initiate the image and refresh when page is loaded window onload function refreshLivelmage H gt lt script gt lt head gt lt body gt img id livelmage src LiveImage jpg ShowOverlay body Alternatively you can use the live image component that is used on the Inspector s default Live image page which has automatic refresh setting for refresh interval and magnifier m Figure 3 1 Inspector s default live image component To use the default live image component include the userliveimage js Script in your page and call the sickLiveImage function as in the following example html xmlns http www w3 org 1999 xhtml gt head title Live Image lt
49. ags are listed The binary column states the used data type when using binary output format Some parts of the formatting string such as characters and ASCII tags are only applicable for the ASCII format and will be ignored when using binary format this is also stated in the binary column Note The Binary column in the tables below describes how the data should be interpreted when received from the device Table A 1 Container output string tags OBJECT_ X coordUnit REAL X position of the reference Loc point Note that this can be outside the image and there fore negative In pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dia log Y coordUnit REAL Y position of the reference point Note that this can be outside the image and there fore negative In pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dia log ROTATION unit 180 REAL In degrees or radians depend 180 ing on the configured value in the Ethernet Result output dialog SCALE 0 8 1 2 REAL Scale factor of analyzed live image compared to taught ref erence object SCORE 0 100 REAL Score view in percent how well of the object is found in the object locator due to match setting DECISION O 1 USINT O not found 1 found SICK AG Advanced Industrial Sensors www sick com All righ
50. alert response errorMessage he Then call the inspector object s setInt function with the arguments identifier 1 for Set reference object argl 0 for reference object with index 0 function setRefObj inspector setInt 1 0 setRefObjResponse he Tip As an experienced JavaScript developer you would probably define your callback function as an anonymous function directly in the call to the inspector methods inspector setInt 1 0 function response if response httpStatus 200 response errorCode 0 alert response errorMessage The content of the response object depends on the function that you called as well as the outcome of the command The following attributes are common for all methods type The response type which is basically the same as the command type See Table B 3 Command ID numbers for EtherNet IP page 54 errorCode If non zero the command failed for some reason See Section B 4 Error codes page 72 errorMessage Atext message that describes the error Exists only if the command failed httpStatus The HTTP status code If this is not set to 200 the HTTP request failed and the Inspector didn t return any result at all The following table lists the attributes that are specific to the called method SICK AG Advanced Industrial Sensors www sick com e All rights reserved 8015726 2013 11 Subject to change without notice Reference Man
51. and port default 2115 to control the sensor The single port solution is only recommended for applications where the cycle time is significantly larger than the image analysis time One reason for this is that the image acquisition has a lower priority on the command port Another reason is that the Ethernet Result string must be retrieved from the sensor therefore image trig and result handling cannot be performed in parallel when using the single port solution This is how the Inspector is controlled by using only the command port The image acquisition is performed by the TRIG command with lower priority The Ethernet Result Output string is retrieved explicitly by the controlling device e g a PLC This is done by the command gRES The sensor does not send the result automatically on this port All other commands on the command channel are available as in the standard three port solution 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 27 Subject to change without notice Interfaces EtherNet IP Reference Manual Inspector PIM EtherNet IP 5 1 Introduction The Inspector PIM6O can be controlled and results m retrieved using the EtherNet IPTM standard see EtherNetVIP http www odva org conformance tested To be able to use EtherNet IP the EtherNet IP option has to be enabled and the connection and output result setup has to be made see the Operating Instructions for Inspect
52. and the left and right borders of the search region The search region is defined by the user drawn edge and the position search parameter See also Operating Instructions for Inspector PIM60 about Single edge tool coordUnit name REAL any string REAL Polygon corner coordinate pixels or mm depending on attribute coordUnit or con figured value in the Ethernet Result output dialog For a polygon with two corners single edge the estimated corner positions are the inter section between the found edge and the left and right borders of the search region The search region is defined by the user drawn edge and the position search parameter See also Operating Instructions for Inspector PIM60 about Single edge tool Name attribute required if more than one Blob tool exists The name refers to the Blob tool s name in the tool tab index 0 15 Index of found blob according to current blob sorting order Index O is the first blob coordUnit REAL Blob center of gravity x posi tion pixels or mm depend ing on attribute coordUnit coordUnit REAL Blob center of gravity y posi tion pixels or mm depend ing on attribute coordUnit FOUND_ BLOBS USINT Number of found blobs LIVE_ THRESHOLD_ Low USINT The lower threshold of the Blob tool s intensity after applying ambient light compensation LIVE_ THRE
53. annel settings in SOPAS Single Device as well as the syntax of the command channel 4 3 1 Basic principles The command channel has a set of basic principles Only one command at a time can be executed Each command is followed by a return message ACK that includes result of the command as well as error codes A specific task to control the Inspector PIM6O includes the command together with its parameters see list of command types and parameters in Appendix B Command chan nel page 52 Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode e t is possible to block configuration changes by deselecting the setting Allow changes via Ethernet Raw in the Ethernet Raw tab in the dialog Interfaces and I O Settings in the InspectorPIM60 menu 4 3 2 Command syntax The commands have the following syntax 1JS0N JavaScript Object Notation in accordance with RFC 4627 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Ethernet Raw Interfaces Inspector PIM command identifier lt argl gt lt arg2 gt lt argN gt The ACK message has the following syntax lt STX gt lt ACK Command gt lt identifier gt lt errorCode gt lt returnValuel gt lt returnValue2 gt lt returnValueN gt lt errorMessage gt lt ETX gt where lt STX
54. b utes page 49 Min number of digits Specifies the minimum number of digits including decimal point to include in the result If the value to be sent out has fewer digits the result is padded with leading zeros The de fault setting is O which means the number of digits that will be sent will differ depending on how many digits are needed The maximum number of digits is 9 Note This attribute is only applicable for ASCII Number of decimals Specifies the number of digits to include after the decimal point for values with decimals The value will be rounded to the specified number of decimals Default value is 2 The maximum number of decimals is 9 Note This attribute is only applicable for ASCII Degrees Radians Specifies the unit for the rotation of the object locator angle for blobs angle for edges and angle measurements Little Big Endian This specifies the order of the bytes transferred from the device on Ethernet When using Little endian the least signi ficant byte is transferred first and for Big endian the most significant byte is transferred first See the 2 byte example in tables below Note Only applicable when using binary format Most significant Least significant byte byte Value to be sent 10000100 01110000 from device Transfer order First transferred byte Second transferred byte Little endian 01110000 10000100 Big endian 10000100 01110000 Pixels Millimeter
55. categorized into two groups container tags lt OBJECT_LOC gt lt POLYGON gt lt BLOB gt e value tags lt X gt lt PIXELS gt lt NEWLINE gt lt TIME gt 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 39 Subject to change without notice Appendix 40 Result output formatting Reference Manual Inspector PIM The value tags are replaced with a value whereas the container tags are used to group value tags The container tags do not generate any text on their own It is the value tags inside the container tags that generate the text Attribute value must always be enclosed in quotes There are three integer tags lt UINT1 gt lt UINT2 gt lt UINT3 gt for which the values can be changed in both Edit and Run mode using the Command channel The lt BLOB gt container tag contains special functionality for presenting values for a certain blob The index value specifies which blob ROl s result to present The index order is the order specified by the Sort by property configured on the Tools tab The texts and value tags within the lt BLOB gt tag will be repeated once for each found blob If only the properties of a single blob are wanted this can be controlled with the index attribute See Section A 3 Container specific tags page 40 A 3 Container specific tags All tags are listed in the table below For each container tag the available value t
56. cation channel With the shortest possible RPI the highest recommended inspection rate is therefore ap proximately 30 Hz 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 33 Subject to change without notice Interfaces 34 EtherNet IP Reference Manual Inspector PIM The EDS file for the Inspector PIM60 can be found in the Documentation folder on the Inspector CD The Inspector PIM6O has two Output assemblies that can be used for controlling the Inspector To do this the connection has to be set first see Operating Instructions for Inspector PIM60 The slim command channel assembly instance no 100 is used for controlling the Inspector in the following ways Select reference object Image trig The command channel assembly instance no 102 is also used for controlling the Inspector With this assembly you have access to all functions in the command channel see Section B 3 Command descriptions page 54 The two output assemblies are described in detail see Section 5 3 6 Assemblies command channel page 36 5 3 1 Basic principles The command channel has a set of basic principles In order to be able to change the configuration via EtherNet IP this must be enabled This is done In the dialog Interfaces and 1 0 Settings from the InspectorPIM60 menu Check Ethernet and EtherNet IP in the tab Interfaces In the same dialog and tab EtherNet IP check Allow changes via Ethe
57. dataType DINT pos 0 gt OBJECT LOC Q DECISION dataType SINT pos 0 gt lt SCORE dataType REAL pos 0 gt lt SCALE dataType REAL pos 1 gt lt X dataType REAL pos 2 gt lt Y dataType REAL pos 3 gt D lt ROTATION dataType REAL pos 4 gt lt OBJECT_Loc gt 9 D Analyzed image s number Start of container for object locator 3 Decisions reports whether the object was found 1 or not found 70 28 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 EtherNet IP 69 6 in the Ethernet Result Output dialog 9 Attribute dataType Attribute pos End of container for object locator Scale is the factor of analyzed live image compared to taught reference object Position x of the reference point of the object locator Position y of the reference point of the object locator Rotation of the object locator in degrees or radians depending on the configured value Interfaces Score expressed in percent how well the taught object is matched against the live image Specifies the data type to use for this result When using Ether Net IP the attribute dataType specifies the dataType section in the selected assembly The attribute can be SINT INT DINT or REAL
58. e example above DINT 32 3 DINT 36 4 DINT 40 0 REAL 44 SCORE 1 REAL 48 SCALE 2 REAL 52 X 3 REAL 56 Y 4 REAL 60 ROTATION Example string for configuration with only a Blob IMAG lt B lt F lt X lt Y LOB OUN da da E NUMBER dataType DINT pos 0 gt index 0 name Blob 1 gt D_BLOBS dataType SINT pos 0 gt taType REAL pos 0 gt 4 taType REAL pos 1 gt lt AREA dataType DINT pos 1 gt lt ANGLE dataType REAL pos 2 gt D lt EDGE_PIXELS dataType DINT pos 2 gt E DGE FLAG dataType SINT pos 1 gt 9 BLoB f D Analyzed image s number attributes dataType and pos Start of container for blob Index number of the found blob according to current blob sorting order Index O is the first blob Name refers to the blob tool s name in the Tools tab Number of found blobs Blob center of gravity x position pixels or mm 5 Blob center of gravity y position pixels or mm 6 Blobarea in pixels 2 Angle ofthe blob in degrees or radians depending on the configured value in the Ethernet Result Output dialog Structure value number of edge pixels inside the blob 9 Edge flag O the blob is fully within the ROI 1 the blob touches ROI border End of container for Blob Attribute dataType Casts to the specified datatype When using EtherNet IP the at t
59. e diamet gINT 169 Yes int index O 63 er tolerance int unit 0 1 O pixels 1 thresholds int millimeters min 1000 0 640000 min lt max SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 67 Appendix 68 Command channel Reference Manual Inspector PIM int 0 640000 max 1000 For information about tools indexing see Section B 2 4 Tools indexing page 54 PWhen creating the circle without search the max diameter that can be set is the diameter that keeps the circle within the configured FOV E g if using the full resolution FOV and placing the circle in the center of the image the max value without search can be set to 480 pixels The table below lists the move commands for the Pixel counter Edge pixel counter Pattern Edge and Circle tools Table B 16 Command channel functions Common commands for Pixel counter Edge pixel counter Pattern Edge and Circle tools Move and rotate sINT 86 No int index 0 63 inspection int x int y X y pixels angle de int angle grees Arguments are delta values These can be negat ive as compared to the ori gin Get inspection po gINT 86 Yes int index 0 63 sition and rotation int x int x y pixels angle de y int grees Return values are angle absolute values for the center of the ROI These can be negative as com pared to the o
60. es refer to the Operating Instructions 1 1 Interfaces overview The Reference Manual contains detailed information for the following interfaces 1 0 Extension Box is used to increase the number of available input and output connections Web API interface is intended for integration with external HMI implementations and for customized web pages on the Inspector Ethernet Raw interface is intended for integration with external PLC equipment EtherNet IP interface is intended for integration with external PLC equipment following the EtherNet IP communication standard 1 2 Intended readers The intended readers of the Reference Manual are users working with integration between the Inspector PIM6O and other equipment for example PLC programmers and customized human machineilnterface HMI developers The readers are assumed to have knowledge about the Inspector PIM6O product and features as described in the Operating Instructions for Inspector PIM60 The readers are also assumed to have knowledge about the basic functionality of the technology of the interfaces used for the integration 6 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Interfaces Interfaces I o extension box Reference Manual Inspector PIM 1 0 extension box The Inspector PIM6O can be connected to an I O extension box that increases the number of digital inputs and outputs The I O E
61. estore configuration sssssss 16 3 4 Create custom web pages u2242s44nsnnn ernennen nnnn en nnn nennen en nnnn nn 17 3 4 1 Example Display live image eeessseesss 19 3 5 Handle the Web API zusssesnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 21 Ethernet Raw eeeeeeeeseeieneeieeh nenne nnn nnnm ne nu nn nennen ne nun nnn nnn 22 4 1 INTFOGUCTION eL 22 4 1 1 Port InterValz ae een 22 4 2 Get results via Ethernet Raw esses 22 4 2 1 TCR versus UDP sis ae ei rex inam er vs 22 4 2 2 ASCII versus binary sipsirin cece cece ee eens nennen en nnnnn 22 4 2 3 Attrib tes ae kein nad 23 4 2 4 Example formatting strings 2u 444rHnnn nennen nennen 23 4 3 Control the sensor via Ethernet Raw esses 26 4 3 1 Basic principles sa ine seeders 26 4 3 2 Command syntax essen 26 SICK AG Advanced Industrial Sensors www sick com All rights reserved 3 Subject to change without notice Inspector PIM60 Reference Manual Inspector PIM 4 3 3 Select reference object iea endana n Aa eaaa Tai nenn nn 27 4 3 4 Image triggering uec neh 27 4 3 5 Single port solution eee ceee cece nennen eee ee en eee nennen nenn 27 Iauuv4 du 200440 ea an a wanna nam nenn nee 28 5 1 Introduction rate een en une 28 5 2 Get results via EtherNet IP s esses 28 5 2 1 AttrIDUt s sor deii HS ein 28
62. et Result output dia log VALID o 1 USINT Indicates whether the value in the distance tag is a valid measurement or not O Invalid 1 Valid DECISION o 1 USINT O fail measure distance could not be done 1 pass MEAS URE_ANGLE name any string Name attribute required if more than one Measure Angle exist coordUnit REAL X position of the intersection point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog coordUnit REAL Y position of the intersection point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog ANGLE 0 180 REAL In degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog VALID 0 1 2 USINT Indicates whether the values in the angle tag are valid measurements or not O Inval id 1 Valid 2 Intersection out side image DECISION o 1 USINT O fail 1 pass EDGE_COUNT name any string Name attribute required if more than one Edge counter exist index 0 63 Chosen feature edge index FOUND_FEA TURES 0 64 USINT Number of found features SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without
63. gt lt NEWLINE gt lt OBJECT_LOC gt D Size of the message number of characters ASCII or bytes binary Explanatory text and analyzed images number Explanatory text Start of container for object locator 5 Explanatory text and value for locator decision O not found 1 found Explanatory text and locator score value in percent how well of the object is found in the object locator due to match settings Explanatory text and locator scale value factor of analyzed live image compared to taught reference object Explanatory text and x and y position of the reference point This can be outside the image and therefore negative Shown in pixels or mm 9 Explanatory text and locator rotation in degrees or radians depending on the configured value in the Ethernet Result Output settings dialog End of container for object locator Result of validating output string with only an Object locator The result of validating the example formatting output string with output format ASCII can be as follows 97 Image number 14471 Object locator Located 1 Score 96 00 Scale 1 00 Position X Y 291 52 238 55 Rotation 0 22 The result of validating the example formatting output string for only an object locator with output format binary will be as follows Binary output OK Number of bytes 27 Part of example string for configuration with a Blob Blob tool NEWLINE D lt BLOB index
64. he assembly and the dataType selected Example The dataType SINT in assembly 1 has 8 positions O 7 and the dataType REAL in assembly 4 has 44 positions O 43 The contents of the assembly are defined from the Ethernet Result Output dialog Note On the installation CD there is an excel file with templates for the four result input assemblies file name AssemblyMappingPI50andPIM60 xls These can be used to document the mapping between position in data structure and what is configured in the Ethernet Result Output dialog Assembly 1 small result channel Instance ID 103 Size 64 bytes SICK AG Advanced Industrial Sensors www sick com All rights reserved 35 Subject to change without notice Interfaces 36 EtherNet IP Reference Manual Inspector PIM Table 5 1 Input Assembly 1 SINT 8 1 byte each O 8 bytes INT 8 2 bytes each 8 16 bytes DINT 5 A bytes each 24 20 bytes REAL 5 4 bytes each 44 20 bytes Assembly 2 medium result channel Instance ID 105 Size 124 bytes Table 5 2 Input Assembly 2 SINT 12 1 byte each O 12 bytes INT 12 2 bytes each 12 24 bytes DINT 11 4 bytes each 36 44 bytes REAL 11 4 bytes each 80 44 bytes Assembly 3 large result channel Instance ID 107 Size 248 bytes Table 5 3 Input Assembly 3 SINT 24 1 byte each O 24 bytes INT 24 2 bytes each 24 48 bytes DINT 22 4 bytes each 72 88 byte
65. ick com e All rights reserved 79 Subject to change without notice Reference Manual Inspector PIM V Validate output string 39 Version information command channels 75 W Web API Restore configuration 77 Web interface 13 Basic principles 15 Command syntax 15 Control the sensor via Web API 15 Custom web pages 17 Live image 13 Logged image 14 Results 13 X XML based formatting 39 XML formatting 39 80 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice 8015726 2013 11 A4 4c int41 Australia Phone 61 3 9457 0600 1800 334 802 tollfree E Mail sales sick com au Belgium Luxembourg Phone 32 0 2 466 55 66 E Mail infoGsick be Brasil Phone 55 11 3215 4900 E Mail sac sick com br Canada Phone 1 905 771 14 44 E Mail information sick com Cesk republika Phone 420 2 57 91 18 50 E Mail sickGsick cz China Phone 86 4000 121 000 E Mail info china sick net cn Phone 852 2153 6300 E Mail ghk sick com hk Danmark Phone 45 45 82 64 00 E Mail sick sick dk Deutschland Phone 49 211 5301 301 E Mail info sick de Espana Phone 34 93 480 31 00 E Mail info sick es France Phone 33 1 64 62 35 00 E Mail info sick fr Great Britain Phone 44 0 1727 831121 E Mail info sick co uk India Phone 91 22 4033 8333 E Mail info sick india com Israel Phone 972 4 6881000 E Mail info sick sensors com Italia Phone 3
66. idate output string 39 XML based formatting 39 XML formatting 39 Current reference object 16 Custom web pages 17 Display live image 19 D Digital inputs and outputs 8 E Error codes Command channels 72 Ethernet Raw 22 ASCII versus binary 22 Basic principles 26 Command syntax 26 Control the sensor via Ethernet Raw 26 Image trig 27 Port interval 22 Reference object 27 Single port solution 27 TCP versus UDP 22 EtherNet IP 28 Basic principles 34 Command syntax 34 Control the sensor via EtherNet IP 33 Image trig 35 Input assemblies result channel 35 Output assemblies command channel 36 Reference object 34 F Formatting strings 23 28 Ethernet Raw 23 EtherNet IP 28 1 0 extension box 8 Configure the IP address 8 Input and output connections 10 Physical network connection 8 Setup the I O extension box 9 Troubleshooting 11 Image trig Ethernet Raw 27 EtherNet IP 35 P Port interval Ethernet Raw 22 R Reference object Ethernet Raw 27 EtherNet IP 34 Restore configuration 16 77 Result in PLC 29 31 32 Result output formatting 39 Container specific tags 40 General tags 48 Results via Ethernet Raw 22 Results via EtherNet IP 28 Results via Web API 13 S Setup the I O extension box in SOPAS Single Device 9 Single port solution Ethernet Raw 27 T Troubleshooting 1 0 extension box 11 8015726 2013 11 SICK AG Advanced Industrial Sensors www s
67. itle gt Custom page lt title gt lt script type text javascript src jquery js gt lt script gt lt script type text javascript src inspector js gt lt script gt lt script type text javascript gt Le o var inspector new Inspector script The Inspector object has methods that correspond to the commands that can be sent over the command channel The available methods are listed in Table 3 1 Methods in inspect or js page 19 When using these methods you pass the same arguments as when using the raw command channel commands as described in Appendix B Command chan nel page 52 The Inspector object returns the parsed command response through a callback function To use the response you define a function that takes a single ar ument the response object and pass that function as an argument to the Inspector s method In the function you can SICK AG Advanced Industrial Sensors www sick com All rights reserved 17 Subject to change without notice Interfaces 18 Web interface Reference Manual Inspector PIM then check whether the command succeeded and retrieve the information you are interested in For example to select the first reference object in the current configuration with index 0 you would call First define a callback function that handles the result function setRefObjResponse response if response httpStatus 200 response errorCode 0
68. lue from the Image settings tab TELE UINT A counter that increments for each tele GRAM COUNTER gram sent over the result channel Resets at power up or device reset USINT intValue O 255 USINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UINT intValue 0 65535 UINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UDINT intValue O 277 1 UDINT If the intValue attribute is not specified the default value will be zero and the tag can be used for padding UINT1 intValue O 65535 UINT Value can be changed through the com mand channel UINT2 0 65535 UINT Value can be changed through the com mand channel UINT3 0 65535 UINT Value can be changed through the com mand channel alf a tool is fixed in field of view and not relative to the object locator the Image decision will report the value 3 in cases when the object locator does not locate the object and the result of the unrelated tool is failed PA reference object s index is presented as a white number on a black background on each reference object in the Reference objects list in the GUI The first reference object created is assigned index number O and each successive reference object s index will be incremented by 1 If a reference object is deleted from the reference object list the index
69. menu The Web API is based on standard HTTP request and responses Recommended request timeout time is 3 seconds to allow for images to be transferred properly SICK AG Advanced Industrial Sensors www sick com All rights reserved 21 Subject to change without notice Interfaces Ethernet Raw Reference Manual Inspector PIM Ethernet Raw 4 1 Introduction To set up the connection and output results for Inspector PIM6O using Ethernet Raw see Operating Instructions for Inspector PIM6O 4 1 1 Port interval The default interval for the ports used by the communication channels is 2114 2116 This interval can be changed e g if the controlling device does not support the default interval The interval is controlled by the field Start port in the Ethernet Raw tab of the Interface and I O settings dialog The ports are assigned according to the following Ethernet Result Output start port default 2114 Command channel start port 1 Dedicated image trig start port 2 4 2 Get results via Ethernet Raw The following settings are configured in the Ethernet Result Output dialog under InspectorPIM60 menu 4 2 1 TCP versus UDP The basic difference between these protocols for the Ethernet result output function is which side initiates the connection to receive send the data TCP UDP D PC PLC initiates the connection D Inspector sends results to the spe Inspector sends results to the PC PLC cified IP address a
70. method is used due to caching see Section 3 4 1 Ex ample Display live image page 19 for more information Example URLs Request a live image without overlay graphics and assign an id to the image http 192 168 1 110 LiveImage jpg id ID ABC123 Request a live image with overlay graphics and assign an id to the image http 192 168 1 110 LivelImage jpg ShowOverlay amp id ID ABC123 Request a live image with simplified overlay graphics and assign an id to the image http 192 168 1 110 LivelImage jpg SimplifiedOverlay amp id ID ABC123 3 2 4 Logged images Logged images can be retrieved using the URL http lt IP address gt LogImage jpg 00 where the argument 00 is the image number The image number is two digits in the range 00 29 The device keeps writing to the log and therefore the log first has to be locked to be able to retrieve an image This is done by using the URL http lt IP address gt LockLog The response to the request is a JPEG image An empty image with a smaller size than a normal image is returned if no log image is available for a certain position To start logging images again the log has to be unlocked first and this is done by using the URL http lt IP address gt LockLog Unlock SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Web interface Interfaces Example U
71. n 75 B 6 Command examples unse an 75 B 6 1 Command examples Ethernet Raw 75 Restore configuration over Web API esee eere nenne 77 C 1 Re store confIBUratlOn siue eoe eese ruant n x Reda turi n Rut haud erus pe eR RAE ERE 77 C 2 Create session cookie uusussesnennenennnnnnnnnennnnnnnnnnnennnnnnnnenen nenn 77 C 3 Kol DE 77 C 4 Prepare restore mode uuussssennennenennnnnnnnnennnnnnnn en enemies 78 C 5 Transfer restore file to device sese 78 C 6 Device restart an en rena ee 78 INDEX EE E 79 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Introduction Introduction Introduction Reference Manual Inspector PIM Introduction The Reference Manual is a complement to the Operating Instructions for Inspector PIMGO and covers the functionality of all product variants The Reference Manual contains detailed information about the interfaces including syntax and available functionality It focuses on Inspector PIM6O specific topics and does not describe the basic technology behind each interface The details of the result output formatting and the contents and syntax of the command channel are shared by several interfaces They are described in an appendix valid for all rel evant interfaces For instructions on configuring the interfac
72. n the network This mode shall not be used if the Inspector is connected to the SOPAS Single Device application during operation User mode This is the advanced communication mode where it is possible to configure the number of retries that the Inspector performs and the timeout for each retry The timeout is the time in milliseconds that the Inspector is waiting for a reply from the I O extension box for a request to set outputs or read inputs SICK AG Advanced Industrial Sensors www sick com All rights reserved 9 Subject to change without notice Interfaces 10 1 0 extension box Reference Manual Inspector PIM IP configuration To be able to connect to the I O extension box the IP address of the I O extension box must be specified in the SOPAS Single Device application To specify the IP address of the I O extension box 1 Open the Interfaces and 1 0 Settings dialog from the InspectorPIM60 menu Enter the selected IP address of the 1 0 extension box setup tab in the four fields separated with dots 2 Click Apply to store the settings Interfaces and I O Settings ital 1 0 External object selection I O extension box setup Web Server 1 O extension box communication mode Robust mode Advanced Fast mode User mode o Robust mode is recommended when running the SOPAS Inspector application during operation Fast mode gives a higher frame rate and should only be used when running the Inspector stand al
73. nd aACT and some special commands TableB 1 Command syntax gVER Get protocol version that is supported by the ad dressed device sMOD mode Set device mode 0 Run 1 Edit gMOD Get the current device mode from the device SINT identifier arg1 arg2 argN Set integer parameter in the device gINT identifier arg1 arg2 argN Get integer parameter from the device gSTR identifier arg1 arg2 Get string parameter from device aACT identifier arg1 arg2 argN Action commands TRIG Trig an image acquisition and analysis gRES Retrieve the latest available Ethernet Result Output string gSTAT Retrieve the latest statistics from the device SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix Table B 2 Command response Response to protocol version including the version that is supported by the device rgVER errorCode protocolVersion rsMOD errorCode errorMessage Response to set mode Run Edit including error code and error message rgMOD errorCode mode errorMes Response to fetch current mode Run Edit including sage the mode error code and error message rsINT identifier errorCode er Response to set integer parameter and action com
74. nd port without PC PLC acknowledges that results are re knowing Eas Degn receNed ceived built into the TCP protocol Note For TCP the default port number that the Inspector listens to is 2114 4 2 2 ASCII versus binary The Inspector supports the possibility to choose whether the configured output is to be sent in ASCII format or in a binary format The parameters that should be transferred in binary format are also defined in the XML based formatting but some tags are not supported in the binary format If such a parameter is added to the formatting it will be ignored by the Inspector In binary mode all added text and text formatting for example lt SPACE gt are ignored Only the values 22 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Ethernet Raw Interfaces of the parameters describing the results of inspected images or device information will be sent For details on which tags can be used in binary output see the tables in chapter Ap pendix A Result output formatting page 39 4 2 3 Attributes Attributes are used to control the formatting and identification of inspections Some of them can be controlled directly in the Ethernet Result Output dialog in the section Message settings All available attributes are listed in the table in section XML Formatting in Section A 3 2 Attri
75. notice 45 Appendix 46 Result output formatting MIN_PITCH co ordUnit unit REAL Reference Manual Inspector PIM If the chosen Edge counter is rectangular the value shows the pitch pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog If the chosen Edge counter is circular the value is the pitch in degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog MAX PITCH MEAN PITCH co ordUnit unit co ordUnit unit REAL REAL If the chosen Edge counter is rectangular the value shows the pitch pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog If the chosen Edge counter is circular the value is the pitch in degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog If the chosen Edge counter is rectangular the value shows the pitch pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog If the chosen Edge counter is circular the value is the pitch in degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog DECISION 0 1 2 USINT O Not found 1 Found 2 Outside image coordUnit
76. number assigned to that object will be reused for the next reference object created A 3 2 Attributes Attributes are used to control the formatting and identification of inspections The table below describes the formatting attributes for Inspector Some attributes can also be set for the whole formatting string in the Ethernet Result Output dialog in the InspectorPIM60 menu in the section Message settings The attributes operate in a hierarchical way using inheritance So if Number of decimals has been set to 3 in the Ethernet Result Output dialog all REAL will be printed with 3 decimals unless they are inside a tag that states otherwise Some attributes can also be set from the Ethernet Result Output dialog from the InspectorPIM60 menu in SOPAS Single Device see also Section 4 2 3 Attributes page 23 SICK AG Advanced Industrial Sensors www sick com All rights reserved 49 Subject to change without notice Appendix 50 Result output formatting Reference Manual Inspector PIM Table A 3 Formatting attributes 0 15 Index of blob according to cur rent blob sorting order Index O is the first blob scale Any REAL 1 0 Scales the values before they are printed Can for example be used to express positions as in tegers in 1 10 pixel units base decimal decim octal hex al timeUnit s ms S TIME name any string none ldentification of value 0 255 0 intValue O 255 O O
77. o a PLC for process control 2 4 6 Change of Modules in the 1 0 extension box The Inspector PIM60 supports I O extension box configurations with up to 16 digital outputs and 5 digital inputs The standard configuration of the I O extension box contains 8 digital outputs and 4 digital inputs The configuration of an I O extension box can be changed by adding removing I O modules to from the I O extension box I O modules are available as an accessory from SICK For details about Accessories Ordering information see the Operating Instructions for Inspector PIM6O Perform the following steps to connect and use more I O modules 1 Close the SOPAS Single Device application 2 Disconnect the power from the I O extension box 3 Connect the additional I O modules inputs and or outputs to the I O extension box Please refer to the manual delivered with the I O extension box for details 4 Re connect the power to the I O extension box 5 Re start the SOPAS Single Device application The additional digital outputs are now be available in the SOPAS Single Device application 2 5 Troubleshooting 2 5 1 The I O LED flashes 10 times If the power to the I O extension box has been disconnected for a longer period of time the internal clock in the box will be reset The I O LED on the box will then flash 10 times in red This is not a serious error and the 1 0 extension box can still be used together with the In spector without any problems
78. ob index 0 structure value number of edge pixels inside the blob 9 Explanatory text and blob index 0 edge value O blob fully within ROI 1 blob touches ROI border MD End of container for blob tool Result of validating output string with a Blob The result of validating the example formatting output string with output format ASCII can be as follows Blob_tool Found_blobs 16 Blob_information Position_ X Y 177 00 156 89 Area 75 Angle 154 33 Structure 0 Touches ROI border 0 The result of validating the example formatting output string for a blob with output format binary will be as follows Binary output OK Number of bytes 28 Part of example string for configuration with a Polygon Polygonl POLYGON name Polygon1 gt lt NEWLINE gt Corners lt SPACE gt lt NUM_CORNERS gt lt NEWLINE gt CORNERS corners all gt X Y lt SPACE gt lt X gt lt Y gt lt NEWLINE gt lt CORNERS gt lt POLYGON gt D Explanatory text and start of polygon container tag for the polygon tool named Polygon 4 _ Explanatory text and number of polygon corners 3 Startof container tag for polygon corners with instruction to loop over all polygon corners explanatory text and corner position End of container for polygon corners SICK AG Advanced Industrial Sensors www sick com All rights reserved 25 Subject to change
79. odes e A specific task to control the Inspector PIM6O includes the command together with its parameters see list of command types and parameters in Appendix B Command chan nel page 52 Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode e Itis possible to block configuration changes by deselecting Allow changes via Web Server in the Web Server tab in the dialog Interfaces and I O Settings in InspectorPIM60 menu 3 3 2 Command syntax The Web API command channel has the following syntax http IP address CmdChannel command identifier argument 1 ar gument 2 argument N gt The ACK message has the following syntax XACK Command identifier errorCode lt returnValuel gt lt returnValue2 gt lt returnValueN gt lt errorMessage gt The command is sent as an ASCII string The combination of a command with its parameters will either change the device configuration or fetch information from the device For more SICK AG Advanced Industrial Sensors www sick com All rights reserved 15 Subject to change without notice Interfaces 16 Web interface Reference Manual Inspector PIM command examples see Section B 1 Command syntax page 52 and Section B 6 Com mand examples page 75 Note The command syntax differs from other interfaces where the initial part http lt IP ad dress
80. olds hannel int index int min int max Reference Manual Inspector PIM 0 7 0 255 0 255 Change blob area thresholds sINT 49 No int index int min int max O 7 10 307200 pixels min lt max 10 307200 pixels min lt max Change blob edge strength sINT int index Get blob area int index O 7 thresholds intmin 10 307200 pixels int max 10 307200 pixels Change blob angle sINT 50 No int index O 7 thresholds int angle 0 180 int angletoler 0 90 ance Get blob angle gNT 50 Yes intindex O 7 thresholds int ref O 180 int tol 0 90 Change structure SINT 53 No int index O 7 criteria thresholds int min 0 100000 int max min lt max 0 100000 min lt max Get structure cri gINT 53 Yes intindex O 7 teria thresholds int min 0 100000 int max 0 100000 O 7 int strength O 100 percent Get blob edge gINT 54 Yes intindex O 7 strength int strength O 100 percent Change ambient sINT 55 No int index O 7 light compensa int mode O off 1 on tion mode Get ambient light gINT 55 Yes intindex O 7 compensation int mode O off 1 on mode Change blob SINT 56 No int index O 7 search method int method O High quality 1 Nor mal 2 High speed Get blob search gINT 56 Yes intindex O 7
81. om XML configuration dataType example above 0 SINT 0 NUM CORNERS 1 SINT 1 2 SINT 2 3 SINT 3 4 SINT 4 5 SINT 5 32 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual EtherNet IP Interfaces Inspector PIM Position ref pos Data type Offset byte Variable from from XML configuration dataType example above 6 SINT 6 7 SINT 7 0 INT 8 X 1 INT 10 2 INT 12 3 INT 14 4 INT 16 5 INT 18 6 INT 20 T INT 22 0 DINT 24 IMAGE NUMBER 1 DINT 28 2 DINT 32 3 DINT 36 4 DINT 40 0 REAL 44 1 REAL 48 2 REAL 52 3 REAL 56 4 REAL 60 5 3 Control the sensor via EtherNet IP The Inspector PIM6O has the following EtherNet IP characteristics Device type Communication adapter The Inspector relies on a Scanner device to set up the communication channel The IP address of the Inspector can be found by choosing Device Info from the InspectorPIM60 menu REESE ES Output 100 4 Slim command channel Input 101 36 Command channel result Output 102 32 Command channel Input 103 64 Small result channel 1 Input 105 124 Medium result channel 2 Input 107 248 Large result channel 3 Input 109 484 Extra large result channel 4 Minimum RPI gt 16 ms When retrieving inspection results via EtherNet IP the time between two inspections should be at least twice the RPI Requested Packet Interval specified for the communi
82. one I O extension box IP configuration IP address 192 168 j 43 Figure 2 4 Set up mode and IP address Verify connection It is possible to verify that the connection to the I O extension box can be established by clicking the Verify connection button The SOPAS Single Device application will then try to connect to the I O extension box and a message will be displayed informing if the I O extension box was found Note It is possible to configure the Inspector for use with the I O extension box even when the I O extension box is not available As soon as the Inspector detects the I O extension box on the network it will connect to it and start using it as configured 2 3 1 Enabling the I O extension box The use of the inputs and outputs on the I O extension box is enabled on the Digital 1 0 tab of the Interface and I O Settings dialog from the InspectorPIM60 menu 2 4 Input and output connections When delivered the I O extension box contains 4 digital inputs and 8 digital outputs The digital outputs can be expanded to 16 and the digital inputs of the Inspector PIM6O can be extended to 5 Please refer to the manual delivered with the I O extension box for details on how to connect the power supply to the box and where to find the digital inputs and outputs 2 4 1 Special conditions during startup The following applies if the Inspector is configured to use the inputs of the I O extension box for object selection If the
83. ookie 2 Login 3 Prepare restore mode 4 Transfer restore file to device Device restart The restore operation will remove the previous configuration and replace it with a new con figuration The IP address and the chessboard calibration will not be updated by the restore operation It is not possible to use the device for other purposes during the restore operation The operation may take several minutes to perform and the time is partly depending on the size of the backup file C 2 Create session cookie A session cookie is used to handle operations requiring login with user name and password The session cookie is created before performing the login operation and the cookie must then be supplied in the login operation and for all following operations Operations CREATE COOKIE C 3 Login A login with the user name Maintenance is required to change information on the device The password is the password stored on the device Default password is Inspector Operations CREATE SOCKET CONNECT TO SOCKET lt IP address gt port 80 SEND HTTP POST REQUEST to HandleConfig data sopas_username Main tenance amp sopas_password lt login_password gt 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved 77 Subject to change without notice Appendix 78 Restore configuration over Web API Reference Manual Inspector PIM
84. ools tab in the SOPAS Single Device starting with O B 2 4 Tools indexing The index argument corresponds to the order in which the pixel counter edge pixel counter pattern edge tool edge counter circle locator measure distance and measure angle are listed in the Tools tab in the SOPAS Single Device starting with O The types of the tools pixel counter edge pixel counter pattern edge tool edge counter circle locator measure distance or measure angle do not matter i e if two Pattern tool are listed above a Pixel counter tool the Pixel counter tool has index 2 If a tool pixel counter edge pixel counter pattern edge tool edge counter circle locator measure distance or measure angle in the beginning of the list is deleted the following tool pixel counter edge pixel counter pattern edge tool edge counter circle locator measure distance or measure angle will be updated with a new index B 3 Command descriptions The way to configure the device through the Ethernet based command channel is based on the set of commands described above with parameters depending on what the user wants to do See tables below with a complete list of command channel actions and functions The index argument in the command descriptions below refers to tool s index when configured in SOPAS Single Device The index can be found in the Tools tab in SOPAS Single Device Hold the mouse pointer over the current tool to get the index number
85. or PIM60 5 2 Get results via EtherNet IP The following settings are configured in the Ethernet Result Output dialog in the InspectorPIM60 menu 5 2 1 Attributes Attributes are used to control the formatting and identification of inspection results Some of them can be controlled directly in the Ethernet Result Output dialog in the section Message settings All available attributes are listed in the table in section XML Formatting in Sec tion A 3 2 Attributes page 49 Degrees Radians Choose unit for the rotation for object locator angle for blobs angle for edges and angle measurements Pixels Millimeters Choose if position coordinates and distance measurements should be sent in pixel or millimeter unit Note The device must be calibrated for it to be possible to use the mm attribute An error message is given in the output string if the device is not calibrated and mm is chosen 5 2 2 Example formatting strings The auto generated example string will vary depending on the configuration in the selected reference object The intention with the example string is to give an idea of the available tags and to be a good starting point for creating a suitable format Below follow some short descriptions of example strings for different configurations For more information about the XML formatting see Appendix A Result output formatting page 39 Example string for configuration with only an Object locator IMAGE NUMBER
86. ordUnit or configured value in the Ethernet Result output dialog If the chosen Edge counter is circular the value is the width in degrees or radians depend ing on attribute unit or con figured value in the Ethernet Result output dialog POLARITY 3 4 USINT Only applicable for Feature type Single edge The chosen edge s polarity in the search direction 3 dark to bright 4 bright to dark This tag must be used inside the lt POLYGON gt container POnly available for Ethernet Raw For EtherNet IP the position is represented as an INT value Use the scale attribute to get more decimals This tag must be used inside the lt BLOB gt container The value are given for each Blob ROI not for each found blob This tag concerns the whole tool i e not specific to the feature edge chosen by the index fRed arrow points out the midpoint for the Edge count tool 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved Subject to change without notice 47 Appendix 48 Result output formatting Reference Manual Inspector PIM The angle of the edge relative to the region O degrees 20 degrees The INTERNAL_ANGLE is the angle of a feature i e the relation of the two edges of the feature 90 degrees 45 degrees O degrees Note When a tool is related to the object locator and the object locator is not found in the live image the
87. r 6 max pixel error Set external trig delay sINT 21 No inttype int O ms 1 tick delay milli 1 50000 resp O seconds 10 ticks 200000 or ticks ticks Get external trig delay gINT 21 Yes int type int delay D2ms 1 tick milliseconds 10 1 50000 resp O or ticks ticks 200000 ticks Set digital output delay sINT 22 No ilntoutputln 0 19 O2 ms dex int 1 tick Min type int delay delay milli time 10 50000 seconds 10 resp O ticks or ticks 200000 ticks Get digital output delay gINT 22 Yes intoutputin int type int delay 0 19 O ms dex milliseconds 10 1 tick or ticks 1 50000 resp O SICK AG Advanced Industrial Sensors www sick com All rights reserved 57 Subject to change without notice Appendix 58 Command channel Reference Manual Inspector PIM Set digital output act ive time ive time Get digital output act sINT 23 No int outputln dex int type int time milli seconds 10 or ticks int outputln int type int ti dex milliseconds 10 or ticks 0 19 O2ms 1 tick 1 10000 resp O ticks 200000 me 0 19 O2ms 1 tick 1 10000 resp O ticks 200000 Set alignment control point SINT 300 No int pointln dex int x 100 int y 100 int z 100 int x 100 2147483648 2147483647 int y 100 2147483648
88. r con figured value in the Ethernet Result output dialog DECISION 0 1 2 USINT O not found 1 found 2 Out side image CIRCLE_LOCAT name any string Name attribute required if OR more than one Circle exist x coordUnit REAL X position of the reference point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog Y coordUnit REAL Y position of the reference point In pixels or mm de pending on attribute co ordUnit or configured value in the Ethernet Result output dialog SCORE 0 100 REAL Circle matching score 44 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Result output formatting MEASURE_DIS TANCE DIAMETER coordUnit Appendix Circle s diameter in pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dia log DECISION 0 1 2 11 12 any string USINT O not found 1 pass 2 Out side image 11 Failed on score value 12 Failed on diameter Name attribute required if more than one Measure dis tance exists DISTANCE coordUnit REAL Measured distance in pixels or mm depending on attribute coordUnit or configured value in the Ethern
89. rNet IP It is possible to block configuration changes by deselecting the setting Allow changes via EtherNet IP in the EtherNet IP tab in the dialog Interfaces and 1 0 Settings in InspectorPIM60 menu Writing a parameter can typically only be done when the device is in Edit mode Reading a parameter can be done in both Edit and Run mode The commands is sent with help of output assembly 102 and the result is received with input assembly 101 The result for a sent command can be received at the earliest in the next PLC cycle The PLC program will have to wait for the result for an undefined number of seconds Make sure that the PLC program waits for a response with the same command and ID as the sent command 5 3 2 Command syntax To send commands through the command channel use output assembly 102 The command channel has the following syntax command identifier arg 1 gt lt arg 2 gt lt arg 3 gt lt arg 4 gt lt arg 5 gt lt arg 6 Replace lt command gt with the commands id see Table B 3 Command ID numbers for Eth erNet IP page 54 The result of a command sent over output assembly 102 can be received through input assembly 101 The syntax for ACK message is lt retV all gt lt retV al2 gt lt retV al3 gt lt retV al4 gt lt retV al5 gt lt com identi error mand fier code al6 retV The combination of a command with
90. rch tolerance int tol 5 100 pixels for single edge 5 100 pixels for polygon Get polygon position glNT 64 Yes int index O 7 search tolerance int tol 5 100 pixels for single edge SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 61 Appendix Command channel Reference Manual Inspector PIM 5 100 pixels for polygon Change polygon flex sINT 165 No int index O 7 ibility search toler int tol 0 100 pixels ance Get polygon flexibility gINT 65 Yes int index O 7 search tolerance int tol O 100 pixels Change polygon SINT 166 No int index O 7 score threshold int threshold 0 100 pixels Get polygon score gINT 66 Yes int index O 7 threshold int 0 100 pixels threshold Change polygon mar sINT 67 No int index O 7 gin int margin O 20 pixels Get polygon margin gINT 167 Yes int index O 7 int mar O 20 pixels gin Change polygon de sINT 68 No int index O 7 fect detection width int width O 100 pixels Get polygon defect gINT 68 Yes int index O 7 detection width int width O 100 pixels Change polygon de sINT 169 No int index O 7 fect intensity range int min 0 255 min lt max thresholds int max 0 255 min lt max Get polygon defect gINT 69 Yes int index O 7 intensity range int min 0
91. refer to the user manual delivered with the I O extension box The IP address of the I O extension box must be compatible with the addresses of the Inspect or and of the PC For details of how to set and view the IP address of the Inspector please refer to the Operating Instructions for Inspector PIM6O The following is an example of how the IP addresses can be configured for the Inspector the 1 0 box and the PC 192 168 1 110 192 168 1 3 192 168 1 30 8 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 1 0 extension box Interfaces 2 2 1 Basic configuration of the IP address The address selection switch on the I O extension box configures the host part of the IP ad dress that is the last of the four parts of the IP address By default the first three parts of the address also known as the network address are set to 192 168 1 If the switch is set to a value other than O all switches set to Off or 255 all switches set to On the I O extension box will use the host part of the IP address assigned by the switch Figure 2 2 Example The setting above configures the I O extension box to have a host ID of 3 corresponding to the binary value 00000011 where switch 1 is bit O LSB and switch 8 is bit 7 MSB The 1 0 box will then have an IP address of 192 168 1 3 Advanced configuration of the
92. rence Manual Inspector PIM 8015726 2013 11 Command channel int polarity Appendix 0 2 O any 1 bright to dark 2 dark to bright Get circle polarity 163 Yes int index O 63 int criterion O 2 O2 any 1 bright to dark 2 dark to bright Change circle ro 164 No int index O 63 bustness int robustness 0 4 0 high robust ness to 4 high speed Get circle robust 164 Yes int index O 63 ness int criterion O 4 O high robust ness to 4 high speed Change circle 165 No int index O 63 score threshold int threshold 0 100 Get circle score 165 Yes int index O 63 threshold int 0 100 threshold Change circle 166 No int index O 63 quality int quality 0 6 O tolerant to 6 exact Get circle quality gINT 166 Yes int index O 63 int quality O 6 O tolerant to 6 exact Change circle dia SINT 167 No int index O 63 meter offset com int off 1000000 1000000 pensation set 1000 0 1 O pixels 1 int unit millimeters Get circle diamet gINT 167 Yes int index O 63 er offset compens int unit 0 1 0 pixels 1 ation int off millimeters set 1000 Change circle dia sINT 169 No int index 0 63 meter tolerance int min 1000 0 640000 min lt max thigeholds int max 1000 0 640000 int unit O 1 0 pixels 1 millimeters Get circl
93. rent mode 8101 The reference bank is not used on the device 8102 Operation is not allowed for example trying sINT 20 O when not in calibration mode 8103 Calibration mode is not enabled when trying to perform calibration or trying to remove non existent calibration 8104 No object locator is available in current reference bank 8105 No blob tool with this index exists 8106 Polygon defect detection is not enabled 8107 No polygon with supplied index exists 8108 No pixel counter with supplied index exists 8109 No edge pixel counter with supplied index exists 8110 No pattern inspection with supplied index exists 8111 The move or rotation caused the ROI to appear outside of the FOV 8112 Trig is not activated 8113 The specified IP address was invalid or an invalid combination of addresses was used 8113 The specified network mask was invalid 8113 The specified gateway address was invalid 8113 The combination of IP settings was invalid 8114 Calibration failed 8115 Interface not available Only interfaces that exist in the product can be en abled disabled 8116 No edge tool with supplied index exists 8117 No angle tool with supplied index exists 8118 No circle with supplied index exists 8119 No distance tool with supplied index exists 8120 The specified tool does not have a region it is a measurement 8121 The tool type of the specified tool does not support this command 8122 No tool with supplied index exists 8123 No edge count
94. ribute dataType specifies the dataType section in the selected assembly The attribute dataType can be SINT INT DINT or REAL For more details about dataType and pos see table in Sec tion A 3 2 Attributes page 49 Attribute pos Used by EtherNet IP to determine a position in the dataType 30 section in the selected assembly The first position number of the dataType section is O The range of the attribute pos depends on which assembly is used For example if assembly 1 and dataType section SINT is selected the range of position is 8 i e O 7 For more details about dataType and pos see table in Section A 3 2 Attributes page 49 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 EtherNet IP Interfaces Therefore the value of the attributes dataType and pos together specifies which parameter in the assembly the result value should be mapped to Result of validating output string with only a Blob The validating in SOPAS Single Device will give the following result EtherNet IP assembly string OK Result in PLC with only a Blob The table below describes how the Assembly 1 s data structure will be populated when using the configuration example above Position ref pos Data type Offset byte Variable from from XML configuration dataType example above 0 SINT 0 FOUND BLOBS 1 SINT 1 EDGE
95. rigin Get number of gINT 87 Yes int index pixels in ROI Val id for Pixel Counter and Edge Pixel Counter 0 63 int pixels Number of pixels in the ref erence object s ROI For information about tools indexing see Section B 2 4 Tools indexing page 54 Table B 17 Command channel functions Distance Change distance sINT 170 No int index O 63 measurement int min 1000 O VGA image diagon Byresnges int max 1000 all int unit 0 VGA image diagon al O 1 O pixels 1 millimeters min lt max SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix Get distance gNT 170 Yes int index 0 63 measurement int unit 0 1 O pixels 1 thresholds int millimeters min 1000 O VGA image diagon int al max 1000 0 VGA image diagon al Change distance sINT 173 No int index 0 63 offset compensa int off 1000000 1000000 von set 1000 0 1 0 pixels 1 int unit millimeters Get distance off gINT 173 Yes int index O 63 set compensa int unit 0 1 O pixels 1 tion int off millimeters set 1000 For information about tools indexing see Section B 2 4 Tools indexing page 54 Table B 18 Change angle meas
96. s REAL 22 4 bytes each 160 88 bytes Assembly 4 extra large result channel Instance ID 109 Size 484 bytes Table 5 4 Input Assembly 4 SINT 44 1 byte each O 44 bytes INT 44 2 bytes each 44 88 bytes DINT 44 4 bytes each 132 176 bytes REAL 44 4 bytes each 308 176 bytes 5 3 6 Assemblies command channel The value that corresponds to each reference object can be found in the Reference object list in the Main view Slim command channel The Output assembly contains two parameters that are used for selecting reference object and trigger inspections SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 EtherNet IP Instance ID Size Table 5 5 100 4 bytes Slim Command channel Interfaces Select reference object SINT O 0 31 Selected reference object Trigger SINT 1 1 Trigger inspection Set to O before triggering next inspection Reserved SINT 2 Reserved SINT 3 Command channel Instance ID 102 Size 32 bytes Table 5 6 102 output Command channel Command DINT O Identifier DINT 4 Argument 1 DINT 8 Argument 2 DINT 12 Argument 3 DINT 16 Argument 4 DINT 20 Argument 5 DINT 24 Argument 6 DINT 28 Command channel result Instance ID Size Table 5 7 Command 101 36 bytes
97. s Specifies whether position coordinates and distance meas urements should be expressed in pixels or millimeters Note The device must be calibrated to be able to use millimeters as unit of measurement 4 2 4 Example formatting strings The auto generated example string will vary depending on the configuration in the selected reference object The intention with the example string is to give an idea of the available tags and to be a good starting point for creating a suitable format Below follow some short descriptions of example strings for different configurations For more information about the XML formatting see Appendix A Result output formatting page 39 SICK AG Advanced Industrial Sensors www sick com All rights reserved 23 Subject to change without notice Interfaces 24 Ethernet Raw Reference Manual Inspector PIM Example string for configuration with only an Object locator lt MESSAGE_SIZE gt lt NEWLINE gt Qo Image number SPACE IMAGE NUMBER NEWLINE D Object_locator lt NEWLINE gt Q OBJECT LOC Located lt SPACE gt lt DECISION gt lt NEWLINE gt 6 Score lt SPACE gt lt SCORE gt lt NEWLINE gt Scale lt SPACE gt lt SCALE gt lt NEWLINE gt D Position X Y SPACE X Y lt NEWLINE gt Rotation lt SPACE gt lt ROTATION
98. size gt r nHost IP address NrMnCookie Session cookie NrMnConnection Keep Alive r nContent Type multipart form data bound ary cd07053eab074616b9c4703b70584d7dwH aE11Q0 dP K Pd cd07053eab074616b9c4703b70584d7d r nContent Disposition form data name datafile filename lt full path to backup file gt r nContent Type text plain charset utf 8 r n r nFormatVersion RAW01 00 Data and more data gt C 6 Device restart When the transfer is completed the parameters on the device are updated and the configur ation is stored permanently on the flash file system The device is then restarted SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM index A Activate and deactivate web interfaces 21 Assemblies command channel output 36 Assemblies result channel input 35 Attributes Ethernet Raw 23 EtherNet IP 28 Result output formatting 49 Backup configuration 16 Basic principles Ethernet Raw 26 EtherNet IP 34 Web interface 15 C Command channel 52 Command types 52 Error codes 72 EtherNet IP 53 Examples 75 Functions 54 Version information 75 Command channel slim 36 Command syntax Ethernet Raw 26 EtherNet IP 34 Web interface 15 Container specific tags 40 Control the sensor Ethernet Raw 26 EtherNet IP 33 Web interface 15 Coordinates via Ethernet Attributes 23 Val
99. terface permission int permis sion int interface Command channel functions Device settings Reference Manual Inspector PIM Interface O Ethernet Raw 1 HTTP 2 Eth erNet IP Permission 1 en able O disable Get interface gINT permission Set device IP address int a int b int c int d int interface int permis sion Interface O Ethernet Raw 1 HTTP 2 Eth erNet IP Address format a b c d Get device IP gINT address int a int b int c int d Address format a b c d Set device net sINT mask int a int b int c int d Address format a b c d Get device net gINT mask int a int b int c int d Address format a b c d Set gateway sINT int a int b int c int d Get gateway gINT int a int b int c int d Address format a b c d In order for the settings to take effect the aACT 5 command needs to be sent to the device PThere should be no dots in the argument Table B G Command channel functions general Get used protocol ver gVER int version 6 PIM60 1 0 sion Set device mode sMOD Yes int mode O Run 1 Edit Get device mode gMOD Yes int mode O Run 1 Edit Trig device TRIG Yes Select reference object sINT Yes int object O 31
100. tion of the reference point Note that this can be outside the image and there fore negative In pixels or mm depending on attribute coordUnit or configured value in the Ethernet Result output dia log coordUnit REAL 8015726 2013 11 SICK AG Advanced Industrial Sensors www sick com e All rights reserved Subject to change without notice Y position of the reference point Note that this can be outside the image and there fore negative In pixels or mm depending on attribute coordUnit or configured value 41 Appendix 42 Result output formatting Reference Manual Inspector PIM in the Ethernet Result output dia log DECISION 0 100 6 1 2 USINT Pattern matching score O not found 1 found 2 Out side image POLYGON name any string Name attribute required if more than one Polygon exists NUM CORNERS 2 16 USINT Number of corners used for this polygon tool DECISION 0 1 2 USINT O not found 1 defect 2 pass SCORE 0 100 REAL Polygon matching score NUM PIXELS UDINT Number of defect pixels inside crack detection region in poly gon Undefined for single edge tool CORNER OUTSIDE 0 1 USINT O polygon completely inside image 1 one or more polygon corner s are outside image Cannot be used for single edge tool DEF
101. title gt lt script type text javascript src jquery js gt lt script gt lt script type text javascript src userliveimage js gt lt script gt lt script type text javascript gt i lt s gt document ready function S liveImage sickLivelImage width 640 height 480 nocache true minInterval 500 refreshInterval 1000 magnifier true imgUrl LivelImage jpg refreshText Refresh interval gt lt script gt lt head gt lt body gt lt div id liveImage gt lt div gt lt body gt lt html gt 20 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Web interface Interfaces More examples can be found on the installation CD in the folder nmi web example inside the documentation folder A Custom Web Toolkit can be found on the support pages vis ionsupport sick com which provides a framework that simplifies the process of making an HMI as well as additional templates and examples 3 5 Handle the Web API The Web Server and Web API interfaces can be activated or deactivated When activated it is possible to select port number and to allow command channel changes The same settings apply both to the Web Server and to the Web API The Web interfaces are configured in the Interfaces and 1 0 settings dialog in the InspectorPIM60
102. tool with supplied index exists 8124 Search region is not enabled 8125 Width or height is invalid 8126 No tools in configuration 8127 Invalid unit specified 8128 Alignment to specified control points failed 74 SICK AG Advanced Industrial Sensors www sick com All rights reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix B 5 Version information The command channel is continually extended with new commands The intention is to always keep the command set backwards compatible with earlier versions This table lists the available versions and the updates between each version Table B 23 Command channel versions 6 PIM6O 1 0 First official version B 6 Command examples B 6 1 Command examples Ethernet Raw Note that the ACK messages in the below tables don t include the start and end character that is included in all ACK messages See Section B 1 Command syntax page 52 for more information on start and end character Table B 24 Commands Ethernet Raw general examples rsMOD O rsMOD O Switch to Run mode Switch to Edit mode sMOD 1 Get device mode gMOD rgMOD O 1 Set trigger mode to free running sINT 16 O rsINT 16 O Set trigger mode to triggered SINT 16 1 rsINT 16 O Get trigger mode gINT 16 rgINT 16 O O if free running rgINT 16 O 1 if triggered by Ether net SINT 69 2 200 255 rs
103. ts reserved 8015726 2013 11 Subject to change without notice Reference Manual Inspector PIM Result output formatting Appendix name any string Name attribute required if more than one Edge Pixel Counter exist PIXELS DECISION 0 1 2 UDINT USINT Number of found edge pixels expressed in pixels of the in spection region area The No of edge pixels interval in the Tools tab is specified as number of pixels within the inspection re gion If the located object is scaled the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object O fail 1 pass 2 Outside im age PIXEL_ COUNTER name any string Name attribute required if more than one Pixel Counter exist PIXELS UDINT Number of found pixels ex pressed in pixels of the inspec tion region area The No of pixels in range interval in the Tools tab is specified as num ber of pixels within the inspec tion region If the located ob ject is scaled the number of pixels is adjusted to be the number of matching pixels that should have been found if the located object had the same size as the reference object DECISION 0 1 2 USINT O not found 1 found 2 Out side image PATTERN name any string Name attribute required if more than one Pattern inspec tion exists coordUnit REAL X posi
104. ual Inspector PIM 8015726 2013 11 Web interface Interfaces Table 3 1 Methods in inspector js protocolVersion getVersion callback getMode callback gMOD mode sMOD setMode mode callback values O getint identifier arg argn callback gINT identifier values O n setint identifier arg1 argn callback sINT identifier values O n getString identifier arg1 argn callback gSTR identifier value performAction identifier args callback aACT identifier trig callback TRIG getResult callback gRES resultString lockLog callback LockLog unlockLog callback LockLog Unlock The result string returned by the getResult method is the same string that is output over Ethernet and which is defined in the Ethernet Results Output dialog Note Do not make another call to the Inspector before the current call has returned a response If you do the current command will be interrupted and will not return any response at all making it difficult to figure out whether or not the command was performed on the Inspector Normally this is not a problem but if you are using timed triggers you should make sure that the triggered functions don t interrupt any commands that may currently be performed on the Inspector 3 4 1 Example Display live image To display the current live image simply include the image from LiveImage jpg on your web p
105. urement thresholds Command channel functions Angle int index int min 1000 int max 1000 0 63 0 100 0 180000 min lt max Get angle meas int index 0 63 urement int 0 100 thresholds min 1000 0 180000 min lt int max max 1000 Change angle off IsINT 181 No int index 0 63 set compensa int off 1000000 1000000 tion set 1000 Get angle offset gINT 181 Yes int index 0 63 compensation int off set 1000 For information about tools indexing see Section B 2 4 Tools indexing page 54 SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 69 Appendix 70 Command channel Table B 19 Change Edge int index Command channel functions Edge counter Reference Manual Inspector PIM Change Edge int index counter edge con int contrast O 100 trast Get Edge counter gINT 190 Yes int index O 63 edge contrast int contrast O 100 0 63 Get Edge counter feature type int index counter edge qual int robustness 0 6 ity Get Edge counter gINT 191 Yes lintindex O 63 edge quality int quality O 6 Change Edge SINT 192 No int index 0 63 counter feature int min 10 0 VGA image diagon width int max 10 all int unit 0 VGA image diagon al O 1
106. ved 13 Subject to change without notice Interfaces 14 Web interface Reference Manual Inspector PIM The result string is the string that is output over Ethernet and which is defined in the Ethernet Results Output dialog For example if the current configuration has an object locator and an edge pixel counter and Ethernet Results Output uses the default example formatting string the Inspector would return the following string rgRES 0 194 Image_number 9639 Object_locator Located 1 Score 99 00 Scale 1 00 Position_ X Y 237 78 202 05 Rotation 20 05 Edge pixel counter 1 Decision 1 Pixels 724 The result is not synchronized with the live image This means that in some situations if you retrieve a live image and after that a result string that string may not contain the result for the retrieved image but for an image captured and analyzed later See Section 3 2 3 Syn chronize live image with result page 14 for a solution 3 2 3 Synchronize live image with result To synchronize the live image with the result you need to assign an id to the image The id can be up to 16 characters long and can consist of numbers letters and special characters http lt IP address gt Livelmage jpg id lt ID gt The result for the live image assigned to the lt ID gt can be listed using the following syntax http lt IPp address gt ImageResult id lt ID gt Note The image might not update if this
107. ver Both error code and an explaining text are shown when using Ethernet Raw for configuring the device SICK AG Advanced Industrial Sensors www sick com All rights reserved Subject to change without notice 8015726 2013 11 Reference Manual Inspector PIM 8015726 2013 11 Command channel Appendix through the command channel When using EtherNet IP for configuring the device through the command channel will only view the error code Table B 21 Error codes Command errors No error 8000 Index out of bounds for example trying to use an image bank above 32 8001 Incorrect number of arguments too many or too few arguments are supplied 8002 A parameter value is out of bounds for example it was not in the allowed range as described in the command list 8003 Command with no valid identifier for example sINT 200 8004 An invalid mode was supplied sMOD for example sMOD 2 8005 The device is performing an operation and cannot accept new command 8006 Set commands are disabled for this interface 8007 This command is only available for GET SICK AG Advanced Industrial Sensors www sick com All rights reserved 73 Subject to change without notice Appendix Command channel Reference Manual Inspector PIM Table B 22 Error codes Configuration errors 0 No error 8100 Operation is not allowed in cur
108. xel counter in gINT 80 Yes int index O 63 tensity range int min 0 255 Hiestiolus int max 0 255 Change No of pixels sINT 81 No int index O 63 in range thresholds int min 0 ROI size pixels int max min lt max O ROI size pixels min lt max Get No of pixels in gINT 81 Yes int index O 63 range thresholds int min 0 ROI size pixels int max O ROI size pixels For information about tools indexing see Section B 2 4 Tools indexing page 54 PROI size is the size of the pixel counter ROI in the reference object Value can be fetched with the command glNT 87 SICK AG Advanced Industrial Sensors www sick com All rights reserved 63 Subject to change without notice Appendix 64 Command channel Reference Manual Inspector PIM Table B 11 Command channel functions Edge pixel counter Change edge pixel sINT int index counter edge int strength strength Get edge pixel gINT 182 int index counter edge int strength strength Change No of edge pixels thresholds int index 0 63 int min 0 ROI size pixels int max min lt max O ROI size pixels min lt max Get No of edge gINT 83 int index O 63 pixels thresholds int 0 ROI size pixels 10000 min min lt max int 0 ROI size pixels 10000 max min lt max For information about tools indexing see Section B 2
109. xtension box is available as an accessory from SICK This section covers how the I O extension box is connected to the Inspector and how it is configured The following basic steps are required to use the I O extension box with the Inspector Details about the steps are found in the subsequent sections 1 Connect the I O extension box to the network 2 Configure the IP address of the I O extension box to match the settings of the network and the Inspector 3 Enter the IP address of the I O extension box in the SOPAS Single Device application 4 Activate the inputs and or outputs on the I O extension box depending on the application Note The SOPAS Single Device application should be closed or set to offline when the power to the 1 0 box is disconnected The I O extension box needs to be restarted if the IP address is changed or if the connections to the inputs and outputs on the box are changed 2 1 Physical network connection To minimize network latency it is recommended that the I O extension box is connected directly to the Inspector The I O box has a network switch so that a PC running SOPAS Single Device can be connected via the I O box 1 0 Extension box Inspector PC with SOPAS Single Device Figure 2 1 Physical network connection 2 2 Configuration of the IP address on the I O extension box This section briefly describes how to configure the I O extension box for operation with the Inspector For details please

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