Step by step user manual VISION SYSTEM ROBOT GUIDANCE
Contents
1. rs Center the tool in the angle of the two square l When the robot is in the correct position select the voice User point X1 it became blue and push the lower button Modify Position 23 5 Now by using the joystick of the manual movement move the robot on the position X2 point in the X direction When the robot is in the correct position select the voice User point X2 it became blue and push the lower button Modify Position 24 6 Now by using the joystick of the manual movement move the robot on the position Y1 point in the Y direction as this is the position Y1 When the robot is in the correct position select the voice User point Y1 it became blue and push the lower button Modify Position 25 cA lt gt 7 There is the possibility to save in the program these 3 points This point it is not obligatory to do you can also continue to the following point bJ e een Push the button Positions and then choose the menu item Save Then you have to insert in which module to save the point left default value and push button OK The points are saved and you have to confirm again with button OK Then you arrive again to the main page 8 Push finally button OK for calculate the new work object The data of the new work object are showed you have to confirm again with button OK Once the robot has been calibrated you can test the calibrat2. e mail vea vea it internet www vea it VEA S r l via F lli Rosselli 43 20010 Canegrate MI T 331 40 27 51 5 fax 0331 40 13 27 iis Azienda con sistema qualita certificato n 393 UA EN 180 9001 2000 rif ma sbs robot ver 9 Step by step user manual VISION SYSTEM ROBOT GUIDANCE This user manual explains the necessary steps to achieve the goal above using the HQV VEDO software series Pay attention that the features here described might not exist or might be different from the ones you have bought this is due to the modular configuration of HQV and VEDO systems In every picture that follows the functions to use are highlighted in yellow RIND AK oyecg salvar vuavenvwesiawias suacessucacatidasbecatvewsiquvassdeccisuuecebissssecatbusscunbasssescunnsecabiiissesedosaecestsiseccuasst aeniieees 2 1 ORR VU a sa ceacensee aca vivcucsccaversseeuscecscenaescassivsccscoatscesecareucecenvecesssnveccucestesesscasevessesstuees 3 1 1 Goin programmino ModE siose eaaa EO rO EE NONE R EE veennewses 3 1 2 Load a project only the first time sssscsccccccccccccccccsosccccceccececccccoocosecccccccceceeccocsssssccececcecccceceecsossosescceeccecososssse 3 1 3 Insert programming mode password only the first time ssssssesscccccccccecoccccssssssesceccccocococssssssesecececeeeosssso 3 1 4 Toke Samp ae E E E T TA 4 1 5 Positioning sample with LODO oe scccccccceccesveseccesccsvecsbescocccnsccecssasicccsntcesescdec
3. Eaa aris 17 Bee ARO capra Oiss E SE 21 ZS Save and load a Calibration Settings file ssssssssscscccccccccccccssssssssssssssscccsccccccccccscccssssssssscsssscccccccesssseeeess 26 Dn WIN Ry C Eoi EE E E ceases E E E E EES 27 3 1 DES T EE a E ee ne nee nee een eee eee meee 28 Dil REU WAM e E E E vecacsessasedeessias 30 1 Create samples 1 1 Goin programming mode If you are in the situation illustrated below press stop button STOP button 1 2 Load a project only the first time In programming mode window main menu go in File menu e press Load Project In the load project window choice a project type to modify You choose one of the programs called Prog base x side x is the number of the piece sides 43 YEDO ROBOT14 Fie Start Scene Options Login Help Lal ES ide 0 a HE FEI Project firsts 1 3 Insert programming mode password only the first time In programming mode window main menu go in Login menu e press Relog In Password window insert programming password ih YEDO ROBOT1I4 File Start Scene ptions Login Help lll S No loz Relog Actual level 4 Change Password 43 YEDO Password X Insert password VEA 0 1 4 Take sample In the main menu select Scene and open first scene ex pick1 ia FEDO ROBOTI4 File Start Scene Options Login Help au HINEEE Poen hhyetomputer Click on Camera 43 YED
4. Single sample setting option the settings Limit lines Single scene setting option the settings of of the parameters of the value perform the value of the indicators perform through through the inferior cursors comes the inferior cursors comes applied only to applied only to the selected sample the samples of the select scene otherwise otherwise they come applied to all the they comes applied to all the samples samples to the select scene defined in all the scenes This window offer the possibility of set some parameters and to select some elaboration s options The following image represents a typical situation of elaboration TSMC OR Mme piam or sieSamM zJo oe ie F Sirje sarigi BuG 1 Pack 1 sided EN i i F Mumanetiaciow rinine SNAP OK OBSTRUCTION essaqge Ea ee ee ee ee N E tool tool 2 tool 3 tool 4 tool 5 tool 6 tool en ESD ms EGUO ie Re ee ke Se Re Re ke ee In this case the VS give back an error because the piece was not identify 27 Red light on because there is an error 3 1 Settings interface From Settings window is possible to set individually and in real time some search s parameters Normally the default values are good for the most cases Warning Ensure to select the desired sample before change any parameters From the main window select the sample and only after change the slide
5. activated or if the window is sufficiently wide to be able to show it Degree of similitude of the occurrence in comparison to the sample Coordinates X Y and Degree VEDO Results BA ka Scene i 1 Pockl Time iGrab Elab 2268 0119 m ecs Sam Oec Accl Mame ms real DH real DY Degree ACIE Sup OO01 O1 99 3 side 00111 OO00 11 0019 05 oO90 25 100 Elaboration time V mean that there is not problem in 6 Degree of similitude the encumbrance zone is shown when there are problems in the zone of encumbrance zone 30
6. normally it is already OK With the definition of groups of search it is possible to do so that the belonging champions to a datum group is contemporarily sought This allows besides the definition of searches Front rear in which all the Sample are looked for but only the best of these 1s tried To create a new group is enough to select the first element of the called list Groups with the mouse A menu will appear with the voice Group Add that it allows the definition of the name group and of the number of necessities to be sought for that group Occurrences i YEDO Group definitions l x Group definitions El Je To select the name of the group with the right key and choose Sample definitions A window will appear with all the Sample that it is possible to include in the group The samples can be inserted once alone for every group Group Settings E A 13 1 13 Start vision Close scene window and in main menu press start or press eye button lt 3 YEDO ROBOT14 E Fie Stark Scene Options Login Help Ll BS de E HE FEI Project firsts 1 14 Generate automatic tool At this point leave the piece in the same position and press the button SNAP if the feneration of tool is ok a message appear in the message section e g Side 1 OK Press SNAP button to grab image To fPLik GF Reese pial oie tHon mue ol ak i m or Lr ano T F Sigeisspe maip p aik After you press SNAP b
7. the right of the camera s settings window lt amp YEDO Camera scene 1 Pick1 i x File Full Size 768 scale 1 2 Channel Channel 1 00 v Next Scene No Next Scale units pixel x Aute Y 576 Camera height 1160 from background to optical Position offset j xi 0 zi 0 ss y 0 al 0 Video Filter setting ae Auto Brightness oving grab Smooth io inst Setting trafana AEGI NNA Sharpen o ESN Bien Reset ie Spit field M Cutdak fO No GRAB IN port defined camera esti NAA Dynamic Expand M IV Flipx M FlipY Pseudo colors a ip P aries i KEEN Ix 4 160 mSec Full size test I Gain mode Auto gain OK no OK image i Press Full size to enlarge the view lt YEDO Camera scene 1 Picki x 768 scale 1 2 Channel Channel 1 00 bA Next Scene No Next z m Scale units pixel Auto si Manual sal scale Camera height 1160 from background to optical Position offset x 0 zi 2 0 al 0 m Video qy Filter ki 5 Auto Brightness Moving grab J Smooth p z Setting vc eee Febuild image I Sharpen fo otal Hisy Reset Contrast eas Split field J Cut dark fo No GRAB IN port defined camal 99 te Dest l Dynamic Expand M Fipx v FlipY Pseudo colors E P P heei I i Karra p 4 160 mSec Full size test I Gain
8. the system Through the Precision cursor the operator could select from 3 possible values 0 5 0 25 e 0 125 pixel the error ampleness of the border guaranteed from the system The absolute maximum guarantee is 6144 X 4608 subpixels Naturally a precision of positioning higher involve times of longer elaboration Medially the errors are sustained whit enough border under of the secured threshold allow the operator to select from four possible settings the recognition algorithm speed At the higher speed the system speed up the search while at low speed is more prudent preferring the reliability of the recognition in distinctive the tolerance to the rotations displayed in degrees in the velocity window decreases with the increase of the velocity It goes however accentuated that the velocity of search is strongly biased also from all the other indicators of elaboration and from the same characteristics of the model from the ampleness of the search zone from the images quality from the activated options etc first6 1 Pick 1 sidet Morph similar Precision ee 2 but for the similarity of the conveyor Normally don t care of this value 29 VEA 0 3 2 Result window The system show in real time the results of each elaboration after every request from the robot is possible to see the results of elaboration in the Results window Name of the selected sample if the option Name Display is
9. O Scene File Options Name 1 5 Positioning sample with robot Automatic tool calibration is a fast and simple method that helps you in the operations for scaling the camera s reference coordinates system with respect with the robot s tool one The main idea is to place a sample piece in a valid grasp position as it should happen in the normal machine s cycle and then let the VS calculate and send the coordinates to the robot with all the offsets included The robot put a sample piece in a valid grasp position VEA o Because the robot has already been calibrated it is sufficient to place the sample piece in a valid grasp position move the robot away from the visual field and send to the VS the piece s coordinates For these operation use on the Robot the procedure POSITION for reach a correct position left piece on belt and send coordinate to vision system for the description see the supplied operator manual Chapter 12 2 Equipment assembling point 6 Selection of on existing model on the vision system or create a new model In the VS under main menu Options Variable the coordinates sent by the robot will be available so it s necessary to define a sample in the scene and bind these coordinates to it 1 6 Take a photo Click on Camera to choose the right camera for that scene and eventually change the brightness and contrast value as needed using the bars under the image or b
10. all border in more If you want to center better the window that you have painted you press the right key of the mouse and move it after press close Window item 1 8 Define the work zone You can limit the working area for example to prevent robot collisions moving the 4 red lines visible in the Scene window Move the mouse on the red line and when you can see the cursor change simply move the line pressing the left mouse button lt 3 YEDO Scene File Options Name Pick1 34 Camera 1 0 Group Create mask D e let e i 1 9 Create grab encumbrance In the windows Scene click on Analysis to create the grab encumbrance and then choose Grayscale i YEDO Samle scene 1 Pick1 rapeze Flaws Crown Flaws Brai Ve Line Flaw Down LUp peer Line Flaw Left gt Right sample Line Flaw Up gt Down Center Line Flaw Right gt Lett positior Edge Flaw Down gt Up Edge Flaw Left Right Edge Flaw Up gt Down Edge Flaw Right gt Lett Delete Tube Centralise Horizontal zone Tube Centralise vertical Ring Flaws Mem 0 Brain Yector options Dirty background Chest mode Search zone Ring Flaws Mem 1 iay claws Mem Thread skip first last Matrix Cancel Delete analysis Sample height 25 Rotate image OF Once you choose grayscale from the menu then the set grayscale window appears Now click on Get sample and sele
11. conce sauces vesenceseceuedsboenseaceuecosvecusesveseseeees 5 1 6 Tike A POl Gina A E R 6 1 7 BOTICE ALG 6 AIM e E EE E EEE E E EE E N E E 7 LS DTM THE WOE ZOMG eis E 9 1 9 Create orab CMC UN AINE ccc cic coc ca pce ets aeueussuees nea aO ENNE RO canvas EAEN No SiN E aae aRU daraan a 9 1 10 Create Sample mask OO UOMAl ccccssosevsvcacicssessasdversss cvccocesscusecssesesasvardusoseceossucdusssaseensessusdvenseseuecoseeceuseesesseroasusess 12 1 11 Manage sample mask optional ssccscvsceccesessesssessscesivecsscsvessasessissaceseuesseeenseancdseacestessvesveussascacensessscassansateseuesseeee 12 1 12 Create group optional normally it is already OK ssssssssssssssssscscssssssscscsececcsecsscsssssssssssssssssssssssssssssssssssoo 13 EIS aO E A E E 14 Lie Cenerir aomi UNO Olsan E 14 EIS Saye Pr ee 1 0111001 Pe ne ee ee ee ere eee cesar ee ener nn eee 15 1 16 Delete project optional ssssseccccccecccccececcoccoccccccccccecccecocosessoccccccccececccosssssscccccccecceecocesossecccceceecososessssceecceeeseese 15 Li Disable Samiple optional siccccscccesscccsvesscs ces caccecsscscccesveceececetecscccvsovescsceesveesuccdeuesetacecssbsswsessevensesscestectuceastececessaees 15 LIS Go MACIA WOE ALON IOS c E 15 Zs CALIBRATION vosesecicnenstsicaserecarsrices tudes scneseusssieaactencrnesustucdesssncsvasssiaua wraemeeeteierereoustesaasseasss 16 2 1 Calhbranon SCE Lc ficccbiacencecnussaeahicuasansdniabcacessasouss canto casccusnuelccabisborsatessacsch eNO
12. ct the desired sample area using the mouse Set noise filter and delta max mode in the right select window VEA EA lt 3 YEDO Set Grayscale Print Filter that reduce the effects of noise m LUMINANCE 22 12 22 10 D Calculate without mast r 3 fa pits ME You choose the percentage of dirt on the 7 conveyor in comparison to the area of the mask Values from 1 to 5 are good Filter Get Write data4 i Iv Fuzzy nu ie Noise filter Lp 1000 ies cr ED oll iplay eei 1 Pkn Sere pinra Got Wii oi y Aad This is the window where to create the grab encumbrance The yellow shape defines where the grab take place the cross inside it shows the position of its center Finally close the window in order to save both the settings and the current image Now click on Create mask and select the desired area using the mouse 43 VEDO Set Grayscale X Print LUMINANCE E 72 Calculate with mask 10 Calculate without mask DetaMax eoon e 1000 2 84 Ok Cancel Get White data in variable sample Noise filter C If the encumbrance area exit from the field of view in the top or in the bottom the system does not matter use the Lev toolbar to create the mask Pen ajf Ley toolbar Ral 7 f amp C Fe 10 C mw Paint the piece with a small external border and everything those parts tha
13. ference rotation check Brain Vector options Dirty background Chest mode s offset ZERO Y offset ZERO 4 save NOTHING save NOTHING 4 save NOTHING Negative save Relative save r Fr F F F Local relative save Local image Load image 4 VEA o In the sample settings window click on Get sample and select the desired sample using the mouse e Left click define the area of the sample e Right click move the area of the sample e Middle wheel click resize the area of the sample amp YEDO Sample scene 1 Pick1 E x Options Analysis Name side1 Brain Vector v Increase sample size m Brain Vector options Increase J Dirty background Pixels fo size II Chest mode Center position r Position Absolute Search C Felstiveto zone Yt Delete zone Auto zone J x 64 Auto zone Y 64 M Equal size Copy zone from Delete sample sae aa Cancel r Features Multiple occurrences 1 Mask fA 25 Rotate image OK Sample height D VEDO Full Display scene 1 Pick x ere Quos Ghose Widow X129 172 Avon S487 This is the window where to create samples The yellow shape defines a sample the cross inside it shows the position of its center Start from left upper corner and go to right lower corner pressing left mouse button You surround the piece with a sm
14. ilter settin 7 Auto Brightness Sia Map grab Smooth 0 Setting 4 maa I Sharpen jo akart stop Reset FE Spit field Cutdark fO No GRAB IN port defined camera Dynamic Expand l S s IV Flip Iv Flp Pseudo colors a too i CR lx 4 160 mSec Full size test Gain mode Auto gain Insert in Position offset X and Y the same value used for delta X and delta Y during the calibration In this case 110 and 80 20 2 2 Robot calibration After the camera has been calibrated the next step is to calibrate the robot in order to obtain two homogeneous reference coordinates system To calibrate the axis of the robot with the axis of the camera you have to define a work object on the robot Assembly the supplied calibrating tool on the robot clamp and execute the following list of operations 1 Push the button then button me Jogging you will see the following page 2 Select for the Tool the tPinza0 Touch for select the Work Object you will see the following page 21 _ oO 3 Select the work object WoVision it became blue then push the lower button Edit and choose the menu item Define you will see the following page 4 At the voice User method select Now by using the joystick of the manual movement move the robot on the position X1 where will start our plane s a Be this is the position X2 this is the position Y1 7 a 22
15. ion by moving the robot on the other marks simply by giving the robot a couple of coordinates where to move 2 3 Save and load a calibration settings file In the camera settings window choose File from the main menu here it s possible to load or save an auto scale file map This function is very helpful for robot drive systems when there are different scales to manage in different projects Files are named defeverOO map for the default scene These files substitute the scaling in a project if at a given time you need to change the calibration of e g scene 1 you need to calibrate once and save it on a file named defever00 map From that moment ahead all the first scenes of all the projects in the system will assume that calibration scale 26 3 VS Interface After we have defined a scene at least and at least a sample into the scene we leave the window Scene pressing the Close key Returned to the principal window we notice that now the item Start from the menu and the button with the eye has enabled is sufficient to press one of the two for begin the control in line During the elaboration the main window is the following The message window gives indications on system status and The toolbars Options allows to select on operations bends the elaboration s options Bi d Halal Scene processed a Single ear Cursor of sample selection Activating the Cursor of scene selection Activating the
16. mode OK i 7 Auto gain mag OK i During the calibration procedure you may need to move the sheet in order to align the markers with the axis The central marker must be positioned in the center of the cross like shown in the next picture oF WOO fall Deeplap eters 1 Pic In the Options you can select Cross or Grid to view some useful guide lines 18 lt 3 YEDO Camera scene 1 Pick1 kile ull Size 768 scale 1 2 m AutoS cale i 576 Filter setting Wider VigeW Settings OK Pseudo colors I7 Mi x4 160 mSec stabilize peveeeeeeueey x4 1 60 mSec Full size test I Gain mode T Auto gain lt 3 YEDO Camera scene lt 1 Pick1 768 scale 1 2 m AutoScale n 576 p video Filter setting Auto Brightness Moving grab Smooth fo Setting A A Bett A SAN F ebi ildim age g Sharpen o Reset Contrast FE r Split field Cut dark fo camera Dynamic Expand I Dak tl Pseudo colors D lare I y z 4 160 mSec Full size test Gain mode 7 Auto gain Auto Brightness Moving grab Smooth lo Setting ee freee ebuild image r SNEEN 0 Reset Contrast L Split field micaia 0 camera Dynamic Expand P x Choose the marker sheet or the sample from the combo box that best fits the target area ensuring that all nine markers are
17. oration mode After you finish to create a project if you want to use it press the Eye button from the main window Now the system is ready to work with the robot 43 YEDO ROBOT14 S X Fie Start Scene Options Login Help Lal ES ide E HE FEI Project firsts 15 2 Calibration Vision System VS calibration can be done both manually and automatically In the main menu select Scene and then open the scene with the name Pick 1 then click on the button named Camera ESIMESE Pret feud swap ok STRUCTION Select Scene from the start menu 16 Open the Scene with the name Pick 1 EE ETT tai lt 3 YEDO Scene File Options If the camera is correctly plugged a live image will be shown else a red screen will notify you of a lack in communication between central unit and camera Check cables and power in case of error Focus the image by turning left or right the focus and iris rings until you get a reasonably clear and fix the rings once the image is ok 2 1 Calibration sheet Choose a calibration sheet big enough to cover the camera s visual field Put the sheet in order to have the marks aligned with the image s borders To help you in this operation you can select Full display from camera s settings window and then click on Options and select Cross 17 VEA o Proceed by clicking on the Manual scale button on
18. r on the Setting window In order to select the sample move the Single sample slider S ESOR Mmm Dala mr HHA oS ae I Single scene e W Single sample first6 1 Pick1 1 side1 190 34 690 532 When you move the slider the name of the selected sample is shown in the title bar first6 1 Pick 1 side Morph similar Precision Pir r ia pr rrr rrrrrrrri beg TE as Acceptance zo Medium LIII PEP ay recut 20l Pix Acc BU aa ae i Boa m Settings window 28 Acceptance Timeout Precision Speed You choose the percentage of dirt on the conveyor in comparison to the area of the mask Values from 1 to 5 are good Similar to the Acceptance slider all the objects that inside of the search zone present a degree of similarity respect the sample express in percent upper than the defined with the Acceptance cursor comes possible candidates to have identified like sample occurrences Acceptance fix the threshold of similarity respect the sample under than an object is considered defective and it doesn t come found from the algorithm of search In some case the system can take a long time to return a result you can limit this time changing this value with a subsampling that increase the resolution of the system work the occurrences position founded comes express in 1 100 di pixel This measure must understand feigns from certain errors whose maximum entity define the precision of
19. t are not in encumbrance of the pliers The black part is the area of encumbrance of the pliers Finally you should obtain a mask similar to the one showed in the picture and press OK item 43 YEDO Sample Mask OK CANCEL Range Undo CEE After press OK button in Set Grayscale window 1 VEA o 1 10 Create sample mask optional In the windows Sample enable Mask 1f you want to improve the performances of the vision After press OK button in the left bottom window side 43 VEDO Sample scene 1 Pick1 i 5 xX Qptions Analysis Mame zide1 Brain Vector i lncrease sample size Brain Yector options i m Increase veas T Dirty background Pisele 0 es Chest mode ee a ee Position Absolute search Porat eects zone Delete zone i fes Auto zone Y E4 IY Equal size Copy zone from Delete sample Cancel l OF Features Multiple occurences 25 Rotate image i Sample height 1 11 Manage sample mask optional If you have chosen the mask it will appear the following window You paint the parts that you don t want that the vision system recognizes For instance e the conveyor e the parts of the piece that can change as of the flash or areas that can reflect in strange way Remember to leave you some space around the piece After press OK menu button EETA 12 1 12 Create group optional
20. utton 1f all is ok a message will appear For example Side 1 OK mua mre ee Robot coordinate sent by the robot p Pao 5 p ms 1 Tigi ft i ae After this the system is ready and configured grabbing other images during elaboration will show two reference systems on the sample Repeat this procedure for all the side of the piece from 1 1 to 1 10 NOT 1 2 and 1 3 14 VEA oO 1 15 Save project optional In order to save the project on the hard disk you can select Save project as or Save project from the menu File in the main window otherwise you can press the diskette button i YEDO ROBOT14 E x Fie Start Scene Options Login Help i al ES ide 0 ae HE FEI Project firsts Press to save the project with the Current project name current name 1 16 Delete project optional In order to delete a project on the hard disk you can select Delete project from the menu File in the main window then select the project to delete and confirm File Start Scene Login pen Project save Project Click on Delete project Save Project As to delete a project Delete Project Shubdowsn 1 17 Disable sample optional In order to disable a sample 1f you do not need more follow this steps e From the window Scene select the sample that you want to disable click on Edit button e Select Disable sample from the menu Options in the sample s window 1 18 Goin elab
21. visible at the same time in the camera preview Enter Delta and Deltar separation between two marker values for the selected sheet measured in the unit of interest Separation values are already printed on the sheet but beware distortion of photocopies Click Next to proceed Reference mode Marker sheet Cal height Delta x Delta Y Select an orientation for the cartesian reference system The system s origin defaults to the center marker but any translation can be set later with Position offset Click Next to proceed or Back to return to previous steps Reference system orientAtion lt Back Newt gt Cancel Insert here the distance write on the calibration sheet Choose the orientation of the robot 19 VEA o At the end of the calibration procedure insert the distance between the optict s camera and conveyor amp YEDO Camera scene 1 Picki E zz x File Full Size 768 scale 1 2 gt Channel Channel fi 00 Next Scene No Next m Scale units pixel Auto scale Manual ta enale ome Insert here the distance between camera work plane and calibration plane Camera height from background to optical Insert X and Y value The value on the calibration sheet r Position offset 0 24 0 v 0 al 0 p Video F
22. y clicking the button Auto Setting 3 YEDO Scene File Options Finally close the window by clicking OK in order to save both the settings and the current image otherwise click OK no image to save only the settings Automatic settings for image s brightness and contrast lt 3 YEDO Camera scene 1 Picki E x File Full Size 768 scale 1 2 Chaka Manual settings Channel fi 00 Save only the current settings Next Scene No Next Scale units pixel Save the current settings and use the current image as picture to create 576 Camera height 1160 from background to opfcal samples Position offset p Video Filter settin E 5 Auto Brightness Moving grab Smooth 0 ieia setting peor 7 Hebuildimage I Sharpen lo Jia Reset Contrast a a Split field M Cutdark fO No GRAB camera i Dynamic Expand Vv Flip IV Flip Y Pseudo colors f P P Mi stabilize AEn i x 4 160 mSec Full size test Gain mode OK no Auto gain wie OK port defined 1 7 generate sample Now on the right of the window there is the samples panel choice a side to edit and click on Edit button or double click to selected side lt 3 YEDO Scene File Options Name Pick1 Samples 34 Camera 1 0 Group Create mask i Delta limits Material Re
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