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CIL 2048 USER MANUAL

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1. Timings ps Taoi 75 Texp 167 Ttot 387 e Mpal ER EN 3150 tly Am PaB HE X FFI Conf iguration AOI n 2 AOI n 3 AOI n 4 Draw ing ensitivity A F 462 election F computation computation G 11948 aq J8 mm J8 mm Mim E m ai it E ma mm ae gt AAA Me C Mm 3 _ D IAN C NN NN C ee m IN WM CO eee 5 7 INS EIA E ee a a m AA NENA a TT Erato ii The area of interest concept is described in the paragraph Area of interest Please refer to this paragraph for detailed description In the left part of the tab the VAL F and G values are displayed in real time VAL is a Boolean which indicates whether a segment within the AOI has been identified If a segment could not be identified for example there were no transitions VAL is set to O and the other values remain unchanged the two integers F and G are the result of a calculation on the selected segment This calculation is set up by using the frames of this editor Just over the oscilloscope trace there is small area containing a drawing of the detected transitions or segments This drawing is controlled by the frame Drawing 5 5 Configuration program AOI Position The area of interest can be positioned by using the two curtains that appear on the left and on the right of the scrolling image Click on the vertical line at the limit of the
2. D OO O00 0 00 00 00 0 3 O O0 OnO Or 0 0 0 0 0O Q 13 if ve E 14 flout O 0 20 mA analogue output 2 IGN 15 100 ohm load __ connect to RS485 bus on last unit 3 RS 485 I RS485 bus o ae Ba RS485 RS485 bus O 4af IGND S 17 Reserved S 5 CINT_____ O Integration in progress 18 CINT O Integration in progress 6 VALID O Measurement Valid __ _ 19 ALARM___ O Alarm S IA 20 STROBE Do notuse in V1 4b2 NPROG bit3 Programnumber INPROG bit2 ditto _________ INPROG bitt ditto o NPROG bito ditto __ _ _______ OUT3 O Outputbit3 OUT2_ O Outputbit2 OUT1 O Outputbitt OUTO O OutputbtO _____ i I I 21 22 10 23 11 24 12 25 _ E 20 COI pat 9 paa iof 23 nj 24 12 25 3 13 9 2 CIL 2048 User Manual 9 CAN connector 9 3 9 Technical specifications Monitor connector 6 GND _ _ _ 8 GND 9 linesync Direct connection of a VGA device You have have to wire the video out pin 7 to the R G and B inputs of the VGA connector pins 1 2 3 with 75 ohm coaxial cable the line sync pin 9 to the pin 13 of the VGA connector and the frame sync pin 12 to the pin 14 of the VGA connector The GND from pins 6 8 and 15 should be wired to the pins 6 7 8 and 10 of the VGA connector The power supply 24V can be fed through the CAN DB9 connector 9 4 CIL 2048 U
3. This editor is accessed by clicking on D It enables you to set up integration time c f paragraph Integration time and trigger c f paragraph Trigger There are several tabs one configuration tab to select the trigger source one tab to set the integration time one tab to set the trigger parameters if necessary 5 6 CIL 2048 User Manual 5 Configuration tab Timings Ps Teyco 19581 Taoi 35 Texp 371 Ttot 718 1 Elu ax Integration time Trigger Trigger Free run H Internal External CAN Bus The current trigger source is signalled by a depressed button Select the desired trigger source by clicking on one of this buttons Free run the capture of a new line starts as soon as possible This mode provides the highest line rate Internal the trigger is generated by an internal clock with an adjustable period adjustable in the Trigger tab External one or more inputs INPO to INP2 can be used to trigger the cycle on rising edges falling edges or both The inputs are set in t he Trigger tab CAN Bus an external device can trigger the cycle at the same time on all cameras connected to the bus Integration time tab Timings ps Taoi 35 Texp 372 Ttot 37332 fia f F aa f F1 woh a 6 He E y a e PAA E per 4 Conf iguration Integration time Trigger 196 ps 468 pP 3660
4. curtain and drag it holding the mouse left button down Transitions or segments will be detected only if they are completely included in the central zone between the two curtains Selection Among the segments detected in this area of interest one and only one must be selected for the ongoing processes If the area of interest is in transitions mode a pair of transitions is selected The content of this frame changes according to the selected area of interest processing Light or dark segment There are three choices to select the segment largest segment mika rightmost segment HU M leftmost segment MALI The selected choice is indicated by the depressed button To change this selection just click on another button Transitions There are two choices to select the pair of transitions outer transitions of a light object F Mamia outer transitions of a dark object iima The selected choice is indicated by the depressed button To change this selection just click on another button 5 12 CIL 2048 User Manual F and G computation The following choices are available to calculate the F and G values using the selected segment or transitions pair no value save CPU time HP right edge m left edge mu centre mm width gt m The selected choice is indicated by the depressed button To change this selection just click on another button Sensitivity The sensitivity is ex
5. e INGENTERIE CIL 2048 USER MANUAL C49918 020 001 01 Revision 1 Revisions History minor page setting improvements The information in this manual is subject to change without notice and LORD Ing nierie assumes no responsibility or liability for any errors or inaccuracies that may appear in this document or any software that may be provided in association with this document Designers must not rely on the absence or characteristics of any features or instructions marked reserved or undefined LORD Ing nierie reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them The software described in this document may contain software defects which may cause the product to deviate from published specifications All the LORD Ing nierie product names are trademarks or registered trademarks of LORD Ing nierie Other names and brands may be claimed as the property of others Copyright 2006 LORD Ing nierie Contents O A O ae 1 1 Tecnnical Supo aea A 1 2 ADOUt TAS Manuals ll a i eile E 1 2 AP e E SE ECO E O EEC A 1 2 2 GI 2048 Conce Sin 2 1 mMtrodu ction to MNS SCMAVMACO de ce 2 1 Line scan Video SIENA Sissi ria 2 1 Conceptor TARIMAS sii A A a 2 1 Conceptor DE MEM 2 2 EE EEE E EAE E E EE AEE E E E E al dace Maecenas EE etbaaees 2 3 Meorao Medea 2 3 APNE GC assess oe PR N E eS a manced has adaciasaas 2 3 ELNET rai A A ias 2
6. An external isolated 24V power supply is necessary as IOUT acts as a current sink The connected device must have a differential input with a current sensing resistance of no more than 250 O 0 20mA analogue input GND 2 IOUT 14 Never connect IOUT to GND 250 max Digital inputs The input pins INPO INP1 INP2 must be driven to GND Maximum input voltage 30 V Internal pull up 10 KQ Input device Lo INPO 1 2 example 13 25 12 switch GND 2 6 3 6 6 Connecting the CIL 2048 CAN bus For many applications it can be useful to connect several cameras CIL 2048 to carry out a combined measurement For example two cameras can be used to measure with high precision the width of an object of great dimension a camera measuring the position of the left edge and the other the position of the right edge A camera must then retrieve the measurement of the other camera in order to make the difference of the two measurements the exact distance separating the cameras having to be determined by calibration Presentation Shared variable Principle CIL 2048 implements a mechanism of shared variables over the CAN bus A set of twelve shared variables named CAN1 to CAN12 has the property to reflect automatically any modification carried out on any camera making this modification available to all the other cameras connected to the CAN bus The shared have then an identical value for al
7. h 4506 LS 65535 ll The current integration time is displayed in a frame at the centre of the window expressed in microseconds To change it 5 7 5 Configuration program drag the black triangular cursor of the upper slider for small integration times drag the black triangular cursor of the lower slider for large integration times type the desired integration time on the numeric keyboard and click on Enter Trigger tab The trigger tab depends on the selected trigger source For Free Run and CAN Bus there are no more parameters and this tab is not used Internal trigger This tabs looks exactly like the one for the integration time lt makes it possible to change the period of the internal clock expressed in microseconds External trigger 316 AE e CA de ES PAR E Conf iguration Integration time External source INEA m aA ee E ne mx ae site ene anes mi a eet Jaye INPO INP1 INP2 are the inputs of the camera This one can be triggered on Timings ps Taoi 35 Texp 372 Ttot 34227 arising edge of the input 1 a falling edge of the input 34 if both edges Any combinations of the 3 inputs can be specified mi means that the input is not used 5 8 CIL 2048 User Manual Area of interest editor H LLI one configuration tab to active the 4 area of interest This editor is accessed by clicking on There are several tabs one tab for
8. when returning to the RUN mode 4 Click on to obtain the output editor 5 Click on Alarms to configure the camera s alarm outputs 6 For FAULT select V1 The output FAULT will be true there is no segment in the camera s field of view 7 Click on the Digital Outputs to configure the camera s Digital outputs 8 In the DIG Configuration tab select Direct for OUTO 9 Inthe DIG output tab select V3 to drive OUTO and then click on Vx lt gt 0 to activate the output when the value is different from O 3 5 3 Quick start Step No 7 Run the application 1 Click on to save all the parameters 2 Turn the switch to enter the RUN mode 3 6 4 CIL 2048 reference Language selection The desired language can be selected by clicking on the icon Parameters a The parameters adjustment panel is then displayed as on the following screen copy Timings Ps Tcuc 586B6 Taoi 45 Texp 16Y Ttot 276 p FE AEFT Po 150 HORN y Pad qe X Language Modbus CAN Bus Language _ Frangais pes _ Nederlands Espanol If a tab other than Language is selected click on Language to select it Select the desired language by clicking on the corresponding button The currently selected button appears depressed Operating modes The camera can operate in two modes explained hereunder PROG mode RUN mode If the monitor is not connected the camera will alwa
9. 2 i Lock for Vi HI 0223 Lock for V12 HI 0224 Lock for V12 LO 0300 Transitions number for area of interest 1 CIL 2048 User Manual 6 0333 Transitions number for video line 0334 0363 Transitions for area of interest 2 2000 3024 Values of all the pixels 32 bit Register table EA PO pe ee pe ee A PO Registers Definition 0001 Status This register consists in the following bits N of bits Meaning _ Access Mode INPO input state O Read only INP 1 input state 1 Read only INP2 input state 2 Read only The program number is changed to the value of the bits 0 to 3 if it does not correspond to the ongoing program 6 13 6 Connecting the CIL 2048 0002 Integration Time This register contains an unsigned 16 bits value between 400 and 65535 It indicates the integration time in microseconds This register can either be read or written In this case the new integration time is applied at the next change of program 0003 Cycle Time This register contains an unsigned 16 bit value between 600 and65535 It indicates the cycle time in microseconds in internal trigger mode This register can either be read or written In this case the new cycle time is applied at the next change of program 0004 Effective Cycle Time This register contains an unsigned 16 bit value that represents the time of the last cycle measured in microseconds whatever the trigger This register can only be read 010X 01
10. B8 Ttot 341 Ea al El F 1 P E qe E DIG conf iguration DIG outputs nalog output Alarms INC A OUTA P Direct _ Timer H Timer 1 Time delay 1 32 ms 65 OUTA P Direct _ Timer H Timer 1 ry OUT2 Direct _ Timer gt 6 Timer gt 1 OUTS cannot be timed OUTO OUT1 OUT2 are the three outputs that can be temporised The Type fields enables you to select the behaviour of the output Direct means that the output is directly controlled by an expression s value Timer gt 0 means that the output is temporised for a normally 0 3 Active inactive output The output is Puipui activated when the expression s Inactive value requests it The Epes Temporisation temporisation starts when the expression s value changes At the end of the temporisation after the Time Delay the output is deactivated Timer gt 1 means that the output is temporised for a normally activated r Active output The output is deactivated Output when the expression s value re Inactive gt requests it The temporisation Temporisation ar Expression starts when the expression s value changes At the end of the temporisation after the Time Delay the output is activated To adjust the delay between 1 and 65 ms drag the black cursor in the Time delay frame The delay is the same for all the outputs 5 18 CIL 2048 User Manual 5 Digital outputs control
11. This menu shows the twelve expressions named V1 to V12 The name of the expression is displayed in the leftmost column The central column contains the formula for the expression or is blank for empty expressions The value for each expression is displayed in real time in the rightmost column An arrow shows the expression being edited This one can be changed by clicking on the name of the expression in the leftmost column 9 I mb 4 CIL 2048 User Manual 5 Enter a formula 0 If the expression has no formula this one must be first created by clicking on A on expression now contains just the null operator nop A real operator must then be selected to replace nop by clicking on the list of operators The operator will appear with default parameters Highlight the parameter to be changed by clicking on the button then click on the desired parameter in the list If the parameter includes an x a numeric value must be given This value must be entered using the virtual numeric keyboard which appears just after having clicked on the desired operand The value must be validated by clicking on the button Enter For example to select the parameter F1 click on the button Fx then on the key 1 of the keyboard with appears then on Enter of the same keyboard The item is used to insert parentheses into an expression The parentheses are displayed with a nop operator inside This is chang
12. Timings ps Taoi 76 Texp 166 Ttot 317 y g EE er 158 HE FE y r pad vo 4 DIG configuration DIG outputs Analog output larms Ey MTS Pout Am KOR a Ux OA ESOS Ux 8 OUTA at Ss m x lt gt 8 Ux B OUTZ 7S m vol HUB Ux B OUTS NA se A x Ux 8 The DIG outputs tabs contains two fields enabling you to select the expression controlling the four digital outputs OUTO to OUT4 The Driven by column indicates which is the expression controlling the corresponding output NA means that nothing is displayed Click on the up arrow or down arrow until you obtain the desired expression The Type fields enables you to change the polarity of the output Vx lt gt 0 means that the output is active when the expression is not null Vx 0 when the expression is null Analog output control Dutputs editor Timings ps Taoi 76 Texp 16Y Ttot 3168 e DIG configuration DIG outputs Alarms moza wa jane 26 m 4 24 mA Driven by We MEO OA A 4dm for Aim for a se The type of the output can be selected in the frame Type 0 20 mA or 4 20 mA The frame Driven by makes it possible to select the control expression NA means that the output is not used 5 19 5 Configuration program The field 0 4 mA for contains the value of the expression for which the output gives the lowest current 0 or 4 mA depending on the type The fie
13. a 0 a B fm NA _ V273 _ M4e5 _ Mb 489 416811 Mie 4344 _ M546 4748 99 18 _ 411 12 SA _ _p _ja _ _ __ __ _ _ _ m CAN1 2 _ CAN3 4 CAN5 6 _ CAN7 8 CAN9 18 CAN11712 Click on the icon Parameters y The available parameters are available in the tab CAN Bus The configuration below indicates that the value of the V4 expression can be read by all the cameras in variable CAN9 and the value of the V5 expression can be read in CAN10 Language Modbus EOE Baud Kate WHY _j125K 256K S 6K 1M hare O m NA _ Vers _ M445 _ Mo 489 _ 416 11 _ 142 _ 634 _ V576 _ Ves _ 9416 _ 411412 in aaam m CANI 2 CAN3 4 CAN5 6 CAN 8 _ CAN9 10 CAN11 12 Baud rate The speed of the CAN bus can be adjusted to 125 kbit s 250 kbit s 500 kbit s or 1Mbit s Speed must be selected according to the overall length of the bus The following table presents the maximum lengths according to selected speed Bus speed kbit s Bus Maximum length m Oo y Oam 1 000 30m CIL 2048 User Manual 6 AN NOTE Speed must be identical for all the cameras connected to the bus Share It is possible to select the two variables which will be transmitted to the other cameras NA means that no variable is transmitted by this camera V1 2 indicates that the variables V1 and V2 will be transmitted at each video line V2 3
14. connected to the CAN bus by transmitting the following message only composed of the two bytes of headers ID Byte1 1 ID Byte2 0 1 o o 0 po po _ __ ID Byte2 ID 2 _ ID 1 IDO RIR_ DLC3 DLC 2 DLC 0 o JO jo Jo Jo fo Jo J0 9 14
15. cycle time is too long The expression table may be too complex Try to simplify it Another cause could be a CAN bus failure If variables are shared by a camera but there is no other camera to acknowledge the CAN message the cycle time is lengthened to wait the acknowledge Check if the led n 1 is on In this case check the CAN bus or set the camera to not share any variable The executed program is 15 whatever the inputs If nothing is wired on the program number input this means that the power supply voltage is too low It should never be less than 14V lf the program number inputs are used check the wiring The programming interface is very slow This can happen in Free Run triggering when the processing time is longer than the integration time There is no CPU time left for the programming interface The trick is to use internal trigger during programming Switch to this mode and set a long cycle period as 10 milliseconds When the application is done switch back to the free run mode 8 4 This chapter give reference technical information about the CIL 2048 pinout for the connectors Indicator leds signification Camera s specifications Modbus protocol details CAN bus frame definitions Pinouts The available connectors on the CIL 2048 are 1 O connector CAN connector Monitor connector 9 1 9 Technical specifications 9 Technical specifications I O connector m
16. detailed oscilloscope trace to return to the main screen The button is used to return to the previous menu It is therefore very easy to switch quickly between two screens for example the details oscilloscope trace and the integration time adjustment menu 5 2 Main toolbar CIL 2048 User Manual Display the menu for parameters adjustment language Modbus CAN bus Show the integration time and line rate adjustment menu Lens calibration menu Show the area of interest set up menu Show the expression set up menu Show the output parameters menu Show the RUN mode display parameter menu Record the programs in flash memory Toggle between displaying the whole width of the CCD sampling and displaying all the pixels of part of a CCD line Freeze the video acquisition to allow the image to be studied Show the detailed oscilloscope trace 9 3 5 5 Configuration program Display modes The display mode button ia between two display modes displays the whole width of the CCD displays all the pixels in part of a CCD line Displaying the whole width of the CCD In this mode the image displayed shows the whole width of the line viewed by the CCD The CIL2048 samples the pixels not all the CCD pixels are shown so that the 2048 pixels are reduced to an image size compatible with the monitor Some detail may therefore be lost during this process Displaying all the pixels In this mode each CCD
17. indicates that this is the V2 and V3 variables which will be transmitted and so on This parameter specifies in which CAN shared variables are emitted the two data selected in the Share tab Example Shared variables access The shared variables are accessible in the expressions with the operand CANx where X represents the number of the shared variable Communication failures A CIL 2048 which shares two variables transmits at each cycle a message containing the value of the variables When the CAN bus is disturbed it is possible that the message of the previous cycle could not yet be transmitted In this case the CIL 2048 lengthens its cycle in order to wait until the previous message has been well transmitted This waiting is limited to 40 milliseconds In cases of disturbed bus the CIL2048 lights the led n 1 6 7 6 Connecting the CIL 2048 Wiring AN The CIL2048 is equipped with a CAN connector 1 6 with the standard pinout CIA DS 102 GND http www can cia de 2 CANL AS 7 CANH A Pins 6 and 9 can be used to power the camera 3 CAN GND from an external 24V power supply Ifthe various cameras and devices connected to the bus have a common ground it is not necessary to connect CAN gnd CAUTION The different grounds are connected inside the camera and are connected to its metal case In order to avoid any ground loop being able to induce spurious electromagnetic signals it is h
18. meant as 0 Reading of the 002 register of the slave 10 Field name Example Hex Slave Address DA Function code 03 Starting Address HI 00 Starting Address LO 01 dr of registers 00 Number of registers 01 LO CRC m Answer The answer contains the required register value Field name Example Hex 9 8 CIL 2048 User Manual 9 Slave Address DA Function code 03 Byte count 04 Data HI 00 Data 01 Data 5A Data LO 43 CRC 06 Preset Single Register Writes a 16 bit register of the camera Query The query specifies the number of 16 bit register to write The 01 register is addressed as O Writing of the 002 regsiter of the slave 10 with the value 1234 Field name Example Hex Slave Address DA Function code 06 ed Address 00 Register Address 01 LO Preset data HI 04 Preset data LO D2 CRC 9 9 9 Technical specifications Answer The answer is an echo of the query Field name Example Hex Slave Address DA Function code 06 Address 00 Register Address 01 LO Preset data HI 04 Preset data LO D2 CRC 15 Force Multiple Coils Writing of several COILS Query The query specifies a sequence of COILS to write The COIL 0001 is addressed as 0 The value of the forcing of each COIL is indifferent Field name Example Hex Slave Address OA Function code OF Coil Address HI 03 Coil Address LO E9 Quantity of coils HI 00 Quantity of coils LO 02 Byte count 08 Force da
19. pixel represents a screen pixel All details are therefore visible but the only part of the line may be displayed at a particular time In this mode a part of the oscilloscope at the bottom of the screen is shown in grey and indicates which part of the video line is being displayed This area can be dragged and dropped using the mouse by placing the pointer on the grey area pressing and holding the left mouse button the pointer becomes a small hand The grey area can now be moved using the mouse Release the left button at the position required a ja Pas e qi te P 5 m io Ti aae ae E E ee ne Freezing the image acquisition The freeze image acquisition button freezes image acquisition so that the image can be studied and analysed without scrolling Clicking again on this button unfreezes image acquisition This button freezes all the CIL 2048 processing and is different of the display control FREEZE c f paragraph Display editor 5 4 CIL 2048 User Manual 5 Detailed oscilloscope trace This display is obtained by clicking the icon The screen copy shown hereafter presents the main toolbar and a secondary toolbar as well as an oscilloscope trace of the video signal which is more detailed than that which appears at the bottom of the screen Timings ps Tcuc 4998 Taoi 76 Texp 166 Ttot 368 urseur l Min Pixel 9281 Ps Max ee Score front Secondary toolbar The sec
20. signal is sampled in order to display the whole length of the 2048 CCD pixels in the 800 screen points 9 1 5 Configuration program The main toolbar and the context sensitive help are at the top of the screen The context sensitive help shows a Tool Tip for each item pointed to using the mouse Information on the timings is summarized at the right top of the screen in microseconds Tcyc indicates the effective cycle time This value is displayed on black background if the real cycle time is higher than the desired cycle time internal trigger Taoi indicates the time spent to calculate information of the four area of interest Texp indicates the time spent to calculate the expression table Ttot indicates the total time for the processing of a video line including the calculation of the area of interest the expressions and the output processing The number of the program that is being executed is shown at the top right of the screen Each button in the main toolbar is selected by clicking on the left mouse button Most of the buttons access a secondary toolbar and menu the others toggle between two states For two state buttons the background of the button is darker when it is pressed Navigating the toolbars When a secondary toolbar is visible all the buttons on the screen are accessible including the main toolbar This makes it very easy to change menus The button is used to close a secondary toolbar or the
21. with links to the content of this manual The area of interest detects no transitions This is usually caused by weak edges in the image Check the position of the area of interest c f paragraph Position and AOI Position A segment will not be detected if only one of its ends is in the area Check the image sharpness Ensure that the focus of the lens the aperture and integration time are adequate Check the transition detection parameter c f paragraph Edge detection If your image has smooth edges use a higher value for this parameter Check the sensitivity c f paragraph Transition detection sensitivity and Sensitivity Lower it if necessary The area of interest detects too much transitions This is usually caused by a textured background on the object or dust on the lighting Check the sensitivity c f paragraph Transition detection sensitivity and Sensitivity Increase it if necessary 8 3 8 Maintenance Check the transition detection parameter c f paragraph Edge detection A higher value for this parameter can filter out small details For some special applications some tricks can be carefully tested To suppress a texture in the background you can try to de focus slightly the lens in order to have a less sharp image You can also try to increase the lens aperture or the integration time in order to saturate certain parts of the image The effective
22. 0X 1 Vx 16 bits Expression value The 16 bit register pair 010X 010X 1 where X is comprised between 1 and 12 corresponds to the signed 32 bits value of the Vx expression The 010X first register contains the most significant word These registers can be read or written In this last case the expression takes the value given in the request until the CIL2048 updates again this expression s value This is never the case if the expression s formula is empty in the CIL2048 expression table In order to guarantee the consistency between the two least and most significant words accesses to both registers must be done within the same request using functions 3 or 16 020X 020X 1 Vx 16 bits Lock expression The 16 bits 020X 020X 1 registers pair where X is comprised between 1 and 12 corresponds to the signed 32 bits of the Vx expression lock The 010X first register contains the most significant word These registers can only be read Their value is updated by a COIL writing at points 101 or 201 0300 a 1 32 0331 a 1 32 16 bits area of interest a This range of 16 bits registers contains the results for an area of interest The first word contains the number of transitions in the area of interest the second the total number of transitions in the video line the following words contain the position of the transition on the 12 least significant bits and the direction of the transition on the most significant bit This bit is nu
23. 4 A vision system with the CIL 2048 oocccocncccccccccncccnoconncnnnonnnnonannonnnonnnnonnnnnnnnonnnnonnnennrnonanennnns 2 4 Physical installation of the CIL Camera coconcncoccnccccnncccnnconcnncnnnncnnnnnnnnnnnnnnnonnnnnonnnnnonnnnnnncnnnns 2 5 Sing the TE adus iment SyS teM a dd da 2 5 Mounting the CIL 2048 on a gantry without angular adjustMent ccoccccoccccccnconncnncnnnno 2 7 A O cosine abana O NN 2 7 Ei O O O 2 7 Thedifterent types Of SOUrCOS mssrrosnardc pasen DESE EEEa 2 8 FIOW OIGA ING O Ilo A a a Aa 2 8 PING PA A ean equ eet eme ne eu auiaee eae ae eau ane eee me eenaaiataeeae aeceauteaed eaeareuiee 2 9 LENS SCICCHO IM OPA No A aie caua vise aiid 2 9 kenc AN A a ate Ae E o A 2 10 Development Kline A ere rrrer rer ere err rrr errr ere err err errr cere rr errr errr ery 2 10 3 QUICK Sl isc AAA AA 3 1 step No 17 install Ihe Ca Mer aisia a Raa cariadd 3 1 Step No 2 Adjust lens aperture and integration time ccccceeccceeeeeeeeeeeeeeceeeeeeaeeeeseeeeseaees 3 2 Step No 3 Adjust the camera Orlentati0N ooccccccncccncncccnncnncnonnncnnnonnnonncnnnnnnnonarnnoncnconannnnnons 3 3 Step No 4 Adjust an area Of INterest oocccconncccnnncccnncnonnnnnnnnononnnonarnnonnnnnnnnnnnnnnnnonnnnnnnnonannns 3 4 Step NOD Edit Ne CxBreSSIONS e O es 3 4 Step N0 6 Configure the OUTDUES sitas ci acia 3 5 Step No 7 RUN te QD DICH OM ice cz vec ons cir 3 6 A GWE 2048 reic eOe oia 4 1 Language 4 1 D
24. 8 on a TPP 1 Mount the support on one of the sides of the camera by using four M4 screws caution make sure the sensor line is oriented correctly 2 5 2 CIL 2048 Concepts 2 Mount the angular adjustment system on the gantry by using four M6 screws 3 Then mount the support and the camera on the angular adjustment system by using the four screws supplied Adjustment 1 Holder E Adjustment 2 TPP adjustments Adjustment 1 allows moving the video line Hr Displacement of video ligne Adjustment 2 allows orienting the video line H_ Rotation ofvideo ligne 2 6 CIL 2048 User Manual 2 Mounting the CIL 2048 on a gantry without angular adjustment Mount the camera on a plate welded to a gantry caution make sure the sensor line is oriented correctly Lighting Lighting strategy There are two ways to light an object From beneath transmitted light From top light reflected or diffused on the object Transmitted light A lighting from beneath is mainly used to perform applications such as width measurement position checking hole detection Object If the object is transparent this lighting can Light source achieve detection of stains on glass etc fluorescent tube 2 7 2 CIL 2048 Concepts Light reflected or diffused on the object With top lighting the camera can be placed at Using diffused different angles light At the reflection angle specular refle
25. Cl iaa 5 6 OMMOUFAUION LAD erea lasta steed Liana eset tien das cuentas brads h Seen ate Soda t cose tates aie 5 7 tegration Ume TAD sarral bee o cisisas 5 7 FUI 5 8 Mernal WIG dean tia aia iaa ia oe oia 5 8 External Tigger aussi iia iaa 5 8 Ae O MerestedilO tada 5 9 SOMME UATOM taD tea ii ios 5 9 Area ol Mierest DFOCESSING asia aaa ais 5 9 A Referee eee eee a ener tne ent eee eer 5 10 Area OL Mireia adds 5 11 ADIOS e ll 5 12 O 5 12 Fand COMPU ON sisi 5 13 SENSIVA 5 13 Prat a 9 13 Expressions CONON occas eee ee eee e 5 14 O 5 15 Delete anexos SiO Nadia aletas 5 15 NSErt an express aaa EEA DAAE EDER 5 15 A Men eer recente nm remem men Rm cr cen trem Ten Tee er 5 16 OPUS A ser oO eee eer oem eee cer oe oe ed arr emer ed ree 5 17 DIG IAN SOUT DUN Sana 5 17 Digital outputs CONfIQUTAtiON ccocccocncocococonoconoconnconoconnronnronoronnronnronnronnrnnnrnnnronnrinnrinnninnss 5 17 Digital OUTPUTS CONVO ocoocccocccocncocncooncnnncnconnconoconncnnnrnnnrnnnnnonnnnnrnnnrnnnrnnnrnnnrrnnrnnnnenannnes 5 19 Analog OULOUL COM Oca ias 5 19 ALAR Mcdnd DATAV AILID COn rola dci tecla 5 20 ISP UA 5 20 Display AMES a ld didas 5 21 A ete te ne 5 21 Sil lolo A PAP E dcandaceneics tear desanasetit aaedateueees 5 21 LIC arcalbr lO traia ae 5 22 FONO MIA Cara a S 5 23 Elli a ceauactucans 5 23 PTOCCOUN Ci accecc o er ote 5 24 Fasnia POC dM arta 5 25 Backup ana TESTOVE uste 5 25 RS VISTI TITY lt td Dd ol 5 25 Backup OPE
26. ELTAVI lt O LCNT V2 If a new object appears V2 is assigned to the video line number Else it keeps its previous value memorization IF DELTAV1 gt 0 LCNT V2 V3 If the object disappears V3 is assigned to the current line number minus V2 i e the length and memorized When an object appears the video line number is memorized in V2 At the end of the object this value is substracted from the current line number in V3 Therefore V3 the object length in terms of number of video lines DELTAV1 V1 previous line V 1 current line Therefore DELTAV1 is negative when a new object is starting DELTAV1 is positive when an object is ending Simultaneous measurement of length and width The area of interest 1 is configured to correctly detect a segment representing the object F1 is set to measure the width of the segment true if a segment exists V2 IF DELTAV1 gt 0 V3 V2 will memorize the value of V3 length in terms of lines at the end of the object IF VAL1 V3 1 0 Counts the video line number 7 2 CIL 2048 User Manual 7 length when there is a segment Resets when no object is present V4 IF DELTAV1 gt 0 IF F1 gt V4 F1 V4 0 Memorize the maximum value of width between two object endings This program is based on the expression evaluation order The counting cell V3 counts the video lines when an object is present but resets at the end of the object As V2 is calculated before V3
27. ILBOX to the CIL 2048 with the cable CBL CIL XXX Do not connect the mouse and switch on the power supply Turn the switch monitor s front panel to enter the programming mode PROG A screen with an error message is displayed The firmware version is posted just over this message lt is outlined in red in the following screen copy CIL 2646 Version 4 8 build 1 Pas de souris No mouse Updating the firmware To update the firmware of a CIL 2048 camera you will need aPC with a serial port COM1 to COM4 USB serial port are supported the CIL 2048 monitor with its cable CBL CIL XXX 8 1 8 Maintenance anull modem serial cable female female a stub connector CIL2048 BMAJ SUB D 25 points female connector with the following straps 1 17 2 8 9 21 22 an updater file delivered in the form of an auto extractible file Procedure 1 Copy the updater file on the PC amp WMAJCIL build 1 00 in a temporary directory such as erd C temp and execute it by sen il clicking twice on the file s Icon Langue Language Select the desired language 2 Put the switch of the CIL 2048 Switch off the CIL monitor Plug the Display cable on the CIL monitor and the came m onitor in positi on OFF an d tee 1 port CO E e p Beery onn of _ CIL monitor and on a free Plug the CIL2048 BMAJ stub on the 1 0 connector of the CIL camera shut down the power supply of Switch on the CIL
28. NS ara ele 5 26 Alternate Regus IS caian ic idilio 5 27 O Connectind ne Cl 2048 aaron 6 1 MPS and OU US a c cictens tieiet etnies atte e o a dietas 6 1 Digtal output S ca A A ad 6 1 Using an opto isolated MOdUIE ccooocccoconononccococononnnconanononncnnonnnnonancnnnnnonaronnananenananos 6 1 Using an external power supply ooccooccccccccccnccocnnnononanoncncnonannnnnnonnnnnnnnonanonnrnnonnnennnnnannnns 6 2 dE eS id SAA O ena ete en eee eee Gee 6 2 A al0d OU DU linares aaniaeigieiitlaamsiaieiieits 6 3 Ita MP Siurana 6 3 CNS assets reteset ne ac aa eae asia ene ees Seta aad ES ET a 6 4 HA O O OU PE EE EE 6 4 s ared Variable PriniCile siii ra ia piacia 6 4 CAN BUS Paranaense eas nticerdamnseandosannadenaeatdcenueeneee 6 5 NAC variables ACCESS ioa couse eae reee aon 6 7 COMMUNICATION TAULES alishacnstatna tan ctishacnalateadaanatysnanslalsagsanatskeansiadsageanateheansadeacens 6 7 O A T E N AT ET 6 8 BUS TODOIOO ACE neo A 6 8 Cable Special standard ici 6 9 MOI a O de near eres 6 9 Gaping toine AAA nee a eee eel ee ee eee 6 10 PANIC Heh esate seen areca ec foes a E dan cata aseeoe deat 6 10 Data CONSI colas 6 11 Definition of accessible objects via MODBUS occoccccnccncocncononccncnonanonacononnnoncnonanononcnonanonanonos 6 12 Holding Register holding register oocccocccocccocccococonoconononoconononnnnnnnononononanonanonos 6 12 A era Setanta eae R 6 15 EXAMPLE 7 1 Maximum width Mea
29. Post the pattern on a wall and place the Adjust an area of interest camera in front of the sheet on a table for example For better understanding calibration has been voluntarily not used Of course a real application would require calibration More information Sea about calibration can be found in the paragraph Calibration expressions This example will activate the output FAULT when there is no object in front of the camera and the output OUTO will be activated when the Sane width is correct Configure the outputs The CIL 2048 setup is done in seven simple steps Step No 1 Install the camera Run the application 1 Remove the protective cap on the camera front 2 Remove the cover from the lens rear 3 1 3 Quick start 3 10 11 12 Mount the lens on the camera to do this set the lens marker red dot or white line opposite the camera marker black dot or the extension ring red dot and then turn counter clockwise Remove the cover from the lens front Turn on the lighting Connect the cable CBL CIL XXX between the monitor camera connector and the camera display connector Connect the mouse to the monitor mouse connector Connect the monitor to an AC power outlet Make sure all the connector screws are tightened correctly Turn on the monitor button on the monitor s rear panel After a short delay the main screen will be displayed If the mouse is not conn
30. ception Codes Code Name Meaning 01 ILLEGAL FUNCTION os function code in the query is not The received address in the query cannot be 02 ILLEGAL DATA ADDRESS used with the CIL2048 03 ILLEGAL DATA VALUE Aia value in this data field of the query is 9 12 CIL 2048 User Manual 9 CAN Frames definition The frame emitted on the CAN bus is composed of two bytes for header and 0 to 8 bytes of data The CIL2048 protocol distinguishes two types of messages messages transmitted by the cameras which share variables message to trigger all the cameras connected to the bus Message transmitted by a camera A camera which shares two expressions will transmit at the end of the processing of each video line a message composed of two bytes for header and 8 bytes of data If the camera shares its values in CANx and CAN x 1 the message is defined in the following way ID Byte1 0x80 n ID Byte2 8 nix fo 0 1 CAN1 2 2 5 CAN5 6 4 9 CAN9 10 _ CAN11 1 2 IA ID Byte 0 A SOS IDByte2 ID 2 ID1i IDO RTR DLC 3 DLC 2 DLC 0 po 0 1 0 0 0 0 0 Data CANx b3 most significant byte Byte2 Byte3 9 13 9 Technical specifications CANx b0 least significant byte Byte4 CAN x 1 b3 most significant byte Byte5 Byte6 Byte Bytes Message to trigger the cameras An external device connected to the CAN bus a such PC will be able to trigger in a synchronized way all the cameras
31. clock with an adjustable period If the internal clock runs faster than the maximum line rate the trigger overrun led turns on external trigger one or more inputs INPO to INP2 can be used to trigger the cycle on rising edges falling edges or both If all the trigger conditions on the inputs cannot be handled because they would exceed the maximum line rate the trigger overrun led turns on CAN bus trigger an external device can trigger the cycle at the same time on all cameras connected to the bus more information can be found in the paragraph CAN Frames definition 2 3 2 CIL 2048 Concepts Line rate The line rate is the number of video lines per second that the CIL 2048 can proceed This implies for a moving object a certain distance on the object between two video lines Therefore the object s speed has to be taken into account according to the desired resolution in the direction of the movement The line rate is related to The trigger period The integration time The processing time for a video line The longest time conditions the effective line rate The CIL 2048 adjusts the rate automatically This means that if the triggered line rate cannot be met the CIL 2048 will operate at the maximum possible frequency If this occurs the trigger overrun LED will be lit A vision system with the CIL 2048 The smart line scan camera performs not only the acquisition of the image but also the processing
32. ct it will be able to make appear surface defects in black on Using reflected light specular a white background This lighting is especially useful for detecting surface defects on metallic Light source fluorescent tube surfaces At a different angle the camera will receive the light diffused by the surface This is more suitable for detecting spots on a diffusing surface gt The different types of sources Several types of lighting sources exist They are more or less powerful directive with different colours The following sources can be indicated Fluorescent tubes Neons They are often used to observe large areas Halogen lamps Halogen lamps are more powerful and more directive They are often used when small areas are to be observed or when we work with reflected lighting and the object reflects very little light How to light the object Generally we try to obtain lighting on the object which is as uniform as possible All this is done to avoid obtaining a saturated signal in a part of the video line and a weak signal in another part Here are a few lighting methods For example To take a width measurement a fluorescent tube in transmitted lighting is used to detect the object s edges 2 8 CIL 2048 User Manual 2 To detect an object on a dark tape halogen lamps in reflected lighting are used under grazing incidence in order to be capable of observing the object s edge
33. ct the second term 0 of the IF expression IF DELTAV1 gt 0 J 0 Click on IF DELTAV1 gt 0 MITIN 0 Use the horizontal arrow to blacken NOP only IF DELTAV1 gt 0 Y3 0 5 16 CIL 2048 User Manual 5 Click on the button for the operator IF IF DELTAV1 gt 0 IMA 0 0 0 0 Use the horizontal arrow to achieve this IF DELTAV1 gt 0 IF 1 0 0 0 Click on IF DELTAV1 gt 0 IF ESD 0 0 0 Move the horizontal arrow in order to blacken NOP IF DELTAV1 gt 0 IF 3 0 0 0 Click on gt then fill up using horizontal arrows Fx and Vx IF DELTAV1 gt 0 IF F1 gt ZJ 0 0 0 Use the horizontal arrows and the operators to enter the rest of the IF formula then use again the horizontal arrows to go on the last 0 IF DELTAV1 gt 0 IF F1 gt V4 F1 V4 To enter the figure 1248 click on Const x compose the figure required then press enter Outputs editor This editor is accessed by clicking on is There are several tabs to configure the digital outputs the analog output and the alarms The output functions are explained in the paragraph Assignment of outputs Digital outputs Digital outputs configuration This editor makes it possible to select the configuration for the digital outputs direct or temporised c f paragraph Digital outputs 9 17 5 Configuration program Dutputs editor Timings P Taoi 76 Texp
34. d value on the numeric keyboard When done click on enter The Edit this area of interest tab makes it possible to adjust a temporary area of interest for the calibration test pattern only The available parameters are the position of the area curtain and the sensitivity Refer to the paragraph Area of interest editor for more information Polynomial calibration Calibration pattern You need to prepare a calibration test pattern made with typically eight black segments with dark background or the reverse spaced regularly so that the left edge of the first segment and the right edge of the last segment correspond to the maximum width of the field Place the calibration test pattern at the upper surface of the object level The segments must be dispatched regularly so that the first and last sides correspond to the maximum position of the metal sheet when the width is maximum It is better to use whenever it is possible dark thin segments You must measure very accurately the width of those segments and the space between them because later on you will need to enter in the camera the absolute position of the centre of each segment NOTE It is not important that the segments have the same width or same spacing But you must have a precise measurement of the segments centre position 5 23 5 Configuration program Procedure Select the polynomial configuration polynomial and the segment type according to t
35. e of any expression Direct control The four outputs can be directly controlled by the value of the expression One can specify if the output must be active when the value of the expression is true i e non null or false i e null Temporisation With direct control if the value of the expression which controls the output is true only during a video line the output will produce an impulse of the cycle duration which can be a weak duration a few hundreds of microseconds This case can occur for example in the presence of a defect with a very small length It is then possible that the device to which the CIL 2048 is connected cannot detect a so small impulse In order to lengthen such an impulse the first three outputs can be time lengthened The temporization expressed in milliseconds can be adjusted between 1 and 65 ms In this configuration the output is activated when the value of the expression become true but it is reset only after the end of the temporization even if the value of the expression changes before Alarm outputs The CIL 2048 has two dedicated outputs called FAULT and DATAVALID which make it possible to validate the processing of the video line and the value transmitted by another output the analogical output for example As any output these two outputs can be linked to the value of any expression 4 9 4 CIL 2048 reference However ALARM and DATAVALID have a particularity over the normal outp
36. e of the basic concepts used in the line scan processing part of CIL 2048 It also describes the elements of a vision system based on a CIL 2048 Introduction to line scan video Line scan video signals Concept of Transitions The CIL 2048 is based on a line scan CCD sensor This Line is an image acquisition device formed of a single line of scan photosensitive elements Therefore the video is acquired CCD line by line compared to matrix sensors which generate sensor frames Line scan cameras are very suitable for all inspection Matrix procedures for identifying non conformities in continuous CCD materials glass ribbons paper metal plastics powders sensor etc as well as for a wide range of contact less measurement applications A line scan video line can be considered to be a cartography of the brightness of the points of the line observed by the camera Each point s luminosity is expressed as grey levels eine 0 to 255 for 8 bit intensity resolution A gray levas 4 pixel Last pixel An abrupt variation in the grey scale level corresponds to an edge of the object or toa variation in its tint or its aspect The detection of this variation or transition will therefore 2 1 2 CIL 2048 Concepts allow taking contactless measurements of very high precision thanks to the very high resolution of the line scan sensors which is better than that of standard matrix sensors For example it will be
37. each area of interest to configure its parameters Configuration tab Areas of interest editor Timings ps Tcuc 5606 Taoi 76 Texp 166 Ttot 388 fimi T 150 H0 Folia a amp s Pag FEI q X EEN AOT ni AGI n z AGI n 3 AOT n 4 AQT n i AQT n 2 AQT n 3 AQT n 4 _ Inactive p Inactive EH Inactive _ Inactive _ Dark segments _ Dark segments _ Dark segments _ Dark segments E Light segments Light segments Light segments Light segments _ Transitions _ Transitions _ Transit ions Mm Transitions Edge detection A MAS ar wie a Area of interest processing The processing for each area of interest 1 to 4 can be configured in this tab according to the four following items The selected item is indicated by a depressed square button To change the selected item just click on another item Inactive This area of interest is not used No CPU time is used for this area Dark segments This area of interest detects dark segments c f Concept of Segments This means that it will detect black object with two ends on a white background Light segments This area of interest detects light segments c f Concept of Segments This means that it will detect white object with two ends on a black background 5 9 5 5 Configuration program Transitions This area of interest detects transitions c f Concept of Transitions This processing can be used for object with only one end in the camera field
38. ected an error message is displayed inviting to connect a mouse This can be done without restarting the CIL 2048 camera Turn the switch monitor s front panel to enter the programming mode PROG Click on to change the parameters and then click on Language and English Step No 2 Adjust lens aperture and integration time This step 2 consists of obtaining neither too much light nor too little light is on the camera a e w P e Click on a to obtain the time management window Click on Configuration Click on Free Run Click on Integration Time Adjust the integration time value to the minimum value by using the upper slider Click on the black cursor and hold down the left button of the mouse while dragging it to the leftmost position 3 2 6 te CIL 2048 User Manual 3 If possible adjust the diaphragm to obtain a video signal which is located in the upper quarter of the oscilloscope area for the white regions of the object If this not possible set the lens at its maximum aperture and adjust the integration time to get a correct video signal Step No 3 Adjust the camera orientation In this step the camera s orientation is adjusted and the lens is focused 1 Preset the focus ring to the distance between the camera and the object cick on ill to obtain Me nino E ox the oscilloscope mode Max 199 Edge score 162 Adjust the camera s orientation to find the
39. ed using the procedure described above The Const x item is used to insert a constant parameter The cursor must be placed on the value before it is selected Delete an expression To delete only the formula of an expression select it first by clicking on its name in the O leftmost column then click the button l To delete a line in the table and shift up the following lines select the line by clicking on its name in the leftmost column then click Delete and shift up cells Insert an expression To insert an expression in the table select the line to modify and click Insert and shift cells down The selected line and the following will be shifted down if there is an empty line at the bottom of the table 5 15 5 Configuration program Example To enter for instance the following formula IF DeltavVvl1 gt 0 IF F1 gt V4 F1 V4 1248 Select the desired line in the editor by clicking on its name V6 for example If the O expression is not empty delete the formula and recreate it using l until you see NOP All the operators are displayed in a grid Click on IF m3 0 0 0 Using select the first zero IF 9 0 0 Click on the operator IF RNN 0 0 Use the horizontal arrow to blacken NOP only IF Mod 0 0 Click on the operand gt IF f gt 0 0 0 Click on DELTAVx press 1 on the numeric keyboard then enter IF PAA e gt 0 0 0 Using sele
40. eerie TA segments detected in AOI X transitions detected in AOI X ae a expression X GREYLVL numerical value representing the grey level 0 to 1234 X 255 of the pixel at the centre of the segment selected in AOI X expression X relatively to the previous line which started the video line integration INP1 8 for INP2 peor aae incremented by 1 at each video line CAN shared variable number X AN NOTE DELTAVx is defined by the formula VXprevious line VXcurrent line Therefore DELTAVx is negative when Vx increments If Vx is a logical value DELTAVx is negative when Vx becomes true 4 7 4 CIL 2048 reference Numbers and units The CIL 2048 basically process numbers as signed 32 bits integers from 2 147 483 648 to 2 147 483 647 These numbers can be for example areas of interest s values as F and G or expressions values there are a few other values These numbers have no internal units Without calibration the areas of interest s values are CCD s pixels number After calibration they are expressed in a metric unit This unit mm m km can be chosen by the user and depends on the calibration data c f Calibration Calibration It is possible to express the values measured by the CIL 2048 typically F and G directly in pixel No conversion is carried out the values of F and G are positive and lower than 2048 in metric values by simply indicating the width of the camera s field of view and the d
41. ents aring which allows to adjust the focus of the lens aring which allows to adjust the lens aperture to let enter more or less light Development kit During the parameterisation the user uses the video monitor and mouse configuration kit to align the camera adjust the focus set the integration time and adjust the detection parameters The unit constitutes the configuration kit The configuration kit can be removed at any time once the system has been set up A single configuration kit can therefore be used to set up several CIL systems on a production line lt can also be left in place if the user wishes to retain visual control using the scrolling image A power supply must be connected to the CAN connector of the camera before the configuration kit can be disconnected Pin 9 should be powered at 24V and pin 6 grounded If a power supply is connected the monitor can be connected and disconnected without stopping the camera 2 10 Quick start This chapter gives hints for a quick setup of a CIL 2048 application e n i the measurement and the control of the width of a dark object RATES The simpliest way to test the camera is to make a test pattern on a paper sheet The test pattern should be a black rectangle Step 2 Adjust lens and integration time Camera Field of view Step 3 Adjust camera orientation This pattern can easily be drawn using a drawing program such as Step 4 MS Paint and printed
42. ents processed by window search for first last n largest or smallest segment dark or bright 9 6 CIL 2048 User Manual two result functions by window width position of the centre or of the limits of a segment number of segments elaboration of a measurement or of a decision based on logical arithmetic or test operations comparing the results processed from the different windows with the set parameters transfer of information to the environment via the input output interfaces Electrical interfaces interface with monitor for develooment purposes RS232 interface max 115 kbauds for program save and restore RS485 bus interface max 1 Mbaud for Modbus communication 13 bit 0 20 mA analogue output port CAN field bus at up to 1 Mbaud three digital inputs four digital outputs open collector four inputs for program selection 9 7 9 9 Technical specifications Modbus protocol details Supported Functions List of the supported function codes og Read Holding Register Reading of the camera registers 06 Preset Single Register Writing of a 16 bit register J Force Multiple Coils Locks update Preset Multiple Registers Writing of several 16 or 32 bit registers Details of functions 03 Read Holding Registers Reading of the camera 16 or 32 bit register value Query The query specifies the number and the number of registers to read The registers can be 16 or 32 bits The register 0001 is
43. er Subcon plus F3 Modbus The CIL 2048 has a RS485 serial port available on the input output connector that can be used to connect one or several cameras to a multidrop mode bus The used protocol is MODBUS The CIL 2048 can only use the RTU mode as part of this protocol The MODBUS communication protocol enables to a master for example an automaton program o a PC to access to the internal registers of one or several CIL2048 connected to the bus The accessible values in these registers in reading or in writing are mainly the 6 9 6 Connecting the CIL 2048 values of the V1 to V12 expressions with functional parameters of the camera Integration time cycle time sensitivities etc The writing of the status register enables to change program number over Modbus The values of the V1 to V12 expressions is coded on 32 bits You can get access to these values by MODBUS either on 32 bits for the masters that allow the use of long integers on 32 bits or on 16 bits for the masters that allow only the access to 16 bits registers In this case the value is coded in a pair of 16 bits registers and the application must combine them before using it Cabling to the camera The RS485 bus of the CIL2048 is on two wires and works in half duplex mode only It is available on the I O connector of the camera The connection to a COM port of a PC needs the use of a RS232 RS485 converter The last connected camera on t
44. er understanding of the use of expressions operators and operands Maximum width Measurement This example shows how to measure the maximum width of an object seen from the top and demonstrates how to get the maximum of a value The area of interest 1 is configured to detect the object as a segment and F1 is set up as the width of the largest segment IF VAL1 F1 0 If there is a segment V1 is equal to the width of that segment else 0 EE number of Escapa echan su in the a E Escapa echan su interest IF V3 lt V1 V1 IF DELTAV2 lt 0 0 V3 V3 is the maximum local width V3 resets when a new object appears V1 is necessary because if there is no segment F1 keeps the last segment s value A new object s beginning could be missed by V3 if the new width is smaller than the previous maximum VAL1 is true when one or more segment exists DELTAV2 V2orevious line V 2current line Therefore DELTAV2 is negative when a new object is starting DELTAV2 is positive when an object is ending 7 1 7 Examples Length measurement This example shows how to measure the length of an object and demonstrates how to memorize values The length is measured in term of number of video lines Knowing the speed of the product and the cycle period one can easily compute the length in metric unity No F and G are required but the area of interest 1 must be configured to correctly detect a segment representing the object IF D
45. esired origin This conversion is linear and does not take into account possible non linearities due to the lens The values of F and G are expressed on signed 32 bits integers ranging between 2147483648 and 2147483647 in metric values with correction of the distortions by a calibration For that it is necessary to have a mechanical test pattern exhibiting bars distributed in the field One indicates the metric position of the centre of each bar and the system calculates a polynomial making it possible to correct the distortions and non linearities The minimum number of bars is 3 which inevitably does not make it possible to correct the distortions perfectly The maximum number is 15 NOTE The order of the calculated polynomial is 7 if it there has more than 7 bars if not it is the number of bars minus 1 The calibration uses a lookup table which is calculated once for all at start up and thus does not induce any loss of performance on the processing times 4 8 CIL 2048 User Manual 4 Assignment of outputs The various outputs from the CIL 2048 digital analogical as well as display on the monitor must be activated parameterized and linked to a expression The outputs are updated at every video line after complete calculation of the table of expressions according to their parameters and to the value of the linked expression Digital outputs The CIL 2048 has four digital outputs Each output can be linked to the valu
46. exe SCPY tord Clink Connected to CIL2048 Version 4 1 build 0 on port COM4 CLEARALL clears all parameters in the CIL 2048 and resets it to the factory default to be used with precaution SCPY can save CIL 2048 screen copies save response id to make procedures for example It is E a necessary to tick Save response and to Request sCPY Transmission click on Send The name of the graphic eae No byte Nb Timeout Repetition file is then asked As the file will be in Le Jl TIFF format it is necessary give a name with a TIP 5 27 6 Connecting the CIL 2048 Inputs and outputs Digital outputs The outputs are Normally Open an active output is shorted to ground Maximum voltage 50 V Maximum sink current 200 mA continuous 500 mA peak Using an opto isolated module This mode is the preferred method to interface industrial devices such as PLC 24 11 23 10 SV input opto isolated module 6 1 6 Connecting the CIL 2048 Using an external power supply This mode is used to connect a charge with a high operating current led relay 24V opto isolator External power supply example 24 11 23 10 GND 2 Using an external pull up This mode is used to connect a 5V TTL input compatible device 24 11 23 10 SV compatible device with low GND 2 input current 6 2 CIL 2048 User Manual Analog output
47. he calibration pattern In Edit this area of interest adjust the area of interest size Adjust sensivity so that the system correctly detects all the segments Go to Parameters tab a S l HE Timings ps Taoi Texp H Ttot 24 By ay ad Conf iguration F Calculate the calibratipn a coefficie ks i Generate series for 2 Rating 3 Ref resh 4 display 5 6 Y B A a ee A The system displays for you a table giving details about the segments of the calibration test pattern Segment means segment number it starts at 0 so if you have nine segments it goes from segment 0 to segment 8 5 24 CIL 2048 User Manual 5 Pixels means the position of the centre of each segment in pixels the origin is pixel 0 Rating is where you enter the actual real position of the center of each segment Calculated means the segment position calculated through the polynomial Delta means the difference between one segment and the previous one This eases calibration control for regularly spaced bars Enter directly in the required unit the centre positions For this select the field by clicking on it The input field appears on a reversed background Then type the desired value on the numeric keyboard When done click on enter If you have regularly spaced segments you just have to enter the first two segments centre than click on Generate series for rat
48. he bus must carry a charge resistance with a value equal to the impedance of the used cable In the case of the use of a 100 2 cable a resistance of 100 internal to the CIL 2048 can be used In that case the 15th and 16th lead of the connector must be short circuited Parameters The following parameters can be configured as per the Parameters menu of the CIL Modbus tab speed from2400 bauds to 115kbauds parity Even Odd Mark Space No parity node address from 1 to 247 6 10 CIL 2048 User Manual 6 Parameters Timings Ps Taoi 45 Texp 166 Ttot 277 P KP kE a HE O Pag x Language Modbus C N Bus A AN Baud Rate A A A J J AAA 2488 48880 9648 19 2K 38 4kK 57 6K_ 115 2K _ Even _ Odd _ Mark _ Space j None Delay x2Hms A H Even NOTE No function with an Broadcast address address 0 can be used CAUTION The maximum count of the data included in a frame is 251 bytes either in receiving or in sending mode Data Coherence The CIL2048 recalculating the values of the expressions V1 to V12 at each video line and the pooling of the master being done in an asynchronous way may cause data consistence problems When the 16 bits access to the two registers containing a 32 bits value it is important that the most significant word and the least significant word are coherent For that it is important that both registers a
49. ighly recommended to isolate the camera from the metal mass on which it is possibly assembled Bus topology The bus must be wired in linear bus topology Terminating resistors of 1200 are necessary at each end of the bus trunk The star configuration is not possible It is possible to use drop cables but those must be shortest possible 0 8m maximum The overall length of the bus depends on speed see table in the paragraph Baud rate Cable de descente 6 8 CIL 2048 User Manual 6 Cable Specification The cable used to wire the bus must contain two shielded twisted pairs a pair being used for the bus signals a pair being used for the power supply The pair used for the bus signals must have the following characteristics Charateristic impedance 1200 propagation delay 5 ns m DC properties DC for no more than 32 nodes Cable Cable Terminator Maximum resistance section resistance speed 0 40m 70 mQ m 0 25mm 2 124 Q 1 1 Mbit s 30m AWG24 AWG23 AWG22 AWG20 The power supply pair must have a sufficient section according to the length of the bus and the number of connected cameras so that the loss of tension on line is not too important especially when power up power supply of a camera 15 to 24V consumption 300mA An example of cable specifically designed for the CAN bus is the cable Belden part number 3084A or 3082A The bus can be wired to the cameras with connectors Phoenix Contact part numb
50. ignal that will be detected and the greater the risk of a false transition NOTE The transitions are detected by a gradient method which is not sensitive to light variations 4 3 4 CIL 2048 reference Selecting a segment The processing within an AOI is carried out on a segment that must be previously selected The CIL 2048 can select the largest segment the leftmost segment the rightmost segment Results Five numerical values are defined for each window a Boolean 0 or 1 VAL which indicates whether a segment within the AOI has been identified If a segment could not be identified for example there were no transitions VAL is set to O and the other values remain unchanged the integer SNBR gives the number of segments found in the AOI the integer TNBR gives the total number of transitions found in the AOI the two integers F and G can be used to return the result of a calculation on the selected segment left hand edge right hand edge centre or width Expression Calculations The various values defined by the calculation of the area of interest as well as other system variables can be combined in twelve expressions V1 to V12 using operators The expressions are calculated one after the other the V1 expression being calculated first Each expression is basically composed of an operator and values operands on which the operator applies The number of operands depends on the operator and i
51. ing When done click on calculate the calibration coefficients The polynomial is calculated Check the calibration quality with on the table Flashing programs AN When the parameters for the different programs have been correctly set up they are saved by clicking on the button All the CIL 2048 programs 0 to 14 are then written in the flash memory Caution Recording the program number 15 allows to reset the memory and to recover the factory configuration of the CIL 2048 Backup and restore CILLINK utility CILLINK EXE is a WIN32 utility which makes possible the communications between the CIL 2048 and a PC in order to save and restore the parameters of the application CILLINK doesn t require installation Just copy the file CILLINK EXE to a convenient directory and double click its icon to start the program 5 25 5 Configuration program The CIL 2048 must be connected to a COM port of a Windows PC COM1 2 3 or 4 by its RS232 connector using a point to point direct cable No configuration is necessary on the CIL 2048 because the communication protocol is autobaud When one launches ClLlink exe it scans the available COM ports among COM1 COM2 COM3 or COM4 for the CIL 2048 If the auto detection fails the Settings tab makes it possible to impose a COM port and a communication speed After modification it is necessary to click on Accept to validate and scan again for the CIL 2048 The connection state is d
52. isplayed at the top of the window Backup operations LU Bord CIL link PRG CREE 8 1 EENES PETITES ENS PEL SIE TTT Unable to find CIL2048 The Backup tab has two buttons Save and Restore Save makes it possible to record in a CIL file the parameters sve contained in the flash Click on Save and give the desired file EN O name Transmission Restore makes it possible to restore Nb retry Nb byte Nb Timeout Repetition the contents of the flash from a file A A Click on Restore and navigate to the file containing the desired backup Trace Serial port COM4 is not valid Error Unable to define the buffer size of the serial port Error CAUTION Save doesn t save the parameters from RAM memory in the event of a modification of the CIL 2048 configuration it is necessary to record the programs to be able to save the modifications 5 26 CIL 2048 User Manual 5 NOTE Restore doesn t modify the content of the RAM memory it is necessary to re AN start the CIL 2048 to charge the recovered parameters Alternate Requests The Request tab makes it possible to send various requests to the CIL 2048 The request processing by the CIL 2048 can return a file which can be recorded if Save response is ticked lt is necessary to type the request in the ad hoc field and to click on Send The available requests are CLEARALL and amp CiLLink
53. it can memorize the last value of V3 just before it resets Surface gt measurement summing the segments widths of an object The area of interest 1 is configured to correctly detect a segment representing the object F1 is set to measure the width of the segment Memorizes the previous value of V2 IF VAL1 V1 F1 0 Calculates the surface by adding all segments lengths Resets when there is no object An equivalent expression for V2 is ACCU VAL1 F1 NOT VAL1 Detecting and counting objects This example demonstrates how to use inputs The area of interest 1 is configured to correctly detect a segment representing the object V1 is true 1 if object exists ACCU DELTAV1 lt 0 1 NOT INPO Every time a new segment is detected the counter is incremented counter is reset upon external signal 7 3 7 Examples Detecting a local defect It is difficult to find local defects on an edge with a non constant position FILTER enables you to have a value following the slow variations of the edge but not the local quick variation The area of interest 1 is configured to correctly detect a segment representing the object F1 is set to measure the edge position of the object 1000 V2_ CHECK F1 V1 1000 10 Check the non filtered value against the filtered one with a tolerance of 10 units 7 4 8 Maintenance Firmware Identifying the firmware version Connect the monitor or the C
54. l the cameras and can be updated and be used on different cameras Note Each CIL 2048 can be configured to update two shared variables at each processed video line On the other hand a camera can read an unspecified number of shared variables 6 4 CIL 2048 User Manual 6 V3 CANO9 F 1 Ensemble de variables partag es T CAUTION A shared variable should be written only by only one camera If several cameras are configured to write the same variable its value becomes indefinite It is possible to connect one or more cameras to an external device by the CAN bus This device which can be a PC equipped with a CAN interface board can then maintain a local copy of the shared variables table It can also trigger the cameras cycle by a special message so that integrations of the various cameras are synchronous It is necessary for that to select CAN bus as source of the trigger in the trigger control tab accessible by the icon The communication application of the external device must respect the protocol defined in the paragraph CAN Frames definition CAN Bus Parameters The various parameters of the CAN bus can be adjusted in the tab CAN bus of the Parameters page 6 5 6 Connecting the CIL 2048 Timings Ps Tcuc 656 Taoi 45 Texp 167Y Ttot 278 amp or fe E yi y a a H y PHH Language Modbus Baud Rate E 15K 454K pm 568k iM hare _ _ _ _o __ _ _ o eo
55. ld 20 mA for contains the value of the expression for which the output gives the highest current ALARM and DATAVALID control Timings ps Taoi 76 Texp 166 Ttot 316 Y Er Ea EX E E PAA q A DIG conf iguration DIG outputs fnalog output Alarns Output Driven by FAULT NA NA DATAVALID N ye OL The Alarms tabs contains two fields enabling you to select the expression controlling the output ALARM FAULT and DATAVALID NA means that the signal is not controlled Click on the up arrow or down arrow until you obtain the desired expression ALARM and DATAVALID are detailed in the paragraph Alarm outputs Display editor This editor enables you to configure the RUN mode display on the monitor screen Timings ps Tcyuc 564 Taoi 35 Texp 365 Ttot 488 Y Su HB El AZ 2 DISPA se gt B Value _ PASS FAIL DISPi MOLN E Value _ PASS F IL DISPZ ME 4 E Value _ PASS FAIL E SEE 5 20 CIL 2048 User Manual 5 Display frames DISPO DISP1 DISP2 are the three display frames at the top of the RUN screen The Driven by column indicates which is the expression controlling the corresponding frame NA means that nothing is displayed Click on the up arrow or down arrow until you obtain the desired expression The Type fields enables you to select a value display of the expression figure or a PASS FAIL indica
56. lighting with an angular adjustment system use the adjusting screw 1 NANI Pte nt Sem Pte Readjust the camera to obtain the most uniform and whitest possible video signal with an angular adjustment system use the adjusting screw 2 and then the adjusting screw 1 Move the cursor on one of the edges by dragging it with the mouse Click on to lock the cursor on the edge A bar graph appears nearby Turn the lens focus ring until the bar graph is at the maximum position Maximum aiea dy reached present level r lf necessary adjust the integration time to have the whitest possible level but without being saturated that is without being at maximum on any point in the 3 3 3 Quick start fia video line Click on to obtain the integration time management window and then on Integration Time Step No 4 Adjust an area of interest In this step the area of interest and their transition detection modes for the measurements will be made are defined He 1 Click on HH to get the area of interest editor 2 Click on Configuration 3 Click on the button near Dark Segments in the AOI n 1 frame Click on the central button Normal detection of the frame Edge detection 4 Click on the AOI n 1 tab to open it gi Define the area position take the right and left edges of the area curtain with the mouse cursor and adjust the area to be detected inside the curtain apert
57. ll for downwards transitions 6 14 CIL 2048 User Manual 6 100X Vx 32 bits expression value The 32 bits 100X register where X is 1 and 12 corresponds to the signed 32 bit value of the Vx expression These registers can either be read or written 110X Vx 32 bits expression lock The 32 bits 110X register where X is between 1 and 12 corresponds to the signed 32 bit value of the expression lock of the Vx expression These registers can only be read Their value is updated by a COIL writing at points 101 or 201 2000 3024 16 bits values of the pixels Values of the pixels from the CCD packed by 2 in unsigned 16 bits registers The first pixel is in the most significant byte COILS The writing of a COIL by the function 15 Force Multiple Coils no matter ON or OFF Causes an operation upon the expression locks 0101 Transfer of the V1 instantaneous value in the V1 lock 0102 Transfer of the V2 instantaneous value in the V2 lock 0100 Transfer of the Vi instantaneous value in the Vi lock 0112 Transfer of the V12 instantaneous value in the V12 lock 0201 Transfer of the V1 instantaneous value in the lock and V1 reset to 0 0202 Transfer of the V2 instantaneous value in the lock and V2 reset to 0 0200 Transfer of the Vi instantaneous value in the lock and Vi reset to 0 0212 Transfer of the V12 instantaneous value in the lock and V12 reset to 0 6 15 Examples This chapter gives some programming examples for bett
58. m pixel frequency cooccocccncccncncnnnnos 5 Mhz measurement rate depends on the processing required up to 1 700 lines processed per second for a basic operation MICFOPFOCESSOL coccooccncccnnncnnncnnnos Motorola 68331 21 Mhz MEMOLY coccccncncnncnnnanononononcnonanonos 256Ko Ram 512Ko EEPROM flash firmware cocoocccccncncncocononococonunonos downloadable into flash memory for update real time SysteM ccooccccccccncnn based on uC OS The Real Time Kernel power supply ocoocccoccccoccccncccnoo either through the monitor or by 24V typical 15 to 24V acceptable power CONSUMPIION ccoocco 300mA at 24V GIG LO PPP E o A possible on all four sides by four M4 screws positioning by guide pins and reference surface CS nenas io sitsa dale for 24 x 36 lenses with NIKON mounting WW CIO e 12009 storage temperature 30 C to 80 C operating temperature 0 C to 50 C Physical characteristics development kit video resolutiOn ooccoocco 800 x 600 256 grey levels for video 16 for graphic overlay vert frequency c oocccocccnccnnconnconos 70 Hz power Supply ccooccccoccnccncnccnocoo 110 220 VAC Monitor size ooccoocccconncncnnno height 227 mm width 251 mm depth 322 mm Processing functions four independent and superimposable processing windows selecting four areas of interest from the 2048 pixels of the video signal 15 segm
59. monitor the camera if it is external 3 Connect the cable CBL CIL XXX between the monitor and the camera 4 Connect the serial cable between the connector Mouse of the monitor and a serial port COM1 COM2 COM3 or COM4 available on the PC 5 Connect the stub connector CIL2048 BMAJ on the I O connector I O of the CIL 2048 camera 6 Switch on the CIL 2048 monitor or the camera s power supply if external 7 Click on the button Validate on the updater s window then the CIL 2048 being detected click on Update and wait for the end of the operation Check the result of the update in the lower frame Parameters The working parameters are recovered and translated from older versions up to version 2 6 build 0 However it is recommended to check the parameters after update 8 2 CIL 2048 User Manual 8 Update reversion The update of the firmware does not modify the parameters recorded in the flash as long as one does not click on the icon lt is thus possible to update a camera which contains an application to test it with the new version then to return to the previous version without having to enter again the application On the other hand as soon as one clicks on returning to the previous version re initializes parameters to factory default values Of course one must have an updater file for the original version Failure diagnostics This paragraph list some common failures and give some hints to fix them
60. n Linear calibration If you do not need to compensate for lens distortion you can convert measurements in pixels in your favourite unit using only linear conversion The Parameters tab enables you to configure and test the calibration For all segments of the test pattern seen by the camera a table shows the position of the centre of the segment in pixel and in calibrated value and the difference with the previous segment Timings ps Taoi Texp 5B Ttot 25 9 ee HE PEO 4 Qs POB q X Conf igurat ion Edit this area of interest Ref resh Pixels Calculated Delta Origin Field width Canis aj z a 6 da zoan i 1616 1616 A ee Spree ee ee gt T I ag a hac eats nt a A aaa aiaa a 3 A A It is necessary to enter the value of the total field of the camera that is to say the width of 2048 pixels in an unspecified unit as well as an origin One can place the origin 9 22 CIL 2048 User Manual 5 anywhere This procedure remains manual because one can use it for other reason that pure calibration It is necessary to make a measurement of the total field manually this can be done by measuring the width of an object which thus does not cover all the field and to make a proportion to determine the width of 2048 pixels To enter the origin or the field view select the field by clicking on it The input field appears on a reversed background Then type the desire
61. nnnnncnnrnnnanonns 9 4 INGICALO FEEDS sanidad 9 5 SPECIICATONS ise iia aid tuercas 9 6 POysicalcharacienstcs Camela ccs E Gdl 9 6 Physical characteristics development Kit ccccsececceeeeeeeeeeeeeeeeeeeeseeeeeeeeeeseeeeseneesseeeesees 9 6 ETOCOSSIMOUNCUOAS sieniniai a dni ds 9 6 Ao AA A O reuntgusrenaits 9 7 Modb s Protocol acia sesser araa A eb ciob dice 9 8 SUPPONE FUNCIONA S sti inicia 9 8 Estitine Supponted TUNCHON COGG Sera ibas 9 8 Detals Ol TUINCH ONS sn ip 9 8 EXCEPUON ans WONS toi ratico oia oia oia dens 9 12 A A A 9 12 EX CSO MG OG CS rss fs t EA EE EEEE OASES 9 12 GAN Frames ds OM tard a a 9 13 Message transmitted DY a Camela rinai siaia 9 13 Message to trigger the cameras cccocccccconcccnconoccncnnnononanonnnonnonannnnonnnnnnnnnnnnnennnnnnonannnnenaneneos 9 14 1 Overview Today artificial vision applications are increasing in industrial process However a classical vision solution requires a hardware configuration including a PC acquisition and processing boards and a programmer to develop specific software for even the simplest of tasks For this reason LORD Ing nierie has developed a parametrizable vision system that integrates in a few cm3 the functions of both a line scan camera and a computer The CIL 2048 is a high performance compact vision system parametrizable in a few clicks that will autonomously perform for you all the classical functions of a line scan camera No video a
62. ns it can be replaced by other displays 4 10 CIL 2048 User Manual 4 CILBOX The CILBOX contains a power supply and provides the same connectors and interfaces than the standard monitor and provides the same programming utilities lt must be used with an external standard SVGA monitor or a video projector Direct connection When the CIL 2048 display in RUN mode is relevant the SVGA signal from the CIL2048 can be used with special devices such as VGA extender frame grabbers etc The wiring of the CIL 2048 Monitor connector is given in the paragraph Monitor connector One must make a special cable between this connector and the device and provide programming resources if necessary key mouse 5 Configuration program Main screen Display all the pixels YS a HE Timings ps Tcyc 4992 Taoi 75 Texp 167 Ttot 368 FO as PAA Main toolbar Scrolling video Context sensitive help Video line oscilloscope IA ee A The main CIL 2048 configuration screen is laid out around the scrolling video image from the CCD This image scrolls upwards the most recent video line is at the bottom An oscilloscope trace of the video signal is shown at the bottom of the screen Each pixel is represented by a point whose height is proportional to the signal level This trace always shows the whole length of the video line from the CCD As the monitor resolution is not high enough the video
63. nsitions may be lost The transition detection mode allows these transitions to be recovered The CIL2048 allows two processing windows to be overlapped one window in locate segment analysis mode and the other in locate transitions mode Lens The object is viewed through a lens placed on the Nikon mounting at the camera front The lens is interchangeable lts focal length must be selected according to the distance from the camera to the object and the width of the field of view The lens must be adjusted in terms of focusing focus and aperture diaphragm Integration time It represents the time during which the light is converted into electric charges in the CCD sensor The greater this time the greater the video signal level will be for a given lighting The integration time must be adjusted according to the lighting of the object and the lens diaphragm to obtain a video signal sufficient and not saturated that is without being maximum at any point in the video line 255 LSB Trigger The integration of the light on the CCD the discharge of accumulated charges and then the processing of the video line are triggered at precise moments either by an external event or at a defined line rate With CIL 2048 four types of triggers are possible free running trigger the capture of a new line starts as soon as possible This mode provides the highest line rate internal clock trigger the trigger is generated by an internal
64. of the image averaging a parameter presetting to assign one or several of these outputs the value of a result for example Good Bad the value of a dimension etc A vision system based on a CIL 2048 camera consists of the following elements A camera which allows displaying the object and processing the image information to deduct a result A lighting which allows highlighting the object to be displayed Allens which allows imaging the object on the camera s sensor Mechanical supports which are adapted for the lighting and the camera Outputs connections to transmit the result The development kit including a video monitor is used during the parameterisation of the camera and the tests of the vision application 2 4 CIL 2048 User Manual 2 Input gt utput and power supply connectors Camera support rare Camera Lighting holder Lighting Physical installation of the CIL camera CAUTION The different grounds are connected inside the camera and are connected to AN its metal case In order to avoid any ground loop being able to induce spurious electromagnetic signals it is highly recommended to isolate the camera from the metal mass on which it is possibly assembled Using the TTP adjustment system LORD Ing nierie provides an angular adjustment system reference TPP to ease the adjustments of the camera and isolate the camera case from the metal mass Mounting the CIL 204
65. of view or to detect the extreme transitions of transparent objects Edge detection This zone makes it possible to adjust the detection parameter of transitions in the video It is possible with this parameter to optimize the detection of the transitions according to their stiffness and to the minimal width of the segment which must be measured Indeed if this parameter is too strong the width of the narrow segments will not be measured correctly it will be too high however the position of the centre of the segment will be correct Conversely if the parameter is too low very smooth edges will not be detected The correctly measured minimal width is as follows very narrow details 5 pixels narrow details 9 pixels normal 17 pixels smooth edges 33 pixels very smooth edges 65 pixels This parameter set on smooth edges or very smooth edges can also be used as a filter to suppress small segments that could be erroneously detected The following rules can be applied The normal position will be adequate for most if the cases lf you are interested by small details on a smoothly changing background select narrow or very narrow details lf you are interested by smooth edges and want to suppress small details select smooth edges or very smooth edges 5 10 CIL 2048 User Manual Area of interest tab There is one tab for each area of interest 1 to 4
66. ondary toolbar in the detailed oscilloscope trace window has two frames Video and Cursor Video frame This frame shows the minimum and maximum of the video signal If the maximum value is 255 the signal is saturated at least on one point 5 5 5 Configuration program Cursor frame This zone gives information on the pixel which is under the black vertical bar which appears on the detailed oscilloscope This bar can be moved with the mouse While clicking above and by maintaining the left button left of the mouse depressed the mouse pointer becomes a hand which allows the displacement of the cursor The first line of the zone has the form Pixel number level of gray and indicates the position of the pixel number and the level of gray of the pixel from O to 255 The second line Edge Score indicates the value used for the detection of transitions The stiffer the edge is the larger this value will be and better the edge will be detected The icon looking like a lock which appears in this zone makes it possible to automatically position the cursor on the point which has the best edge score in the vicinity of its original position The cursor follows the edge then Maximum already reached When this icon is activated a bar graph indicator appears A This bar graph represents the edge score and the maximum reached value This indicator can be used to optimize the lens focusing by maximizing the edge score Timings editor
67. or is present CHECK CHECK v n t checks v by respect to a 1 if v n lt t tolerance t GOTO GOTO p program change the program number p is executed Some special operators modify the value of the expression in which they are placed ACCU ACCU c v cz Counting operator the value of the expression is incremented by v if c is true It is set to zero if cz is true FILTER FILTER v c Implements a numerical low pass filter of order 1 in the cell v being the variable in entry multiplied by the coefficient C C is expressed in for thousand The value of the expression is v c 1000 c ep 1000 where ep is the previous value of the expression CAUTION ACCU or FILTER do not return a value and must not be used with other operators in the same expression An expression which contains ACCU or FILTER and other operators for example V3 FILTER V1 33 V2 will not take the awaited value It is necessary to specify for example V3 FILTER V1 33 then in a separate expression V4 V3 V2 4 6 CIL 2048 User Manual 4 Operands The following operands can be used Some operands require an additional numerical parameter X Operand Description Value of x Ia ae operator constant numerical value X displayed without the label Const Mar a of the digital input X logical variable 0 or 1 representing the validity of the selection of the segment in AOI X ae ee calculated in AOI X ie e calculated in AOI X sen
68. plained in the paragraph Transition ensitivity detection sensitivity This frame contains a slider which A ZH 127 enables you to change the sensitivity Just click on the h black cursor and drag it holding the left mouse button down The current sensitivity is displayed above the cursor Adjust the sensitivity to obtain the desired transitions This can be done by observing the actual transitions but a good starting value for the sensitivity could be half the Score front obtained in the cursor frame of the detailed oscilloscope trace CAUTION The adequate sensitivity can vary if the Edge detection parameter is changed Drawing or segment drawing and has no effect on the results of NT jS JF jS This frame just controls the behaviour of the transitions oT the area of interest 5 13 5 5 Configuration program The selected choice is indicated by the depressed button To change this selection just click on another button The choices are draw all the transitions or segments S draw only the selected transitions pair or segment For G draw a line at the position of the F or G value Expressions editor This editor is accessed by clicking on Timings Ps Tcoyc Sh61 Taoi r6 Texp 167 Ttot 389 PHH A x H A Delete and shift cells up A Insert and shift cells down H UAL1 1 Fi 914 Ls 0 61 928 qt 1 5NBR1 1 GREYLUL1 Tr Ae a a
69. possible to know for a tape viewed on a clear background its position and its width according to the location of the transitions corresponding to the edges Similarly if a medium of uniform tint is observed it will be possible to instantaneously detect stains or holes in this medium according to the way it is illuminated y 4 Transitions 2 downwards 2 upwards The hard wired transition detector within the CIL 2048 detects all abrupt variations of video signal level and stores the position of these transitions in a buffer accessible to the processing software Concept of Segments Most often the transitions are analyzed by pairs of opposite types For example rising and falling transitions corresponding to two edges of an object allow calculating its width A pair of transitions of opposite types define a segment A segment may be a dark type if its first transition is downward or a clear type if its first transition is upward Transition Transition discarded discarded lt gt 1 Dark Segment Directly analyzing the transitions implicates decoding the direction of each transition this decoding entails a time loss However it is possible to specify the types of segments that 2 2 CIL 2048 User Manual 2 are of interest and the transition processor can pair the transitions to create segments and eliminate the transitions that cannot be paired As a result when the processor is working in segment analysis mode some tra
70. re read within the same MODBUS request The coherence between the different values V1 to V12 is only guaranteed if the reading is done by the master inside a same and unique request Moreover the CIL2048 implements a lock mechanism latch for the V1 to V6 values The writing of a COIL directs the transfer of the values to these locks All required values in a query are transferred at the same time with a guaranteed coherence The locks can then be read with no trouble Their value remains the same until the next transfer query 6 Connecting the CIL 2048 For the use of meters the CIL2048 implements a mechanism allowing to get back the current meter value and then put it back to nought without taking the risk of losing the meter units that could have been active while the reading and the restart For this the writing of another COIL directs the value to the lock and then the expression back to nought The lock can then be read at anytime while the counter is being active Definition of accessible objects via MODBUS The modbus master considers the camera CIL 2048 as two register sets a 16 bit register set and a 32 bit register set Two COILS enable the use of expression locks Holding Register holding register 16 bit Registers table 0003 0004 0005 0006 0007 0008 010 0102 0103 0104 0100 2 1 0100 2 0123 0124 0201 0202 0203 0204 E 0200 2 i 1 Lock for Vi LO 0200
71. s Caution To prevent video signal beating phenomena a DC power supply halogen source has to be used or a 24V high frequency electronic ballast fluorescent tube Lens Lens selection For the choice of lens two cases are to be distinguished one case is when the lens is at a fixed well known distance from the camera the other case is when the distance between the camera and the object can vary Object at a fixed well known distance Data W the width to be observed in mm D distance between the camera and the object in mm Calculation of the focal length F mm _ D 28 672 W 28 672 Select the lens with the closest focal length F Calculate the final distance D to place the camera FW 28 672 28 672 Object at fluctuant distance In the case where the distance between the camera and the object varies the measurement can be erroneous In fact if the object is moved closer to the camera the object will be seen with a larger size In addition if the object s edges are not vertical like for the measurement of a diameter then the measurement will also be erroneous 2 9 2 CIL 2048 Concepts To alleviate these measurement errors a telecentric lens has to be used which Is specific for each application Ps Measurement wih a usual lens Measurement with a telecentric lens For the telecentric lens adapted to your needs contact Technical support Lens adjustment There are two lens adjustm
72. s A eae a ena ees eeaee ets tare 4 1 PROG MO asii leal 4 2 RUN MOS ua aida 4 2 CIE 2048 PLOMO 4 2 Area OF INtereS Escrita 4 3 DEMO eiee a a a a a clcen 4 3 POM Bal Ana lers sesser mated E E E OA O 4 3 OS aa 4 3 Transition detection Senso ti dle aanslatietaaxdisleadntiagens 4 3 electing a SOM ir A coo 4 4 nn A Pr EE ae aetna ea ale endo dl 4 4 Expression Calculations uscar eii 4 4 EMO Xpress mari da dias 4 5 OOD CEA GS o Ou N 4 5 A A E E A E 4 7 N UMDers ana UA Scenic 4 8 S 1 110162101 070 Sesmero A 4 8 ASSIONMENEOQUIPUIS nara O 4 9 IGM alMOULDUNS o it cid 4 9 IEC CONTO da 4 9 A Does A ceet anc usee late sees has need paauseed seeueae taney seemaneons 4 9 Alar M OULDUNG ereis pepa eC ext Ad Ains 4 9 ANAO OMD UT inne e iicina 4 10 a Vosen E E vena yanites 4 10 Montor AENA AVES aos 4 10 GIB BOX ias di cited iii 4 11 Drect Connection iii 4 11 CONTIQUEATION DFOG FANN coins 5 1 Mal SGPC Ny aa 5 1 Navigating the 1OOIDANS ccssiti a A is mass eee 5 2 Mel A o e A eee eae ee eee eee 5 3 ISI MODAS Sutil iii iii oliastada 5 4 Displaying the whole width of the CCD oocccccnccncococoncconconoconononnnconocononconaronoconcnnonanonononens 5 4 Displaving al the PS senie 5 4 Freezing the image acquisition cccccsecceseeceseeseecseeeesseeeeseeseusesseeeneusenseensetseseesentensetsees 5 4 Detailed OSCIlOSCOPO Macia 5 5 Secondary too Da is 5 5 MASCOTAS Saat ian Cant ums DO o O o a 5 5 GUESO ame saca dla io 5 6 MINOS
73. s comprised between no value and three values Contrary to the natural writing of a mathematical expression it is necessary to key in the operator first then its operands For example F1 F2 will be keyed in by clicking first on then on F1 and then F2 It is possible to specify several operators in the same expression It is necessary for that to replace an operand by a basic expression surrounded by brackets All the brackets must be written 4 4 CIL 2048 User Manual 4 Empty expression An empty expression has no formula and doesn t require any CPU time to be calculated But it still has a value that can be used in another expression This value may come from a previously executed program which had a formula for this expression from a Modbus writing or from a C extension program Operands When an expression is enabled but still empty it contains only the special operator NOP It is then necessary to select the first operator of the expression among the following operators After the selection of the operator default operands are applied and it is possible to change them ES Default operator absolute value AA gt El NN IO E 2147483647 e p E pi o pee e ase se 0 equal to os o ae a A or equal to p o comparison A 1 if a b else O e sg else o al IE e l else 0 A ae else b 4 5 4 CIL 2048 reference assign directly a value ls not necessary if another operat
74. ser Manual Indicator LEDs DISPLAY CINT This LED is lit while the light is being integrated on the CCD The LED may flash or be dimly lit depending on the integration time and the video line rate If the LED is not lit the CCD is not capturing a video line ALARM This LED indicates the state of the ALARM output signal It is lit when the alarm is active The alarm signal can be programmed using the outputs editor management menu VALID This LED indicates the state of the VALID output signal It is lit when the measurement is valid The measurement valid signal can be programmed using the outputs management menu ERR _ This led is lit when the specified cycle time internal trigger cannot be respected because of the duration of the integration time or of the processing 1 This led is lit when the CAN bus is disturbed by electric parasites or a wiring failure This is systematic when there is only one CIL on the bus 2 This led is lit when no valid program could be found in the flash memory It indicates that the flash was corrupted erased or never programmed The CIL 2048 should then be reprogrammed 3 This led is not significant for normal use 9 5 9 9 Technical specifications Specifications Physical characteristics camera CCD SONS cooccnccncnncnncncnncnnnnnnnos 2048 pixels 14x14 um photosensitive area cco 28 7 mm x 14 m
75. surement A ecw dlabw Gt ctw oa 7 1 LENGINANECASUFCMICIN ariiciret celataat aatinatadbaadl ais 7 2 Simultaneous measurement of length and Width occccoccncccccnccccnnnnnnnnnncncnnnnnonannnnncnonnnnnos 7 2 Surface measurement Summing the segments widths of an Object ooccooccooccco 7 3 Detecting and COUNTING ODJOCIS sssrinin erta iakat 7 3 Detectinga a local aereo unite aa 7 4 MAIMenaNCe science AAA in rra 8 1 AGN tC A Eo o pr e 8 1 identifying the firmware Ver OM ivssiirnit decelhendaedebul ave o a 8 1 LJ DO AUG Ne NMWA E saa 8 1 AO E o se ne eee 8 2 FA Se o o 8 2 Update TVN rca di Ad A E 8 3 Failure ala gnosS IS iuris 8 3 The area of interest detects no transitions ccccecccsccceeeceeeceeecececeeeceeeceeecseeceeeceeeteeeseeenes 8 3 The area of interest detects too much transitions cconccconcccocnconcnnnonconcnnnnnnoncncnnrnnnnnnonennnnss 8 3 The effective cycle time is too OU 8 4 The executed program is 15 whatever the inputs ccooocccocnccccnconcnnonnconcnonanonnnnconcnonaninnnnnnnns 8 4 The programming interface is very SIOW ccccccceccceeeceeeeeeeeeeeseeeseesaeeseeesaeeseeeseeeseeeneeeseeenes 8 4 FechnNiICalSpecHeationS k a a aa 9 1 A 9 1 VO CONECO A e neo a A eea eee cata d 9 2 GAIN GONMECIOM a leal eels ay 9 3 MONO CONNECT Fasacrnsiasna iaa iia ninia 9 4 Direct connection Of a VGA k eviC8 occoccncoccccccnconcnnnncncncnconcnnnnnnnncnonnronnnnnonnnnnnr
76. t start up the CIL 2048 recopies the whole set of programs in RAM and executes the program with the number that is set on the entries NPROG CAUTION The program n 15 has a special function and must not be used Indeed this program makes it possible to reset the CIL 2048 Recording the program n 15 erases all the other programs and the resets the factory configuration 4 2 CIL 2048 User Manual 4 Area of interest Definition An area of interest AO is defined as a window within the video line that is a set of contiguous pixels within which segments or transitions can be identified and for which one or more numerical results can be defined The CIL 2048 can have four different AOI The processing for each window is carried out in parallel by four processing channels in the transition processor Each AOI can be set up independently of the others and the windows can overlap AOI parameters An area of interest is defined by two parameters the window s position and the transition detection sensitivity Position The position defines the section of the video line within which the processor will identify transitions No transitions will be detected outside this section The left and right hand edges of the window must be defined Transition detection sensitivity This parameter defines the minimum slope for an edge to be detected as a transition The smaller the sensitivity the smaller the variations in the video s
77. t output the required information measure or signal is given directly 1 1 1 Overview Operational in a few minutes the CIL can be used on all automated production lines and in numerous industrial systems using control and inspection by artificial vision This chapter introduces the CIL2048 and explains the organization of this manual Technical Support To get any support please visit our web site http www lord ing com or send an e mail to the LORD INGENIERIE support team at support lord ing com If you need to return a camera for repair please contact us first for return instructions LORD Ing nierie BP110 2 rue Fresnel ZA de Marly F 91410 CORBREUSE Phone 33 0 164 551 551 Fax 33 0 164 595 595 Commercial information sales lord ing com Technical support support lord ing com About This Manual This manual is valid for the version 4 1 build 1 of the CIL 2048 firmware If your CIL 2048 is equipped with a previous release it can be updated for free Please refer to the paragraph Updating the firmware For more information on how to get the updater file please contact Technical Support Online Version This manual is available in an electronic format Portable Document Format or PDF To obtain a hard copy of the manual print the file using the printing capability of Adobe Acrobat the tool used for the online presentation of the document 1 2 2 CIL 2048 Concepts This chapter looks over som
78. ta HI 00 Force data LO 00 CRC Answer The answer indicates the number of written COILS Field name Example Hex Slave Address DA Function code OF 9 10 CIL 2048 User Manual 9 Coil Address HI Coil Address LO Quantity of coils HI Quantity of coils LO CRC 16 Preset Multiple Registers Writing of several 16 or 32 bit registers Query The query specifies a sequence of 16 or 32 bit registers to write The 0001 register is meantas 0 Writing of 32 bit registers 1002 and 1003 of slave 10 with values 1 and 2 Field name Example Hex Slave Address DA Function code 10 Starting Address HI 03 Startting Address LO E9 of registers 00 Number of registers 02 LO Byte count 08 Preset data HI 00 Preset data 00 Preset data 00 Preset data LO 01 Preset data HI 00 Preset data 00 Preset data 00 Preset data LO 02 CRC Answer The answer indicates the numbers of written registers 9 Technical specifications Field name Example Hex Slave Address OA Function code 10 Starting Address HI 03 Starting Address LO E9 Number of Registers HI a Number of Registers 02 LO CRC Exception answers The CIL2048 may return the master an answer of exception in the case that a query would have been correctly received but not studied Definition The returned function code has then its MSB to 1 Field name Example Hex Slave Address DA Function code 90 Exception code 02 CRC Ex
79. tion Freeze FREEZE enables you to freeze the grey level scrolling image This mode can be useful when you want to freeze a defect s image on the screen until an operator acknowledges it The processing itself is not frozen and defects continue to be detected The FREEZE function must be driven by an expression s value Click on the up arrow or down arrow until you obtain the desired expression When the expression becomes true the scrolling is frozen after a certain delay which is expressed in video lines number When the expression returns to false the normal scrolling is restored The delay before freezing makes it possible to have defect s images nearly centred on the screen To adjust its value select the Delay field by clicking in it and type a value on the numeric keyboard Click on enter when done Calibration The calibration has been introduced in the paragraph Calibration The calibration windows is obtained by clicking on Timings ps Taoi 75 Texp 167 Ttot 316 Parameters Edit this area of interest alibration type oO i _ _ _ eqnents typeo oq _ _ m Pixels _ Linear _ Polynomial Hp Dark segments _ Light segments 5 21 5 Configuration program The first tab Configuration makes it possible to select the desired calibration type pixels Linear or Polynomial In this tab the Segments type refer to the test pattern used to make or test calibratio
80. ure In the frame Selection click on the button for Largest dark segment In the frame Sensitivity set the value 20 by dragging the cursor In F computation select Width In G computation select 0 O Y N o Check the selected segment by clicking S in drawing It is drawn between the lower oscilloscope and the scrolling image Check that VAL is 1 and note the value of F for example 370 Step No 5 Edit the expressions This step consists of inserting a program to run the desired application 1 Click on to obtain the expression editor 3 4 CIL 2048 User Manual 3 2 Enter the following formulas c f paragraph Enter a formula V1 NOT VAL1 V2 F1 V3 CHECK F1 370 37 AND VAL1 V1 is true if there is no segment in the camera s field V2 contains the width and V3 is true if the width is no more than 10 different of the standard width Step No 6 Configure the outputs This step allows you to configure the CIL camera outputs a value can be displayed on the CIL monitor a digital output can be activated 1 Click on el obtain the display editor 2 For DISPO select V3 with the up and down arrows Click on the PASS FAIL button to display PASS FAIL PASS when the variable s value is different from 0 and FAIL when the variable s value is equal to 0 3 For DISP1 select V2 and click on Value to display the width on the CIL monitor
81. uts if the internal test program of the CIL detects a malfunction of the CIL hardware or software ALARM will be set and DATAVALID reset whatever the value of the control expression Analog output The current analogical output makes it possible to transmit a numerical data The digital to analog converter has a resolution of 13 bits on the range 0 20mA There is 8192 steps of approximately 2 5 uA It is possible to specify if one wants to work in the O 20 mA range or in the 4 20 mA range In this last case the full resolution of the converter is not used there are 6554 steps The analog output can be linked to the value of any expression It is possible to specify a scaling factor i e the numerical value of the expression for which the converter will give the minimal value of the output range 0 or 4 mA and the value for which one will obtain the maximum value of 20mA Monitor display One can display up to three information on the monitor screen of the CIL 2048 in RUN mode Each displayed information can be linked to the value of any expression It is possible to specify if one wishes to display the value in numerical form or a message PASS or FAIL according to the logical value of the expression if the expression is null FAIL will be displayed PASS if not Monitor alternatives The monitor of the development kit is a rugged and handy device for powering and programming the CIL 2048 However for special applicatio
82. ys operate in RUN mode On the other hand when the development kit is connected the mode is selected using a key on the monitor front panel 4 1 4 CIL 2048 reference PROG mode The programming interface with the menus is run The operations defined in the configuration menus are carried out in background and the results are monitored according to the current menu operation but the maximum line rate cannot be guaranteed RUN mode The programming interface is not run Only the required operations are carried out so that the maximum line rate is achieved If connected the monitor displays the scrolling image from the CCD along with a RUN time panel composed of three fields in which the programmer can post information c f Monitor display CIL 2048 Program The CIL 2048 s set of operative parameters such as integration time trigger AOI positions etc constitutes a program Each program can run a different processing or the same processing with different parameters It is possible on the CIL 2048 to define fourteen different programs Four digital entries NPROG 0 3 make it possible to activate the program with the corresponding number The programs share the table of the V1 V12 expressions When a program is loaded it inherits the previous values of the expressions The fourteen programs lies simultaneously in the read write memory of the CIL2048 RAM and must be recorded manually in the permanent memory flash memory A

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