Vision Sensor Mounting and operating instructions
Contents
1. Results statistics Results r Statistics Ma i Hr Count Reset Detector Result Score ms Detector type ry ga ETHAN eee Score horz 28 5 Score vert 18 5 Pass A Alignment De 18 5 1 Edge detector _ _ _ 1 Detector 30 3 0 Brightness Fail Z Detector2 98 O Brightness Positionx 281 5 Position 137 5 Metin execution time pman pa Maximum Delta pos X 0 0 Delta pos 0 0 execution time a Average T Lal _ P gt execution time ee Mode Run Name Active job 2 Job2 Cycle time n a Flash 0 6kB 40 3MB x 0 01 0 cut O CO Oe e Fig 36 Start sensor Page 38 Vision Sensor SBSI EN 8033107 1401N12 05 2014 Vision Sensor Mounting and operating instructions FESTO 4 4 Vision Sensor Visualisation Studio display images and results This program enables the monitoring inspection of the connected sensor and the analysis of inspection results Click to the View button in the Vision Sensor Device Manager software to start the Vision Sensor Visualisation Studio module You can open multiple copies of this software if you are using multiple cam eras on the system however only one connection is allowed to each Vision Sensor The current image is displayed with the drawings for alignment and the detectors if image transmission active is activated in the configuration module under Job General The tab Result shows the individual detectors with their r2. Page 37 FEST l O Vision Sensor Mounting and operating instructions 4 3 6 Start sensor When this function is activated all settings are transferred to the sensor stored in the flash memory and carried out in e g in free run or in triggered mode according to the settings made All information in the list of detectors result field or under Statistics is updated here If using triggered mode then a trigger will be required from the external control system alternatively a software trigger can be sent using the Trigger button the left hand side of the image area Next topic Vision Sensor Visualisation Studio display images and results Page 39 File Options View Help leo dgsemas Setup Job Alignment Detector Output Result Alignment Edge Result This function executes the job defined on the PC and the Result statistics window is displayed with Detector list and Evaluation results Execution times are not updated in this mode as they are not available from the sensor Trigger Image update Detailed inspection results from the detector marked in the selection list are displayed in Single run mode Trigger a Continuous The image search and parameter zones and a a result graphs appear when set in the Connection mode display window Online Offline Fit 2 Statistics link ist nf detectors feynlanatinn
3. Next topic Start sensor Page 38 File Options View Help oead a emmae Job Alignment Detector Output Start sensor Trigger Image update Trigger Connection mode lt ama Online Offline L 100 ichi 2 LJ liad Results statistics Results Detectors Detector Result Score ms Detector type 1 Detector o 63 1 nfa Brightness 2 Outil2 2 33 5 nfa Grey 3 Outil3 2 63 5 nfa Contrast 4 Outil o 0 0 nfa Contour 5 Outil5 2 97 8 nfa Pattern matchinc la gt Result This function executes the job defined on the PC and the Result statistics window is displayed with Detector list and Evaluation results Execution times are not updated in this mode as they are not available from the sensor Detailed inspection results from the detector marked in the selection list are displayed in run mode The image search and parameter zones and result graphs appear when set in the display window Statistics link List nf detectors feynlanatinn Statistics Count 10591 Reset Pass 53 0 50 Fail 10538 99 50 Minimum nja execution time bt er Maximum nja execution time Average nja execution time ha AN 210 x Flash 2 9kB 40 3MB X 0 Y 0 L0 Active job 1 Job1 Cycle time nfa cu O O Q Q QO Q Fig 35 Result display Vision Sensor SBSI EN 8033107 1401 N12 05 2014
4. and image update continuous Then align the sensor to the reflective surface the mirror as vertical as possible until the integrated illu mination LEDs are directly dazzling in the image of the user interface Arrangement for bright field illu 3 1 3 Alignment for a vertical illumination mination Page 14 File View Options Help Bodega Setup Job Detector Home Prev net Prit Output Result J Parameters for image acquisition Start sensor The basic parameters for image acquisition are determined in the General tab Set image sharpness with the focus setting screw on the back of the Image transmission parameters for image transmission Pre processing parameters for Trigger Image update preprocessing of image C se Hang Trigger 736x480 but a lower resolution CGA can be Connection mode Mm selected with time critical s f r 1 a lt Play gt applications or for Online Offline Fit MA t enamnatihilitv reasnns Configure job Jobs Name Description Author Image acquisition Image transmission Archiving Pre processing Cycle time 1 Job1 Job Author Resolution Shutter speed Quadrants Mawon emman 20 Auto shutter 2 O S Trigger mode Gain Internal illumination Trigger gt 1 0 B On 7 al L gt Free run External illumination New Load Save Delete Delete all
5. list then click on the button Config to start the Vision Sensor Con figuration Studio software or on the button View for the Vision Sensor Visualisation Studio soft ware Sensor simulation To opena sensor for offline simulation select the required sensor in the Sensors for simulation mode list then click on the button Config to start the module Vision Sensor Configuration Studio Vision Sensor Visualisation Studio is not available for the simulation mode as there is no device to send the images for display Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 27 FEST l O Vision Sensor Mounting and operating instructions O x File Settings Help Ba cS 2 _ o Active sensors IP address Hardware Type Yariar Firmwai Mode Sensor nai Welcome In this program you can select 4 sensor or sensor simulation for configuration or display monitoring and carry out different basic settings s Active Sensors Sensors for simulation mode Sensors for simulation mode Find Add active sensor al Type Version Variant Configure connected sensor 1 92 Object 1 2 4 0 w Standard v Display image and result data i Sensor settings 2 Code reader 1 2 4 0 LY Standard Update Firmware update User administration Passwords If the Configure function is not accessible button inactive login with password entry is required If you do not know the d active sensor password please contact the administrat
6. Name Line 5 IN Active job 1 Job1 Cycle time nfa Flash D 2kB 40 4MB X 3201 2401 177 DOT O O Q Q Fig 9 Alignment for a vertical illumination Vision Sensor SBSI EN 8033107 1401N12 05 2014 Page 15 fre ang l O Vision Sensor Mounting and operating instructions 3 1 4 Assembly Vision Sensor Mounting bracket SBAM C6 CP Fig 10 Assembly Vision Sensor Mounting bracket SBAM C6 CP For fixing the Vision Sensor on a fixing system machine housing slide the provided dovetail mounting bracket SBAM C6 CP on the dovetail guide at the bottom side of the Vision Sensor and fix it at the desired position with the hexagon socket in the cross hole of the mounting bracket 3 2 Electrical installation The electrical installation of the Vision Sensor must be carried out by a qualified person When installing the Vision Sensor disconnect all electrical components from the power supply When the unit is being used in a network ensure that the network address IP address of the Vision Sensor set by the man ufacturer at 192 168 100 100 is free and is not in use for any other unit connected to the system If necessary re set the IP address of the Vision Sensor as described in the section Network settings When the Vision Sensor is in use the protective caps supplied must be pushed onto the M12 sockets data and LAN which are not in use For error free operation the length of the connecting cables must not be longer tha
7. POK O O O OQ Fig 29 Vision Sensor Configuration Studio The fields are A Menu and tool bar B Setup Navigation Operating steps See next chapter for description C Image Image output with graphically adjustable operating and search zones as well as zoom function also filmstrip navigation when in simulation mode D Context Context sensitive online help automatically updated for each action Vision Sensor SBSI EN 8033 107 1401N12 05 2014 Page 31 FEST l O Vision Sensor Mounting and operating instructions E Image acquisition mode Switch over between continuous free run and single image mode with trigger input either from sensor or via onscreen button F Connection mode Switch over between online and offline mode sensor present or simulation without sensor G Job selection Changing variable content relating to action in set up navigation for setting of associated parameters H Status bar Different status information including Mode Name of Vision Sensor Active job In Run Mode Cycle time cursor x y location and pixel intensity individual I O on off indication like configured in Out put Digital output 4 3 1 Job Setup Configuring a job To configure a job edit the job entry in the Select job field or e g create a new job Set global para meters here such as shutter exposure or the resolution which is valid for the entire job For Job setup in Setup Job edit or generate a new job in
8. When calling up some functions you may be required to enter a password See user administration for defining passwords Find Config View Set IP address PC 192 168 60 20 Subnet mask 255 255 255 0 Fig 20 Vision Sensor Device Manager Modification of the standard gateway enables operation in different sub networks Only alter this setting after consultation with your network administrator Automatic integration of a new computer or sensor in the existing network without manual configuration is possible through DHCP Normally automatic sup ply of IP address must only be set on the sensor the client When the sensor is started in the network it can obtain the IP address net mask and gateway from a DHCP server Activation of DHCP mode is car ried out via the Set button by activating the checkbox DHCP As one and the same Vision Sensor can thus have different IP addresses at different times a sensor name must be attributed when activating the DHCP Should several Vision Sensors be in one network different names must be used IP address 192 158 100 100 Mask 24 Gateway 0 0 0 0 DHCP Name Cancel Fig 21 Vision Sensor IP Setup If a Vision Sensor with DHCP is switched on in a network without a DHCP server the Vision Sensor automatically sets the IP address to 192 168 100 100 This can be the case e g in the case of power server failure or the r
9. 3 1 Object detection 2 cece e cece cece aaar eee aaraa oeaan 8 2 3 2 Code Reader e eee ee ee eee ee eee eee cece cece cence eee e eens ee eeees 8 2 4 Field of view Depth of view eee e cece cece ec ceceeeeeeeeeeees 10 AA CA 13 3 1 Mechanical Installation 2 22 00 lll e cece cece cece cece cece cece eeeeeeeeeeeeeees 13 3 1 1 Arrangement for dark field illumination 2 2222222 3 3 1 2 Arrangement for bright field illumination 022 c cece cece ee eee eee eee eee eee cess 14 3 1 3 Alignment for a vertical illumination 0 02 22 c eee e cece eee eee eee eee 15 3 1 4 Assembly Vision Sensor Mounting bracket SBAM C6 CP l6 3 2 Electrical installation l6 3 2 1 Connection possibilities 0000000000000000 00000000 aaan I7 CPA REEDED A I7 3 2 1 2 Focussing screw 2 00000000000000 0000000000000000 cece eee eeeeeeeeeeeeeeeeeeeeeees 18 3 2 1 3 24 V DC Connection _ 2 2 2 2 0000000000000000 0000000000000000 aaao aaan 18 3 2 1 4 LAN Connection 0000000000000000 0 cece cece eee ceeeeeeeeeeeeeeeeeeeeees 18 3 2 1 5 Data Connection 02 occ e ee raean 18 3 2 2 Plug connections 02222 e cece cece ee eee eee cece cece eeeeeeeeeeeeeeeeeeeeee 19 3 2 2 1 PIN assignment connection 24 V DC U cece cece eeeeeeee 19 3 2 2 2 PIN assignment connection LAN 0 0 02 cece cece cece eee cece cece eeeeee
10. e verify Typical cycle time 40 ms one evaluation Coder reading Evaluation modes Page 42 Vision Sensor SBSI EN 8033 107 140IN12 05 2014
11. left mouse click c Set sensor s new IP address with the Set button Follow the on screen prompts The IP address is assigned by your system administrator T he PC s IP address is shown in the status bar under the buttons Please note some pc s have more than one Ethernet con nection i e wireless and wired LAN connections d When the new IP address has been set Re select the sensor and connect Via Config or View Page 24 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 Vision Sensor Mounting and operating instructions FESTO Po eee io xi File Settings Help EA 2 Active sensors IP address Hardware Type Yariar Firmwai Mode Sensor nai 192 168 60 199 Home Previous Next Print Welcome In this program you can select a sensor or sensor simulation for configuration or display monitoring and carry out different basic settings ee Active Sensors Sensors for simulation mode Sensors for simulation mode l 2 Find Add active sensor Type Version Variant Configure connected sensor 13 Object 1 2 4 0 w Standard Display image and result data l i Sensor settings o Ca L ta oded Update Firmware update User administration Passwords If the Configure function is not accessible button inactive login 7 with password entry is required If you do not know the password please contact the administrator Add active sensor IP address 192 168 60 199 ha Add O
12. parameters necessary to perform a specific inspection task Jobs are created here and several jobs can be stored in the Vision Sensor All global settings valid for each individual job e g shutter gain illumination settings etc are also carried out here Page 32 Vision Sensor SBSI EN 8033 107 1401N 12 05 2014 Vision Sensor Mounting and operating instructions 4 FESTO The following basic image settings should first be made to ensure a high contrast and sharp image Image brightness Set shutter or amplification see Job General Image sharpness Focus setting via the screw on the back of the Vision Sensor camera itself When delivered the factory settings are trigger mode free run see Job General and image acquis ition mode continuous A new image is continuously displayed for easier focus and brightness set up The subsequent setting of alignment and detectors should preferably be carried out in single image mode as all settings are then based on a master image and image collection is not continuously carried out Alignment and multiple different detectors can subsequently be defined within one job to solve an inspection task 3 2 Alignment settings Alignment compensation can be necessary for objects whose position varies on the screen Next topic Detector settings Page 34 Set the working zones on the parameter to be used for alignment tracking by adjusting the graphic frame to the appropriate pos
13. the different tabs Logically connect detector results and assign to the available I O s In order to enable the output of serial result data select the required interface and compose data string Next topic Result Page 37 Vision Sensor SBSI EN 8033 107 1401N12 05 2014 Page 35 FESTO Vision Sensor Mounting and operating instructions lt G Setup Job Alignment Detector Output Result Trigger Image update Connection mode Pin color Input 03 WH 10 VT Y 12 RDBU A 09RD 07 BK B 08 GY C BSBoega eses I O mapping Digitaloutput Interfaces Fit Output AK AA Mode Config Name Simulator Active job 1 Jobi wa a Q 00 Timing Telegram Function H W Trigger no function undefined Ejector Result Result Result Result Ad ab ah AH AH Ab Home Prev Next Print I O mapping Here the following settings can be made 1 Definition if I O is used as an input or output Pin 05 08 can be used as input or output Assignment of functionality to inputs and outputs In the list box there can N be seen and selected all available functions for this input or output Some functions can be assigned only to one special input or output e g HW Trigger 10 Cycle time n a Flash 0 2kB Reset X 0 Y 0 1 0 put Q Q Q Fig 34 Output digital and data Setting possibilities in the different ta
14. 1 2 Context help For all software functions a context sensitive help page is available and displayed as soon as a function is selected Page 26 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 FESTO All available help pages can be viewed by pressing the Help button symbol or by double click to the Vision Sensor Mounting and operating instructions online help window There you also can do a keyword search In comparison to the context help the size of this help window can be enlarged to view longer text more comfortable 12 05 2014 4 2 Vision Sensor Operating and configuration software Short introduction Example Object sensor 4 2 1 Vision Sensor Short introduction Starting the software This short guide explains step by step the procedure for setting an example inspection task on the vision sensor To start the Vision Sensor application click to the desktop icon Vision Sensor Vision Sensor Fig 23 Icon Vision Sensor 4 2 2 Vision Sensor Device Manager Open sensors or sensor sim ulation Passwords In this program you can select a sensor or a sensor simulation for configuration or display monitoring and carry out different basic settings Next topic Vision Sensor Configuration Studio Setting sensor Job Page 31 Configuring or displaying sensors In order to opena sensor for configuration or display select with a single left mouse click the required sensor in the Active sensors
15. 5 255 0 To establish a direct connection the PC must be set to a corresponding fixed IP address like follows Click on Start Control Panel Network Connection LAN Connection Properties the window Local Area Connection Properties opens 2 Inthe list This connection requires following elements select the option Internet Protocol TCP IP and then click the button Properties 3 In the following window set the desired IP address of the PC and the sub network data 4 Confirm entries with OK Example The Vision Sensor is pre set to IP address 192 168 100 100 and subnet mask 255 255 255 0 In this case the IP address may be set to any value between 192 168 100 1 and 192 168 100 254 with a sub net mask 255 255 255 0 with the exception of the sensor IP address 192 168 100 100 To alter the sensor s IP address see chap Please do also not use the addresses 0 and 255 as these addresses are reserved for network infrastructure devices such as servers gateways etc Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings O Obtain an IP address automatically Use the following IP address IP address 192 168 100 101 Subnet mask 256 266 26b O CG Use the following ONS server addresses Preferred DNS server Alternate DNS
16. FESTO AP FEST l O Vision Sensor Mounting and operating instructions Copyright English No part of this document may be reproduced published or stored in information retrieval systems or data bases in any manner whatsoever nor may illustrations drawings and the layout be copied without prior written permission from Festo AG amp Co KG We accept no responsibility for printing errors and mistakes which occurred in drafting these documentations Subject to delivery and technical alterations First publication February 2014 Festo AG amp Co KG D 73726 Esslingen Internet http www festo com E Mail service international de festo com Cus IND CONT EQ LISTED an For use in class 2 circuits For use in NFPA 79 Applications only Page 2 Vision Sensor SBSI EN 8033107 140IN12 05 2014 Vision Sensor Mounting and operating instructions Table of Contents General Information and Safety u c cee ccc cence cece cece ce eee eeeeeeees 5 eroa 9d NOTOS ee AA 5 2 Components supplied c cece ccc cece eee cece cece ee ee bee e eee eeeeeeeeeeeeeeeeeeees 5 3 Requirements for use 22 eee eee cece araar araen 5 2 Intended Use pp 6 2 Field of application eeeeeeeeeees 6 2 2 Functions overview _ 2 2 2 2 cece cece cece cece eee cece eee aoaaa LaaLa aa araara 7 PET LY POS oc occ cnet ae acess sete cise ene sse re EEEE ENS ENEE 8 2
17. Job1 Cycle time 25 ms Q 9 QO Cee Q9 Fig 37 Vision Sensor Visualisation Studio Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 39 FEST l O Vision Sensor Mounting and operating instructions 5 Type key SBSI Vision Sensor with integral illumination optic Code reader B Q Object detection R3 736 x 480 Pixel WideVGA F6 6 mm F12 12 mm W white R red NR infrared D Enhanced depth of focus Page 40 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 FESTO Vision Sensor Mounting and operating instructions 6 Technical Data Electrical data Operating voltage U 24V DC 25 10 Residual ripple lt 5 Vss Current consumption no I O lt 200 mA All inputs PNP NPN High gt U V Low lt 3 V Input resistance gt 20 kOhm Encoder input High gt 4V Outputs PNP NPN Maximum output current per output 50 mA Ejector Pin 12 RDBU 100 mA Short circuit protection all outputs yes Inductive load typ Relays 17K 2H pneumatic valve 1 4K 190mH Protection against inverse polarity yes Interfaces Vision Sensor XX Standard Ethernet LAN Readiness delay Typ 13 s after power on Vision Sensor R3 736 H x 480 V 1 3 6 0 um square Optical data Number of pixels chip size pixel size Technology ene mene Integrated scan illumination 8 LEDs Integrated lens focal length 6 or 12 mm adjustable focus Lens adjustable to i
18. bs e I O mapping Settings for the I O Hardware configuration e Digital Output Selection of digital signal outputs and definition and assignment of logical connection using the Boolean results of all detectors Definition of complex logic connections via table or via input of a logical for mula A different logical connection can be assigned to each available digital output e Interfaces Selection setting and activation of the individual interfaces such as programmable input IN2 RS422 I O extension Ethernet and Ethernet IP e Timing Setting of delay times Trigger delay result delay and duration of result e Telegram Setting and preview of data output string via RS422 or Ethernet Selection of binary or ASCII protocol header and or trailer standard contents and or flexible com binable special individual data from the individual detectors Any number of individual results from all the defined detectors can be freely arranged in an output string Page 36 Vision Sensor SBSI EN 8033107 140IN12 05 2014 Vision Sensor Mounting and operating instructions FESTO With this function an inspection is carried out on the PC for control purposes using all the settings made All the results are produced and displayed just as on the sensor However e g execution times will not be updated as these values are only informative when implemented on the sensor itself See next step Start 4 3 5 Result Sensor
19. ctors of industry today The Vision Code Reader imme diately detects which part is in front of it it can easily read numerous types of barcodes as well as printed and directly marked data matrix codes according to ECC 200 standard and this on any base metal plastic paper glass The sensor can even routinely decipher askew or warped codes or codes on convex reflect ive or transparent surfaces T he Vision Code Reader assesses the quality of your printed or directly marked data matrix codes using standardised ISO and AIM quality parameters This enables you to intro duce early correctional measures and thus avoid rejects due to illegible codes The Vision Sensor range is an economic alternative to conventional image processing systems Page 6 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 FESTO Vision Sensor Mounting and operating instructions 2 2 Functions overview Characteristics Vision Sensor Object Code Reader Object Function Std Frames per second Number of Jobs Alignment Contour only UJ NI Number of detectors UI O Pattern matching X Y translation Contour matching X Y translation and rotation Grey level Contrast Brightness Data code Barcode 4 digital outputs 2 inputs PNP or NPN Free definable digital In Outputs PNP or NPN Free shape of ROI contour only Timeout specified time response Variable resolutions Illumination quadrant controlled Image rec
20. e network connections in the computer may be lost To be on the safe side note the former settings for later use if required Following this procedure it may be necessary to re start the system In order to determine which IP addresses are allowed in your network or locally in your PC and to carry out the necessary settings on your PC contact the system administrator beforehand The illustrations dialogues and menus originate from the operating system Microsoft WindowsXP The illustrations are similar in other operating systems 3 3 1 Basic settings for PC and Vision Sensor To configure the Vision Sensor with a PC it is essential that a network board and the TCP IP LAN con nection is installed on the PC This also applies when the PC is not connected to a network The Vision Sensor supports the automatic recognition of the Ethernet transmission rate but 100 MBit at the most The internet protocol IPv4 must be activated There are two alternatives to configure and parameterize the Vision Sensor See also chap Network connection Direct Connection 2 Network Connection Page 22 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 Vision Sensor Mounting and operating instructions FESTO 3 3 2 Direct Connection Setting the IP Address of the PC To connect the Vision Sensor to a PC via Ethernet the IP addresses of both devices have to correspond The default IP of the Vision Sensor is 192 168 100 100 with Subnet mask 255 25
21. ee 19 3 2 2 3 PIN assignment DATA A 22222002 ccc cece cece cece c 0000000000000000 0o02 aaa 20 3 2 2 4 Exemplary connection plan and software settings for the following setup 20 3 2 2 5 Electrical connection supply voltage and shield 22 eee cece eee ee eee eee 2l 3 2 2 6 Electrical connection PNP NPN 0002 22222 e eee 0000000000000000 2 3 3 Network settings Short reference c eee eee eee eee eee e eee eee 22 3 3 1 Basic settings for PC and Vision Sensor 2 002222 c cece cece cece cece cece cece cece eeeeeeeeeees 22 3 3 2 Direct Connection Setting the IP Address of the PC 2 222222 23 3 3 3 Network Connection Setting the IP address of the Vision Sensor 222 2222220 24 4 Vision Sensor Operating and configuration software 26 4 Vision Sensor Operating and configuration software Overview 222222222eee eee eee 26 4 1 1 Structure of PC software ccc cece e cece eee aradon ee eee eeeeeees 26 4 1 2 Context help cee eee cece cece eee e eee e eee eeeeeeeeeeenees 26 4 2 Vision Sensor Operating and configuration software Short introduction 27 4 2 1 Vision Sensor Short introduction Starting the software 22 cece eee eee eee ee eee 27 4 2 2 Vision Sensor Device Manager Open sensors or sensor simulation Passwords 27 4 2 3 Pa
22. estart of the system after shutdown as the DHCP server may boot slower than the Vision Sensor Make sure that the Vision Sensor is only switched on when the DHCP server is available Vision Sensor SBSI EN 8033107 1401N12 05 2014 Page 25 Ja l O Vision Sensor Mounting and operating instructions 4 Vision Sensor Operating and configuration software 4 Vision Sensor Operating and configuration software Over view 4 1 1 Structure of PC software The PC software is organised into the following three sections e Vision Sensor Operating and configuration software Short introduction Page 27 For selection of a Vision Sensor sensor or a sensor simulation model for configuration with the Vision Sensor Configuration Studio tool or display monitoring with the Vision Sensor Visu alisation Studio tool or modification of different system settings such as IP addresses firmware updates with the Set tool e Vision Sensor Configuration Studio Complete set of functions to configure and test Vision Sensor for one or several inspection tasks jobs in six simple logical operating steps e Vision Sensor Visualisation Studio For the display and monitoring of images and results from connected sensors as well as job switch and job upload Vision Sensor Device Manager Vision Sensor Vision Sensor Visualisation Studio Configuration Studio display configure upload test Fig 22 Software structure 4
23. esults and the overall result The tab Statistics shows further statistical results The Freeze image button enables result controlled images e g bad part to be kept on the display Zoom enlarges images With Archive images images and result data as previously set under File Configure archiving can be archived on the hard disk of a connected PC with or without numerical result data With Rec images the last 10 images can be retrieved from the Vision Sensor sensor In the tab Job it is possible to switch between jobs present on the sensor In the tab Upload further previously defined jobs or whole job sets can be loaded from the Vision Sensor Visualisation Studio on to the sensor 10 x File Options View Help Home Prev Next Print Welcome This programme enables the monitoring inspection of connected sensors and the analysis of inspection results Image display Statistics Change job Upload Commands Freeze image Image recorder Archive images Commands Result Statistics Job select Job upload l Freeze Current image rXe ms Minimum nan o cc Em Sount 1000 execution time 275 Reset Next image Next failed image PT Pass 1000 100 00 e EN 40ms execution time Zoom Rec images Fail o 0 00 Average 25ms ka execution time Archiving Mode Run IP address 192 168 560 199 Name Active job 1
24. field Jobs E o x Fie Options View Help 0 caga agemo Setup Job Alignment Home Prev l Next l Print Detector a z E Output Digital outputs Logic Result In this tab you define the switching behaviour and logical connection of the Start sensor digital outputs Number of outputs depends from settings in tab IO mapping Additionally there can be connected an I0 extension over the serial interface Trigger Image update gt Selecting combination of detectors for en an output Single Trigger For each pin output there are the follwoing Continuous possibilities Connection mode mal Overall job result No physical output me lt lay gt le ic UO Online Offline Fit ad b Ba LJ E a fi gt Configure job Jobs Name Description Auth Image acquisition Image transmission Archiving Pre processing Cycle time 1 Job1 Job Authc Resolution Shutter speed Quadrants WGA 640x480 CI lososms QQ Auto shutter 2 O 8 Trigger mode Gain Internal illumination Trigger qn 1 00 i On gt gt Free run External illumination Off New Load Save Delete Delete all Mode Name Active job 1 Job1 Cycle time n a Flash 0 2kB 40 3MB X 0Y 0 1 0 boo QO QO Oe Pe Fig 30 Vision Sensor Configuration Studio Job One job contains all settings and
25. he IP address set for the Vision Sensor should be marked on the enclosed label After installation stick the label on the sensor in a clearly visible position The IP address of the Vision Sensor must be used once only in any network For Use with any Listed CYJV cable assembly 2 Components supplied e Vision Sensor including integrated illumination e CD ROM with Computer software and Operating instructions e Operating instructions mounting clamp Allen key screwdriver and protective cap for Ethernet plug 3 Requirements for use Configuration of the Vision Sensor requires a standard PC Notebook at least Pentium 4 GHz and 512 MB RAM with Microsoft Windows XP SP3 Vista or Windows 7 with network connection or a network with TCP IP protocol We recommend a Pentium 4 Dual Core gt 2GHz and IGB RAM for Windows Vista or Windows 7 We recommend a screen resolution of min 1024 x 768 pixels A basic knowledge of computers is also required The Vision Sensor is supplied with the IP address 192 168 100 100 and a sub net mask 255 255 255 0 The Vision Sensor is operated independently of a PC or PLC A PC notebook is only necessary for configuration of the Vision Sensor Attention must be paid to sufficient and constant object illumination to ensure reproducible results and avoid malfunction Reflections or varying incident light may affect detection results If necessary use an external light source and or light screening shroudi
26. ition and size on the image The associated parameters are displayed on the bottom right hand side and can also be adjusted there Alignment when used affects the positions of all the detectors subsequently defined in this job In this example the outside contour is used for alignment and the plug can be found either by contour or by pattern matching If the angular rotation of the object can vary also the contour method must be used 6 o NG Sog cepeo _ ct J 5 24 o Setup Job Alignment Home Prev Next Print Detector A Output Edit region 7 Result er a 4 KEN ee n by function edit region it is possible to TUT 5 modify the region of interest add or remove z g laa a Ga a NG kad pixels at Brightness Greylevel and po Tamara Y PAY a YA Conrast Detector At Pattern match and Contour Alignment and Detectors it is possible to remove PEER ASA parts of the taught pattern or contour l Trigger Image update Application example gt l In this example the green colored areas are i used for the detecor brightness Connection mode edit region lt gt D of Fit ra PP Play 8 10 Configure alignment Method Parameters None Threshold Contour SSS 50 00 100 00 Ik Contour detection Angle range ee 2000 i 2000 S IG Angle step Accurate fast 1 002 M Auto 50 00 gt Min contrast pattern Min contrast image Reset Gee cs Auto 20 Y Auto Edit contour Mode Na
27. le to reset passwords to delivery status by reinstalling the software on the local PC Page 30 Vision Sensor SBSI EN 8033107 1401N12 05 2014 Vision Sensor Mounting and operating instructions FESTO 4 3 Vision Sensor Configuration Studio Setting sensor Job With this program you can configure your Vision Sensor for one or several jobs in six simple logical oper ating steps Next topic Alignment settings Page 33 HA Options View Help fo dg Alignment Output a Detector Contour detection Result g zan This detector is suitable for detection nf mma nga 8 samples from edges at any angle Start sensor Advanced Itab Advanced Il tab Settings in General tab a p update Functions Trigger SS Threshold Zone for required Continuous j Min Max concordance of found contour with py mode _ panne contour a z m E 4 Min contrast Minimum contrast Online Offline a i model required with taught G Configure detectors and regions Detector Basic Advanced Advanced 11 Detector name Result Detector type Threshold Pattern 1 Detektori Pattern Matching Cee aaa 50 00 S 100 00 E 2 Detektor2 Brightness Min contrast pattern e e 3 Detektor3 Grey a 100 5 y Auto 4 Detektor4 Contour Min contrast image dme a E Wat Position Off Y Edit mask Delete Delete all Active job 1 Job1 Cycle time nfa Flash 40 2K8 40 3MB
28. llation password entry is completely deactivated and auto login is preset 4 2 3 Passwords to administrator If parameter settings are to be protected from unauthorised access passwords should be given for the Admin and User password levels see below This can be called up via the menu bar File User admin istration or via the button with the key symbol in the toolbar Pa Fig 25 Password button 4 2 4 Password levels Vision Sensor Device Manager Vision Sensor Vision Sensor Visualisation Studio Configuration Studio Images and results All parameter settings Job upload Record images Fig 26 Password levels In order to be able to use the function Config after the allocation of passwords it is now necessary to login by clicking on the toolbar login button and then entering the assigned password Fig 27 Login button Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 29 m emi l O Vision Sensor Mounting and operating instructions Administrator Retype password gt Worker Retype password lL Fig 28 Password input Allocating an empty password means the password can be confirmed without any further entry Activ ation of the Deactivate password request checkbox permanently deactivates password request If passwords have been assigned and then forgotten it is possib
29. ly the mounting clamp MK 45 no 543 1 1000 or the mounting hinge MG2A no 543 I 1023 3 1 1 Arrangement for dark field illumination For the prevention of direct reflections and accentuation of edges etc min 10 15 tp f 4 Fig 7 Arrangement for dark field illumination Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 13 fre lang l O Vision Sensor Mounting and operating instructions 3 1 2 Arrangement for bright field illumination For transmitted light measuring tasks or for the accentuation of highly reflective objects 0 F yi T A 90 90 Fig 8 Arrangement for bright field illumination Observe the object clearance given in the table Field of View Working Distance To avoid interfering reflection from the detection object align the Vision Sensor at an angle of approx 10 15 with reference to the optical axis Fine adjustment Important Fine adjustment of the Vision Sensor should not be carried out until after electrical connection and start up PC software installation Page 14 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 Vision Sensor Mounting and operating instructions FESTO In order to assure the absolutely vertical alignment of the Vision Sensor to the object surface put a piece of reflective foil or a mirror on top of the object and start the Vision Sensor operating software For an image that is continually updated select trigger mode free run
30. me Simulator Active job 1 Job1 Cyde time nfa Flash 7 5kB X 0 Y 01 0 DOT W Fig 31 Alignment Vision Sensor SBSI EN 8033107 1401N12 05 2014 Page 33 FEST l O Vision Sensor Mounting and operating instructions 4 3 3 Detector settings Different detectors can be selected and adjusted to solve an inspection task First the required detector is selected in the dialog box shown below Cc a Available detector types Detector type Description Pattern matching Locate object by grayscale pattern Contour Locate object by object contours Contrast Verify contrast in specified region Brightness Verify brightness in specified region Gray Verify gray level in specified region Caliper Distance between edges OK Cancel Fig 32 Detector list Object sensor Then the working and search zones are graphically set on the screen If teach zones red outline exist they are taught immediately after completion of the settings All the detectors defined in this job are shown in the bottom left hand corner The parameters of the currently selected detector are shown in the bottom right hand corner and can be adjusted there If other parameters are to be checked on the same part many other detectors can be created as described above by clicking on New In the example two brightness detectors are defined to check the presence of metal contacts ina plastic connector housing Detector contact found brightnes
31. n 30 m except Ethernet cable Failure to do this may cause malfunction Page 16 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 FESTO For stand alone operation independent of PC PLC only connection 24 V DC is required afterstart up Vision Sensor Mounting and operating instructions 3 2 1 Connection possibilities For electrical installation connect wires as follows A LED display B Focussing screw C 24 VDC I O M12 connection socket D Data RS422 M12 socket Version Code Reader only E LAN M12 connection socket Fig Connectors Vision Sensor 24 V DC I O Vi S i on DATA RS422 Sensor Fig 12 Connection Vision Sensor 3 2 1 1 LED Display mame feor renns oO C a All LED s are set without taking into account any timing function e g Trigger delay Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 17 fee lang l O Vision Sensor Mounting and operating instructions 3 2 1 2 Focussing screw Focussing screw to adjust focus Focus Clockwise higher distance Counter Clockwise lower distance 3 2 1 3 24 V DC Connection M12 Connection socket for 24 V DC voltage supply and digital I O For the exact plug connection see PIN assignment connection 24 V DC 3 2 1 4 LAN Connection M12 Connection socket for Ethernet connection For the exact plug connection see PIN assignment connection LAN Use only the correct netw
32. nfinity Min scan distance Min field of view X x Y Mechanical data Length x width x height 65 x 45 x 45 mm without plug Weight approx 60 g Vibration shock EN 60947 5 2 Ambient operating temperature 0 C 50 C 80 humidity non condensing Vision Sensor SBSI EN 8033107 1401N12 05 2014 Page 41 memeS O Vision Sensor Mounting and operating instructions Storage temperature 20 C 60 C 80 humidity non condensing Protective system IP 67 24V DC and I O M12 12 pin LAN M12 4 pin Data M12 5 Plug connection pin Object detection Number of jobs detectors Vision Sensor XX Standard 2 32 e alignment e contour match with without position detection e pattern match with without position detection e area test grey level e area test contrast e area test brightness e direction info or coordinates for position detection e Caliper distances between edges Evaluation modes typ 20 ms pattern matching Typical cycle time typ 30 ms contour typ 2 ms area test Code Reader Number of jobs detectors Vision Sensor XX Standard 8 e DataMatrix Code acc ECC200 in any rotational position square and Rectangular e OR Code Model and Model 2 Version 40 e Barcode Interleaved 2 of 5 Code 39 EAN13 Gruppe EAN8 EAN13 UPC A UPC E EAN128 Codes A B C e position and size of field of view freely adjustable e logic operation of single configuration AND OR sorting
33. ng devices to exclude incident light Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 5 Ja l O Vision Sensor Mounting and operating instructions 2 Intended Use 2 1 Field of application The Vision Sensor is an optical sensor and uses several evaluation methods according to the version pattern recognition contrast detection grey level contour detection barcode or Data Matrix code read ing The product is designed for industrial use only In residential areas possibly additional measures for noise suppression must be done Object The Vision Sensor precisely detects faulty parts parts in the wrong place at the wrong angle or in the wrong order or a combination of all of these A total of five detectors are available for inspection tasks and interpretation pattern recognition contour detection brightness grey level and contrast detection The Vision Sensor also offers alignment it is thus now also possible to reliably detect those features which do not appear with repeated accuracy in the taught position All interpretation is carried out rel ative to the actual position and angle of the part without having to define an independent characteristic for each possible position This high capacity tool also enables you to solve demanding pick and place applic ations Code Reader Identification of products components or packaging from printed or directly marked punched or laser etched codes is common practice in many se
34. nternal enhanced Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page fe kany l O Vision Sensor Mounting and operating instructions Depth of view R3 12mm lens internal normal Focal length 12mm Depth of focus Normal 800 Resolved object size E 0 13mm 00 mE 025mm Ee 0 50mm 600 M 0 75mm 500 400 Depth of Field mm 300 200 100 O 100 200 300 400 500 600 700 Working Distance mm Fig 5 Depth of view R3 12mm lens internal normal Depth of view R3 12mm lens internal enhanced Focal length 12mm Depth of focus Enhanced 800 Resolved object size E 013mm 00 EE 0 5mm Me 0 50mm 600 M 075mm 500 400 Depth of Field mm 300 200 100 0 100 200 300 400 500 600 700 Working Distance mm Fig 6 Depth of view R3 12mm lens internal enhanced Page 12 Vision Sensor SBSI EN 8033107 140IN12 05 2014 FESTO Vision Sensor Mounting and operating instructions 3 Installation 3 1 Mechanical Installation To ensure maximum accuracy of detection the Vision Sensor should be protected from vibration Secure the supply and I O cables with cable binders to prevent crushing or slipping Select a position for the Vision Sensor in which interfering factors such as slight differences in the pos ition of the object or variations in illumination have little or no effect Screw the Vision Sensor onto the mounting clamp supplied with the unit and then onto a suitable object Use on
35. on plan and software settings for the following setup e Power supply e Trigger e x digital output e Encoder e Ethernet to PC or PLC Ethernet zu PC oder Steuerung Steuerung Schaltschrank 1 BN Ub 24VDC 2 BU GND Netzteil 3 WH Trigger 12 RDBU Digitaler Schaltausgang 5 PK Encoder r Fig 15 Exemplary connection plan Page 20 Vision Sensor SBSI EN 8033107 1401 N 12 05 2014 FESTO 3 2 2 5 Electrical connection supply voltage and shield apa H 2 GND clamp CHD Q 2 C Vision Sensor Mounting and operating instructions PLC input S 24 VDC I O cable from sensor Fig 16 Electrical connection supply voltage 24VDC in cabinet with shield 3 2 2 6 Electrical connection PNP NPN Device Input Vision Sensor Output Device Fig 17 Connection example Vision Sensor in PNP mode In outputs switch to 24V Device Input Vision Sensor Output Device Fig 18 Connection example Vision Sensor in NPN mode As the inputs refer to ground an additional pull up resistor may be required in order to increase the input voltage to 24V when unswitched The outputs switch to ground Vision Sensor SBSI EN 8033107 1401N12 05 2014 Page 2 fre ang l O Vision Sensor Mounting and operating instructions 3 3 Network settings Short reference The following instructions indicate how to change the network configuration of the PC and the Vision Sensor If incorrect settings are used th
36. or IP address 192 168 60 199 Add O When calling up some functions you may be required to enter a password See Find Config View user administration for defining passwords IP address PC 192 168 60 20 Subnet mask 255 255 255 0 Fig 24 Vision Sensor Device Manager Overview A Active sensors This list displays all the Vision Sensors available on the network that can be controlled from the PC B Sensors for simulation mode All the sensors available for offline simulation are displayed here C Add sensors via IP address Sensors which are not visible after starting the software or after clicking the Find button in Vision Sensor Device Manager can be add manually with eheir IP address if they are available in the network e g after a gateway and if the IP address is well known Via clicking the button Add such sensor con be found and are added to the list of active sensors in order to edit them D Functions e Find Activates another search procedure on the network to locate Vision Sensor products e Config Configures a connected sensor or a sensor simulation e View Displays image or result data from a connected sensor e Set Edits network settings such as the sensor s IP address etc E Context help Context sensitive help Page 28 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 Vision Sensor Mounting and operating instructions FESTO When first started up after insta
37. order Ethernet interface RS422 RS232 interface EtherNet IP interface Sensor monitoring by Viewer Job Upload Xx Xx R3 integrated 6 12 XIX Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 7 fame lang l O Vision Sensor Mounting and operating instructions 2 3 Sensor types 2 3 1 Object detection min oper nen min Field Depth of Internal ating dis Part no Type Optics oe of view mm focus illumination tance mm x mm R3 Standard White R3 Standard IR For longer operating distances from approx 200 mm external illumination may be necessary 2 External IR illumination is only possible with IR sensors or C Mount sensors 2 3 2 Code Reader min operating min Field Depth of Internal P 8 Partno Type Optics Pe distance mm of view focus illumination x mmx mm R3 Standard White pom pasonmrow 6 Rawal Wwe kf CO e ferrea ome fe fa R3 Standard Red oom fesemeren fe oa ew ka CJ LU ree po Jore me fesemoreno ferrea e e fa Cd LU res po Jore R3 Standard IR CC fe froma wane e sx Page 8 Vision Sensor SBSI EN 8033107 1401 N 12 05 2014 FESTO Depth of Internal min operating min Field Partno Type Optics t j HANAP distance mm of view Vision Sensor Mounting and operating instructions For longer operating distances from approx 200 mm external illumination may be necessary 2 External IR illumination is only possible with IR senso
38. ork cables 3 2 1 4 1 Direct connection of the Vision Sensor to a PC recommended ee Ethernet cable Vision Cl L4MG RJ45G SG xm PUR Sensor Fig 13 Direct connection Vision Sensor lt gt PC 3 2 1 4 2 Connection of the Vision Sensor to a PC via a network Network e g switch hub etc Standard network cable Ethernet cable Vision Sensor CI L4 MG RJ45G SG xm PUR Fig 14 Connection via a network 3 2 1 5 Data Connection M12 Connection socket for DATA serial interface RS422 RS232 s PIN assignment DATA A Page 20 Page 18 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 FESTO All pin assignments and signals are referring to the view from the sensor Vision Sensor Mounting and operating instructions 3 2 2 Plug connections 3 2 2 1 PIN assignment connection 24 V DC em coor ue iN huag es PK YE BK GY Ready Ready for next ext trigger 2 Switchable input output 3 VALID shows available results 4 All LED s are set without taking into account any timing function e g Trigger delay For shielded cables use shield 3 2 2 2 PIN assignment connection LAN Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 19 i fare lang l O Vision Sensor Mounting and operating instructions 3 2 2 3 PIN assignment DATA Use use a po he kh A Not with Object Standard version For shielded cables use shield 3 2 2 4 Exemplary connecti
39. rs or C Mount sensors Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 9 meS O Vision Sensor Mounting and operating instructions 2 4 Field of view Depth of view Field of view R3 6mm lens internal Focal length 6mm 150 E x direction Mi y direction 100 50 a QO o D LL 50 100 Format WVGA 150 0 50 100 150 200 250 300 Working Distance mm Fig 1 Field of view R3 6mm lens internal Field of view R3 12mm lens internal Focal length 12mm 150 EE x direction Mi y direction 100 50 a 0 Ko D i 50 100 Format WVGA 150 0 100 200 300 400 500 600 700 Working Distance mm Fig 2 Field of view R3 12mm lens internal Page 10 Vision Sensor SBSI EN 8033 107 14OIN12 05 2014 Vision Sensor Mounting and operating instructions FESTO Depth of view R3 6mm lens internal normal Focal length 6mm Depth of focus Normal 400 Resolved object size EE 0 13mm 350 025mm EE 0 50mm a E gt 250 T iL 200 E a b Q 150 100 50 0 0 50 100 150 200 250 300 Working Distance mm Fig 3 Depth of view R3 6mm lens internal normal Depth of view R3 6mm lens internal enhanced Focal length 6mm Depth of focus Enhanced 400 Resolved object size 350 BA 013mm 025mm EE 0 50mm g 300 ME 0 75mm O T 250 2 2 200 o ca Q 150 100 50 0 0 50 100 150 200 250 300 Working Distance mm Fig 4 Depth of view R3 6mm lens i
40. s value is in defined range as the shiny metal contact is mounted res ult positive Detector 2 contact not found brightness value out of defined range as only weak reflection from the black plastic housing background result negative Page 34 Vision Sensor SBSI EN 8033 107 140IN12 05 2014 Vision Sensor Mounting and operating instructions 15 x File Options View Help oead aema r Setup Job Output Result Start sensor Brightness detector wp Settings in tab Brightness Parameters Functions Brightness Range of grey values min max that are to be r Trigger Image update accepted ROI type Rectangle or circle Edit ROI by edit ROI there can be masked out parts of the search area Connection mode The parts which are not relevant for this Online Offline L Fit examination can be Configure detectors and regions Detector Inspection Detector name Result Detector type Threshold 1 Detector1 o Brightness 65 25 S 100 00 TI 2 Detector2 2 Brightness Search region Rectangle Edit search region Overlay search region Mode Name Active job 1 Job1 Cycletime nfa Flash 0 4 kB 40 3 MB 0 0 1 0 ou O QO BCG 9 9 Fig 33 Detector settings 4 3 4 Output I O and data output The output module enables different settings of digital inputs outputs and data output Select and activate the interfaces in
41. server ia awe Fig 19 PC IP Setup Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 23 fre lang l O Vision Sensor Mounting and operating instructions 3 3 3 Network Connection Setting the IP address of the Vision Sensor Before connecting the sensor in the network check with the network administrator whether the sensor s address has already been assigned default 192 168 100 100 with subnet mask 255 255 255 0 This can otherwise cause network failure The set IP address is to be noted on the enclosed label The label is then to be stuck on the sensor in a clearly visible place after installation Network connection speed The sensor must only be operated with OOMBit full duplex when using VGA resolution or higher and Vision Sensor Visualisation Studio Sensor s IP still free Connect sensor to network and then set the sensor s IP to match the PC according to the admin istrator s specifications as follows beginning with 2 Sensor IP already assigned First connect sensor and PC directly and set an authorised IP address in the sensor 2 Connection via the network can then be carried out First ensure electrical connection and install ation of PC software has been completed To set the IP address on the Vision Sensor the fol lowing steps are to be carried out in the PC software a Start Vision Sensor Device Manager software b Select the required Vision Sensor sensor from the active sensor list single
42. sswords _ 2 2 2 0 000000000 a000 ee eee eee eee eee eee eee aaraa nannan 29 4 2 4 Password levels 22222 e eee eceeeeeeeeeeeee 29 4 3 Vision Sensor Configuration Studio Setting sensor Job 3 4 3 1 Job Setup 200 e cece eee e eee aoaea raara roaraa 32 Vision Sensor SBSI EN 8033107 140IN12 05 2014 Page 3 fo kany l O Vision Sensor Mounting and operating instructions 4 3 2 Alignment settings 000000001000 eee cece eee e eee arrr eee eeeeeeees 33 4 3 3 Detector settings 00 0 0 2 2 cece ccc ccc cee cee eee ee nee eee e cence enn ooann 34 4 3 4 Output I O and data output eee eee eee ees 35 4 3 5 ROS AAP 37 4 3 6 Start sensor AA 38 4 4 Vision Sensor Visualisation Studio display images and results 22202222222 eee eeeeeeeee eee 39 5 Type key LL 40 6 Technical Data A 4l Page 4 Vision Sensor SBSI EN 8033 107 1401N12 05 2014 FESTO Vision Sensor Mounting and operating instructions General Information and Safety I I Safety notes Before starting the Vision Sensor read these instructions carefully ensure that you have understood them and comply with them at all times The Vision Sensor should only be connected by a qualified electrician Do not tamper with or make alterations on the unit The Vision Sensor is not a safety critical component and its use is prohibited under conditions where the safety of persons may depend on its function T
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