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IVC-3D Operating Instructions

1. 6 Fill ina name for the program in the dialog box and click OK 7 Click Devices in the left pane of the main window In the right pane right click the device that is selected for the product and choose Select Program from the pop up menu 9 Select the program in the list in the dialog box and click OK 4 1 4 Create a Table There must also be a table associated with the device so before starting to build the program we must create a table and associate it with the device 10 Create the table by right clicking Tables in the left pane choosing New Table from the pop up menu and filling in a name in the dialog box 11 Right click the device that is selected for the product and choose Select Table from the pop up menu 12 In the dialog box select the table and click OK 13 Finally save your changes to the product on the PC by choosing File gt Save Product SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Getting Started Chapter 4 IVC 3D 4 2 About Writing Programs Before starting to write the program we will take a look at what a program consists of and the programming environment 4 2 1 Tools A program is a list of commands or tools that are performed by the camera When the program runs the commands are carried out one by one in the order that they appear in the program list So when you build a program in IVC Studio you work with this list of commands
2. Most of the tools have a number of input parameters that can be set For example when capturing an image from a camera you can specify in which image bank to store the image 0 Retrieve an image Destination Bank Oo g 1 Find edge left X coordinate of line Table row 1 i Y coordinate of edge 220 2 Find edge right e mage Bank en es X coordinate of line Tabe row 2 O Y coordinate of edge 340 3 Calculate angle a Pome ase TA 4 Measurement OK Value to compare Result 3 je OK Not OK 5 Measurement OK Output number POY Sigal va 6 Measurement not OK Output number n Signal value Many tools also produce results that are available as output parameters These parame ters can be stored in the table or be used directly by other steps in your program 8011007 SICK IVP Industrial Sensors www sickivp com All rights reserved 19 Chapter 4 20 Getting Started Operating Instructions IVC 3D 4 2 2 Programming Window When you write a program the main window contains a few additional parts e Toolbar contains the tools that can be used with the device e Program List shows the tools used in the program and the parameters for each tool e Table shows the contents of the device s table e Image Banks shows thumbnails of the images currently in the image banks of the device if any The images can be either 3D images or profiles e Preview show
3. Before moving along we will just add the last ROI Rectangle for the area to the right of the loaf of bread and set the rest of the parameters for the steps that we have added this far 35 Select the Conveyor belt to the left step and choose Edit gt Copy from the main menu 36 Choose Edit gt Paste and paste the step after the current step 37 Move the rectangle in the preview window to the right of the loaf of bread 38 Change the description of the program step to Conveyor belt to the right 39 Set the following parameters for the remaining steps ROI Union 01 ROI A definition step Step number of Conveyor belt to the left 02 ROI B definition step Step number of Conveyor belt to the right Volume 02 ROI definition step Step number of ROI for the loaf 03 Surface definition step Step number of the Fit Surface tool 40 Execute all the steps in the camera by selecting the first ROI Rectangle step ROI for the loaf and choose Debug gt Step by step or press the F8 key until all steps in the program have been executed SICK IVP Industrial Sensors www sickivp com All rights reserved 25 Chapter 4 26 Getting Started Operating Instructions IVC 3D 4 4 2 Using Tables and Results from Other Steps The table is very useful for storing constants and results of calculations that we need to use later For example to calculate the desired volume of a slice of bread we can use the table for se
4. Label p LabelTable l l l l l FillLevel ES FillTable l l l l l l l l 4 1 1 Create a Product The first step is to create the product to work with 1 Start IVC Studio and log in If you just installed IVC Studio the default user and password can be found in the installation instruction 2 Choose File gt New Product from the IVC Studio menu bar A new empty product named New Product is opened The main window shows the contents of the currently open product The left pane shows the different categories of objects that the product may contain that is devices programs and tables Clicking on one of the categories will display the objects contained in the product Since the product was just created all categories are empty with the exception of Devices which contains all devices that are available ive Studio 1 P GettingStarted y jol x File Options Help Jag Devices Device Fimuware Version ID Program Table Status Programs O rvc 2D 17 En Tables A 140 3D21111 11 jas Macros j Evean 13 stop ipa SICK IP 2004 03 01 16 35 Left pane Right pane There is also a fourth category that we haven t mentioned yet macros Macros are basi cally small programs that you can call from within regular programs They can be useful for reusing blocks of program steps when writing advanced programs 8011007 SICK IVP Industrial Sensors www sickivp com All rights rese
5. It is assumed that the camera and IVC Studio are installed and are working properly How to install the camera and IVC Studio is described in the installation instruction To capture 3D images you would also need movement and some kind of trigger for triggering the 3D image grab It is also strongly recommended to use an encoder for capturing accurate 3D images 4 1 Creating a Product Before starting to write the program we need the following e A product to work with e A device to use in the product in this case a camera e A program written for the device e A table used for the program in the device A product in IVC Studio is a collection of devices usually cameras that are used for per forming an inspection for example of loafs of bread on a production line Each device contains one or more programs that instruct the device how to perform the inspection 16 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Getting Started Chapter 4 IVC 3D A program is a list of commands or tools that the device executes one by one in order to capture images analyze them and draw conclusions from them To its help the program has a table that it can read values from and store results in A e e e e xy Product l l l 1 Devices l l l S me l 1 Cameral Camera2 Cameras lt lt uses gt gt y Programs E Tables i l Pa E
6. left corner of the image X coordinate ll width Y coordinate length 4 4 1 Setting Constant Parameter Values All the tools that we just added to the program need a number of parameters to be set ROI Rectangle e The rectangle that is the region of interest ROI in which we expect to find the loaf or the conveyor belt ROI Union e Two ROls to join A ROI is specified by referring to the program step in which the ROI is created Fit Surface e An image bank containing a 3D image a ROI and the type of surface to fit to the part of the 3D image that is inside the ROI Volume e An image bank containing a 3D image a ROI and a surface to use as zero level when calculating the volume inside the ROI Anything in the image below the zero level is ignored when calculating the volume To set a constant value manually is really straightforward just enter the value in the Value column for the parameter 29 Select the Fit Surface step 30 Double click the Value column for the parameter 02 ROI definition step and enter the program step in which you specified the ROI for the conveyor belt that is the ROI Union step 31 Set the type of surface to be fitted by double clicking the Value column for the parameter 03 Surface type and choose Plane surface from the menu SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Getting Started Chapter 4 Inter
7. lt 5 Vpp Power I O Ethernet M12 8 pin male M12 4 pin D coded female RS 485 I O M12 8 pin female Encoder M12 5 pin male 3 x HIGH 10 V 28 8 V 3 x B type lt 100 mA 2 RS 485 Ethernet 100 Mbit s Encoder RS 422 compatible 2 Mhz O C 40 C 20 C 70 C 15 g 3 x 6 directions 5 g 58 150 Hz Approx 3 2 kg Approx 3 2 kg Approx 4 kg 294 x 163 x 294 x 163 x 387 x 163 x 69 mm 69 mm 69 mm IP 65 Aluminum anodized Approx 4 kg 387 x 163 x 69 mm Connectors nickel plated brass Front windows Compound glass 3 2 100 mA total current of all digital outputs 3 IVC 3D21112 front windows in PMMA SICK IVP Industrial Sensors www sickivp com All rights reserved 37 Chapter 5 Hardware description Operating Instructions IVC 3D 5 4 Dimensional Drawings 161 7 162 7 403 7 Figure 5 3 IVC 3D11111 and IVC 3D41111 not to scale 161 7 310 7 Figure 5 4 IVC 3D31111 and IVC 3D2111x not to scale IVC 3D31111 0 133 d 58 2 mm do 144 5 mm IVC 3D2111x 0 147 d 77 4 mm d 146 8 mm do is the distance from the laser beam to where the optical axis intersects with the camera window 38 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 8011007 0H81 Printed in Sweden 12 06 Subject to change without notice The specified product features and technical data do not represent any guarantee IVP A4 4c int27 Au
8. 1 Typical 2 Typical Individual deviation may occur 3 Represents what may be achieved but is application dependent 4 Dependent on grab setup and application 5 2 Electrical Connections Operating Instructions IVC 3D 200 IVC 3D11111 200 x 600 mm 395 mm 810 mm 440 mm 265 mm 0 2 mm lt 5000 lt 3700 IVC 3D IVC 3D 300 IVC 3D41111 250 x 1250 mm 1000 mm 1480 mm 440 mm 280 mm 1 2 mm lt 5000 lt 3700 All electrical connections are done via M12 plug connectors There are four connectors on the side of the IVC 3D Figure 5 2 Side plate of IVC 3D with M12 connectors and LEDs 34 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Hardware description Chapter 5 IVC 3D Power connector male Pin Color Signal remark 1 White Trigger In In O HIGH 10V 28 8V 2 Brown DC 24 V 20 3 Green Out O ee a ane 4 Yellow Out 1 ee sana Tang 5 Gray In 1 max Us Supply voltage 6 Pink In 2 max Us Supply voltage 7 Blue GND 8 Red Trigger Out TTL active low 1 Color is valid for cable type DOL 1208 RS485 connector secondary outputs female Pin Color Signal remark 1 White TRA 2 Brown not connected 3 Green Out 2 o peca SANG 4 Yellow not connected 5 Gray GND for signals 6 Pink GND for RS485 7 Blue TRB 8 Red not connected 2 Color is valid for cable type STL 1208 8011007 SICK IVP e Industrial Se
9. different programs and tables depending on the product This makes it easy to use the same camera for performing different in spections Just create one product for each inspection and in each product associate the program and table to be used for the specific inspection For example there are three cameras set up by a production line and we are producing two different items on this production line a transparent bottle and an opaque jar For the bottle we can use IVC 2D cameras to inspect both the label on the front and the fill level but for the jar we need to use an IVC 3D camera to inspect the fill level Device 3 seco PU Device 2 Device 1 Device 1 Product Bottle s Product Jar Dev Program Table Dev Program Table 1 Label Bottle_Label_Table 1 Label Jar_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table 3 Jar_FillLevel Jar_FillLevel_Table a S ee ee ee ee To achieve this we create two products in IVC Studio with the following contents Product Bottle Device Program Table 1 Label Bottle _Label_ Table 2 Bottle_FillLevel Bottle_FillLevel_ Table Product Jar Device Program Table 1 Label Jar_Label_Table 3 Jar_FillLevel Jar_FillLevel_ Table When switching between producing the two products we can simply open the product in IVC Studio to load the corresponding programs and tables into the devices If we would change the design of the label
10. for the bottle we can just change the values in the table Bottle_Label_Table to suit the new design If necessary we could also make a copy of the program Label modify it and associate the modified program with device 1 8011007 SICK IVP e Industrial Sensors www sickivp com All rights reserved 15 Chapter 4 Getting Started Operating Instructions IVC 3D Getting Started In this chapter we will introduce the basics in IVC Studio and learn how to e Create a product in IVC Studio in which to write the program e Write the program that is adding program steps and setting parameters e Test and debug the program As an example we will build a simple program that slices a loaf of bread in a number of pieces of equal volume or weight if we can assume that the density is constant One way to achieve this is to e Capture a 3D image of the loaf e Calculate the total volume of the loaf and divide that volume with the desired number of slices to get the volume of each slice e Move along the 3D image from one end to the other while calculating the accumulated volume of the part of the loaf that we have covered Slices gt Scamning direction Accumulated volume t When the accumulated volume is equal to or larger than the desired volume of a slice the current position is stored and the accumulated volume is reset In a real production environment the camera could control a knife that slices the loaf at the correct places
11. height the pixel values are displayed in milli meters and not as gray or color values as in ordinary digital images The resulting height value is measured from a reference plane located at a fixed distance from the camera This means that the units of the 3D coordinates in an image are pixels along the x and y axis and millimeters along the z axis The coordinates in the 3D image can however easily be converted to millimeters by using a tool in the camera 3 1 2 Profiles A 3D image is generated from profiles where each profile represents a cross section of the object A profile is created when the object passes under a laser beam which is reflected as a line on the object When viewed from an angle the line shows the contour of the object The coordinate system in profiles is the same as in 3D images that is pixels along the x axis and millimeters along the z axis 3 13 Suppressing ambient light The laser line used to create 3D images has a certain wavelength range and the IVC 3D has built in filters that Suppress ambient light However sunlight and also some standard light sources used at factory floors contain light with the same wavelength range as the laser For a robust measurement day and night all over the year it is recommended to shroud the inspection area from ambient light especially sunlight SICK IVP Industrial Sensors www sickivp com All rights reserved 11 Chapter 3 12 Functional Overview Operat
12. in the program list and choose Debug gt Execute Step once more An image is now retrieved from the camera and stored in image bank O Double click on the image bank to see the 3D image in a larger window together with a visualization of the image 10 x ll 3D Visualisation 4 22 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Getting Started Chapter 4 The next step is to calculate the total volume of the loaf of bread In order to do that we need to have the following e A Region of Interest ROI that defines where in the 3D image the loaf is located e A surface that defines the conveyor belt on which the loaf is placed This surface is used as the zero level when calculating the volume from the height data in the 3D image ROIs for the conveyor belt ROI for the loaf The ROI for the loaf is created by adding a ROI Rectangle tool to the program We will set the parameters specifying the ROI later 25 Click the ROI Rectangle tool on the ROI toolbar 26 In the dialog box that is displayed choose before current step and click OK The ROI Rectangle step is added to the program list 2 Add a description to the step such as ROI for the loaf The conveyor belt can be found by fitting a surface to areas outside the ROI for the loaf This can be done with the following steps e Two ROI Rectangle tools that specify areas to the lef
13. parts must be present in a functioning system e A device in this case a camera e IVC Studio development environment e A power I O cable e An Ethernet cable 2 1 1 Preparing the Power I O Cable The orange power I O cable is open in one end It contains eight wires The blue is ground and the brown is 24 volts DC Apply an appropriate connector but do not connect it at this point 2 1 2 Preparing the Device The figure below shows the position of the connectors on the back of the device Follow the steps below to prepare the device for operation 1 Remove the protection caps covering the connection for the cable sockets that you want to use 2 Connect the Ethernet cable to the socket marked Ethernet on the device w Connect the power I O cable to the socket marked Power on the device 4 Ifyou are using an encoder with the camera connect the encoder cable to the socket marked Encoder on the device 6 SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Installation Guide Chapter 2 2 2 Installing IVC Studio To install IVC Studio insert the CD in the PC and go through the Setup Wizard When the installation is completed you may have to restart the PC The first time you open IVC Studio you are first prompted to enter a company name and serial code The serial code is found in the file serial txt located in the same folder as IVC Studio Y
14. product simply select the devices by clicking the checkbox in front of them in the main window When the development is finished you can easily download the programs and tables to all included devices at once by right clicking Devices in the left pane of the main window and choosing Product Transmission This will also start the programs in the devices Using Several Programs While there can be only one program in the working memory additional programs can be stored in the flash memory of the device These programs can either be loaded manually into the working memory or they can be called from the active program e Toload a program manually use IVC Studio to associate the program with the device and then start the program This requires that the program is available in the product that is open in IVC Studio If the program is not available on the PC you can retrieve it from the device by right clicking the device in the list of devices and choosing Device Management gt Flash gt Import Program from Flash e Tocalla program stored in flash from the active program please refer to the Tools section of this manual for information on which tool to use Note that calling a program stored in flash will load both a program and a table into the working memory of the device replacing the previous program and table there SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Hardware descri
15. retrieve the value directly from the returned values of the step 47 Double click the Step column of the parameter 01 Variable A A Previous result dialog box is displayed Here you can select a result from a program step to use as parameter value Previous result x r Step number Total volume Cancel Result 1 Volume mm3 48 Choose the step number of the Volume step and then the first result from that step there is only one result to choose from and click OK The number of the step and the result are entered in the Step and Result columns of the 01 Variable A parameter and the current value is displayed in the Value column SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Getting Started Chapter 4 The next step in our problem is to find where to cut the loaf of bread This can be solved in the following way 1 Seta thin ROI 1 pixel high at the beginning of the loaf and set an accumulated volume to O 2 Calculate the volume of the thin part of the loaf that is inside the ROI and add this volume to the accumulated volume 3 Move the ROI 1 pixel at a time and add the volume inside the ROI to the accumulated volume 4 When the accumulated volume becomes larger than the desired volume of a slice cut the loaf or just mark the location and reset the accumulated volume We will use the table for storing both t
16. the image Normally the tools that are used for analyzing the 3D images ignore missing data However some tools treat missing data as a height value of O mm This may affect the result of the analysis for example an edge could be detected at a location in the image where there are actually missing data A list of those tools is found in appendix C in the reference manual The camera has a tool for removing missing data from an image and thereby minimizing the impact on the analysis made by such tools The Fill Missing Data tool assumes that the height of the hidden area is same as the area surrounding it and thus fills in the hole SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Functional Overview Chapter 3 3 2 IVC Studio IVC Studio is used for developing the programs that are used by the cameras when performing inspections that is analyzing images IVC Studio can handle both 2D and 3D cameras When you develop a program in IVC Studio you work with a product A product in IVC Studio is a great help for handling all the devices usually cameras programs and tables that are needed for a certain inspection The product contains a list of the used devices and copies of all programs and tables that are used by the devices Normally each device has one program and one table associated to it which is also the program and table that are currently i
17. the program list 19 Add a description to the step such as Set up the camera 20 Double click the Setup field that is located in the bottom left corner of the program step in the program list The Grab Setup window is now opened SICK IVP Industrial Sensors www sickivp com All rights reserved 21 Chapter 4 Getting Started Operating Instructions IVC 3D 21 In the Grab Setup window make the following settings Basic tab Field of view Adjust the sliders Height Stand off and Profile width so that you can view the profile in the preview You may also have to adjust the Measurement settings to improve the quality of the profile Profile triggering Select Free running or Encoder controlled depending on whether or not you have an encoder connected to the camera Analysis Select 3D Image analysis and fill in the number of profiles per image Advanced tab Profile triggering If you have an encoder set the number of pulses per millimeter and profile distance Image triggering Select Free running or Triggered by input signal depending on whether or not you have a trigger connected to the camera We are now ready to run the program on the camera and view the image that was retrieved 22 Click the Grab Setup step in the program list to select the step 23 Choose Debug gt Execute Step from the IVC Studio menu or press the F5 key on the keyboard 24 Select the Grab step
18. which the accumulated volume is stored the same as lt row gt Add to accumulated volume Cr AECE IS AE E 02 Table index ABS Time of execution us SA AA The value of the parameter 01 Value is an expression that calculates a value each time this step is performed An expression always begins with an equal sign and may contain e Constant values 360 4 7 etc e Table values Vn for the value in row n e Results from other steps SmRn for result n of step m for example S17R2 e Parameters arguments in other steps SmAn for input parameter n of step m e Functions sin abs etc Please note that a program using expressions will not necessarily execute faster than or even as fast as a program where program steps are used for the same calculations The expressions need to be parsed each time the program step is executed which will add some time to the execution time Next we will move the ROI 1 pixel to prepare for the next thin slice of loaf to be added to the accumulated volume We do that by increasing the location of the moving ROI by 1 a value that is stored in the table 55 Select the program step Add to accumulated volume and choose Edit gt Copy 56 Paste the step after the selected step Change the description to Move moving RO 57 Change the following parameters of the Move moving RO step 01 Value V lt row gt 1 where lt row gt is replaced with the table row number in which th
19. which the desired volume of a slice is stored 02 END step The step number of the End of While tool Select the Reset accumulated volume step and add a For tool before the selected step Add another End tool at the end of the program and fill in the description End of For Set the parameter 01 Start step to the step number of the For tool For the For tool set the following parameters 01 Start value 1 02 End value The number of slices to make minus 1 03 Increment 1 02 END step The step number of the End of For tool g 10 For WEE 11 Reset accumulated volume SE 12 While ET 13 Set moving ROI es 14 olume in moving AO WEB 15 Add to accumulated volume WEE 16 Move moving ROI a 17 End of While 4 18 End of For Now we just have to add a step after the inner loop that registers the location where the bread loaf should be cut We are going to save the locations in the table in a number of consecutive table rows 64 Add a Write to table tool between the two End tools at the end of the program and fill in the description Save location Set the following parameters 01 Value An expression that calculates the value current location of the moving ROI 1 This is the value to save since we incremented the location after calculating the accumulated volume 02 Table index An expression that calculates the row number of an empty row in the table The result of the For step can
20. OPERATING INSTRUCTIONS Industrial Vision Camera IVC 3D A calibrated smart camera for 3D measurements SICK IVP Please read the complete manual before attempting to operate your IVC 3D WARNING This product is equipped with a Class 2M laser according to EC 60825 1 or Class ll according to 21 CFR 1040 10 11 CDRH respectively Class 2M lasers emit visible radiation in the wavelength range from 400 nm to 700 nm where eye protection is normally afforded by aversion responses including the blink reflex However viewing of the output is hazardous if the user employs optical instruments within the beam or suppresses the blink reflex intentionally e Do not stare into beam e Do not view the laser beam directly with optical instruments like magnifying glasses tele scopes etc LASER RADIATION DO NOT STARE INTO BEAM OR VIEW DIRECTLY WITH OPTICAL INSTRUMENTS The IVC 3D is a laser product and operation using CLASS 2M LASER PRODUCT procedures other than those specified herein may l result in hazardous radiation exposure according to IEC 60825 1 2001 8 Do not open the IVC 3D The IVC 3D unit should not be opened the IVC 3D contains no user serviceable parts inside Opening the IVC 3D unit may result in hazardous radiation exposure Turn off the power to the IVC 3D before maintenance The power to the IVC 3D must be turned off before any maintenance is performed Failure to turn this power off when maintaining th
21. Programs in the left pane in the main window and select the program Empty The program list image banks and tools toolbar are displayed in the right pane Click on the Grab setup tool on the Image tab in the toolbar The Grab setup tool is added to the program list Double click the Setup button on the program step in the program list The Grab setup dialog box is displayed Aim the device at a suitable target and adjust the field of view until you can see the profile of the target in the preview Stand off 188 0 mm Height 61 0 mm Width 128 0 mm C Single profile 3D image with 112 profiles Chapter 3 Functional Overview Operating Instructions IVC 3D Functional Overview 3 1 IVC 3D Camera The IVC 3D camera contains a powerful microprocessor that is tailored for image analysis and especially analysis of 3D images The processor can perform a number of commands or tools that are used for example for capturing an image finding an edge in an image or setting one of the camera s output signals King Memon Banks Images Data Blocks j The camera also has a working memory which contains the following e Active program which is a sequence of commands that are used for analyzing the images e Active table which is used for reading and storing values that are used during the analysis e A number of image banks which each contains an image captured and proc
22. This step draws the region of interest in the image Make sure to draw in the image bank with the copy of the image 69 Add a Draw line tool after the Save location step Set the parameters 01 Start point X 02 Start point Y 03 End point X and 04 End point Y so that the tool draws a line across the ROI for the loaf at the location of the cut which is stored in the table Make sure to draw in the correct image bank 70 Add a Display tool after the End of For step and set the parameter so that it displays image bank 1 71 Choose Debug gt Run and watch the result in the Display window We are now done writing the example program but there are at least two more func tions that could be added to the program e Making the cuts We could use either the outputs of the camera to directly control a knife that cuts the loaf of bread or we could have another device that controls the knife and send the lo cations where to cut to that device using either RS485 or Ethernet Before sending the locations remember that the values stored in the table have the unit pixels It would probably be a good idea to get the calibrated positions in millime ters before passing them on e Improving the precision of the program Every slice except the last one will be slightly larger than the desired volume This is because we are working with a resolution of 1 pixel along the y axis and do not make the cut until the accumulate
23. VC 3D Follow the steps below to receive an image from the device 5 10 TL 12 t3 Make sure the PC is connected to a server or a switch and connect the Ethernet cable from the device to the same network server or switch as the PC If you connect the device directly to the PC make sure you use a crossover Ethernet cable Connect the power I O cable to 24 volts and GND Start IVC Studio If you start IVC Studio for the first time enter a company name and the serial number and log in as administrator Choose File gt Open Product and open the product Empty prd Click Devices in the left pane in the main window If you are connected to a network with a DHCP server the device should be displayed in the right pane If the device is running a program STATUS RUN stop the program by right clicking the device in the right pane and choose Stop Program Choose Options gt Configuration from the IVC Studio menu bar Select Ethernet Devices in the dialog box and click Ethernet Devices Configuration A list of all connected devices appears Select the device All available settings appear in the right pane Make the necessary settings depending on your connection method Through a switch to Set to the customer serial a network with a number or another number that DHCP server is unique in the network Through a switch to An unoccupied IP address a network without a provided by a network techni DHCP server cia
24. a web page on the camera and then monitor the camera from a web browser on any computer on the network Programs Tables Input Output 3 2 2 Saving Programs When you save a product in IVC Studio the included programs and tables are saved with the product on the computer Nothing is saved on the device when you save the product This is not a problem since the program associated with the device is automatically loaded into the device as soon as the program is started or edited in IVC Studio Copy values manually Produc Flash Devices Memory 0 El Camerai Associated E Program ea HEE Program Camera 2 EE Ba Associated Table a ee ee ce re Pe a a a a a a o a The programs and tables may be stored manually on the device as well The flash memory in the device contains a number of program banks each of which can contain a program and a table When you store a program in the flash memory you always store the active program and table which are currently in the working memory of the device A program stored in program bank O will automatically be started when the device is powered up SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Functional Overview Chapter 3 IVC 3D 3 3 Handling Multiple Products A device may be used in several products using
25. ach step contains e The input parameters that can be set for the tool e The execution time for the tool when executed e The result return values from the tool The program list has four columns that are used for specifying parameter values Value Table Step and Result Which column to use depends on what type of parameter value you want to use a constant value a value from the table or a result from a previous step Image banks are used for storing images just like the table is used for storing values This can be very useful for example if you want to modify the image but need to use the original image later on in the program Note that the images are stored in the camera and that the images in the image banks remain there until they are removed or overwritten by other images When working with the IVC 3D camera there are two types of image banks one that con tains 3D images and one that contains profiles Which image banks that are of each type depends on how the camera is configured The preview window is used by some tools for visualizing the result of the tool This preview is useful when you develop your program but is not generated when the program is run ning The preview window may also be used for setting parameters for certain tools This is further described later in this chapter SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Getting Star
26. active setup windows are also used in some tools for entering parameter values In these windows captured images are used to provide feedback for the settings Parameters can be set interactively in three different ways e Inthe Preview window e By clicking the button with three dots that is displayed when a parameter is double clicked e By double clicking the Setup field that is displayed at the bottom left corner of certain program steps The Grab Setup window which we used earlier to set up the camera is one example of an interactive setup window As another example it is usually much easier to adjust the size and location of the ROI directly in the image in a preview window than entering coordinates for the rectangle in the Value column 32 Select the ROI rectangle step ROI for the loaf A rectangle is shown in the upper preview window This is the default ROI that is set for a new ROI rectangle 33 Move and resize the rectangle in the preview so that it marks the area where you can see the shape of the loaf of bread Srevious Result 34 In a similar manner set the ROI rectangle for the step Conveyor belt to the left so that it marks a section of the empty area to the left of the loaf If you need a larger window to work in you can double click a preview to open it in a sepa rate window In this window you can fine tune the parameters settings for example if there are small details in the image
27. be useful in this case 65 Add a Goto tool at the end of the program and set this step to jump to step 2 If we do not add the last Goto step the program will automatically jump to step O when it reaches to the end It is usually a good practice to make sure that the program jumps to the right place after reaching the end This way we can avoid situations where we add steps intended to be run only the first time the program runs but that are executed every time SICK IVP Industrial Sensors www sickivp com All rights reserved 29 Chapter 4 30 Getting Started Operating Instructions IVC 3D 4 5 Testing and Running the Program How do we know that the program we have written this far is working properly One way is to step through the program using Debug gt Execute Step and Debug gt Step by Step The result of each step is shown in the preview window and the Value column of each parameter 66 Use Debug gt Execute Step and Debug gt Step by Step to step through the program and make sure that it gives the correct result Another way is to add some program steps that display the result of the analysis and run the program 67 Add a Copy image bank tool after the first Grab step We add this step in order to have a copy of the image to draw in If we draw in the original image the analysis could be affected Also make sure that the bank is not already used 68 Add a Draw ROI tool after the Copy image bank tool
28. d volume is larger than the desired volume If we add a interpolation calculation that can give us a sub pixel position where the accumulated volume exceeds the desired volume the precision of program could be greatly improved SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Getting Started Chapter 4 IVC 3D 4 6 Saving the Program To save the program we have written use File gt Save Product This will save the program on the PC along with all other programs and tables in the product but not on the device The program is present on the device as well since it is downloaded to the device as you build it But if the power to the device is cut your program will be lost from the device and has to be downloaded again from the PC To prevent this from happening you may save the program in the flash memory on the device IVC Studio Device Product gt Copied Working Flash Devices automatically Memory Memory EJ Camera 1 Associated Program Program Camera 2 EE B sae Al Associated Table Copy values D manually A s A a A S a a a a O To download a program to a device without saving it in the flash memory Open the product containing the program Make sure the program is associated with the device and that a table is associated as well 3 Right click the device
29. e location of the moving ROI is stored 02 Table index The row number in the table in which the location of the moving ROI is stored the same as lt row gt 4 4 4 Using Conditions and Jumps Since we intend to move the ROI along the entire bread loaf we need to repeat the last steps In fact we need two loops in order to solve our problem e An inner loop that calculates the accumulated volume until we have a full slice that is when the accumulated volume is as large or larger than the desired volume for a slice e An outer loop that runs from 1 to the number of slices 1 and takes care of the loca tions where we should cut the bread loaf there is no need to cut after the last slice SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Getting Started Chapter 4 58 09 60 61 62 63 Select the Set moving ROI step and add a While tool from the Program toolbar before the selected step Add an End tool at the end of the program and fill in the description End of While Set the parameter 01 Start step to the step number of the While tool For the While tool set the following parameters 01 Control expression V lt accVolRow gt lt V lt sliceVolRow gt where lt accVolRow gt Is replaced with the table row number in which the accumulated volume is stored and lt sliceVolRow gt is replaced with the table row number in
30. e unit may result in hazardous radiation exposure ISM Radio Frequency Classification EN55011 Group1 Class A Warning Class A equipment is intended for use in an industrial environment There may be potential difficul ties in ensuring electromagnetic compatibility in other environments due to conducted as well as ra diated disturbances Explanations Group1 ISM equipment ISM Industrial Scientific and Medical Group 1 contains all ISM equipment in which there is intentionally generated and or used conductively coupled radio frequency energy which is necessary for the internal functioning of the equipment itself Class A equipment is equipment suitable for use in all establishments other than domestic and those directly connected to a low voltage power supply network which supplies buildings used for domestic purposes Class A equipment shall meet class A limits Note Although class A limits have been derived for industrial and commercial establishments administrations may allow with whatever additional measures are necessary the installation and use of class A ISM equipment in a domestic establishment or in an establishment connected directly to domestic electricity power supplies Please read and follow ALL Warning statements throughout this manual German versions of the Operating Instructions and Reference manual are available on the CD Eine deutsche Version der Bedienungsanleitung und des Referenzhandbuchs finden S
31. essed by the camera An image bank may contain either a 3D image or a profile e Data blocks which are used by some tools for storing or reading additional data For example some pattern recognition tools Teach tools create and save data in a data block which can later be used by other tools Match tools In addition the camera has a flash memory which is used for permanent storage The flash memory contains the following e Program banks which are used for storing programs and tables that can be loaded into the camera s working memory A program bank always contains both one program and one table e Saved images which can be used for example as a basis when teaching the camera patterns to recognize e Saved data blocks containing for example pattern recognition data to be used by Match tools so that the pattern does not have to be taught before running a program 10 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Functional Overview Chapter 3 3 L1 3D Images A 3D image shows the topology of an object or the distance from the bottom or reference plane to a point on the surface of the object The brighter a pixel is in the image the higher up that point is on the object x width f 0 al SICK IVP i j e z height y transport x width y transport Since each pixel in the 3D image represents a
32. et the following parameters 03 X coordinate The x coordinate of the ROI for the loaf 04 Y coordinate The current location of the moving ROI 05 Width The width of the ROI for the loaf 06 Height 1 53 Add a Volume tool and fill in the description Volume in moving ROI Set the following parameters 02 ROI definition step Step number of the Set moving ROI step 03 Surface definition step Step number of the Fit Surface tool 7 8 Calculate desired volume of a slice WEE g nitiate moving AOI WEA 10 Reset accumulated volume Ed 11 Set moving ADI 12 Volume in moving ROI SICK IVP Industrial Sensors www sickivp com All rights reserved 27 Chapter 4 28 Getting Started Operating Instructions IVC 3D 4 4 3 Setting Parameter Values with Expressions To add the volume inside the moving ROI to the accumulated volume we need to read the current accumulated volume from the table perform the addition and then store the new value back to the table By using an expression we can do all that in one program step 54 Add another Write to Table tool and fill in the description Add to accumulated volume Set the following parameters 01 Value V lt row gt S lt step gt Rl where lt row gt is replaced with the table row number in which the accumulated volume is stored and lt step gt is replaced with the step number of the Volume in moving ROI above 02 Table index The row number in the table in
33. he current location y coordinate of the moving ROI and the accumulated volume Since we start at the beginning of the loaf we can initiate the location of the moving ROI with the y coordinate of the ROI for the loaf This value is currently hard coded into a program step but if we instead store the coordinates and size of the ROI for the loaf in the table we can easily read the coordinate we need when initiating the moving ROI 49 Inthe program step ROI for the loaf copy the values of the parameters 03 X coordinate 04 Y coordinate 05 Width and 06 Height and store them in the table Fill in descriptions for the table values and make in the program step read these values from the table 50 Add a Write to Table tool from the System toolbar to the program and set the following parameters 01 Value Row number in the table in which the y coordinate of the ROI for the loaf is stored 02 Table index The table row in which to store the current location of the moving ROI We can now reset the accumulated volume set the moving ROI and calculate the accumu lated volume 51 Add another Write to Table tool and fill in the description Reset accumulated volume Set the following parameters 01 Value O 02 Table index The row number in the table in which to store the accumulated volume Remember to fill in a description of the value in the table 52 Add a ROI Rectangle tool and fill in the description Set moving ROI S
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35. ie auf der beigelegten CD SICK IVP 2006 11 24 All rights reserved 8011007 Subject to change without prior notice Operating Instructions Contents IVC 3D Contents AA UA a 5 e BASSES anda 5 installation Guide aci 6 2 4 PEPA the IVE is 6 2 4 1 Preparing the Power 1 0 Cable rin idad 6 ZA Preparing Me DEVICE eee ea 6 2A AR SWU e a se a A E T 2 3 RECEIVING an Image TOM INE Devies a a E EN T Functional Overview iseci aa a a a a a a 10 et IV SBC Gi lel EE E E E E A A S A EAA E EE E E 10 SS DE aces sh m a a rer ee ee eee ee ee 11 Sl POMC il E elie iodo gaa ened 11 2k33 SUppressing ambiente sosa 11 ZLA Gape Simao ci AAA 12 deL IMISSINS Date ni a A ued 12 3 NS AAA E II Menten esd een ene a naar aneees 13 3 2 1 Programs in Development and Production ccceeeeeeeeeeeeessesesssessessesessesseseeees 13 32A DAVNE Programo A di 14 2o Handling Multiple ProdUC eian aeia Ada 15 Getting Stated Bist aac aa ae 16 Ale JGreating a Proguer siccie AS 16 ALT Greate a Produc td A a 17 Ad Selecta DeCs 18 AS Bate a OPM A da 18 pa Pal A A Retr er eee eer er eee tent e E rennet 18 Ze AADOQUE WNS Program S Gace didas 19 AD TOO Sd 19 AZ PrOSranmiimine Wind Wes sad 20 4 amp 3 Adding Program SUC DS visi ii A ii 21 AA Seting Parameter Vall S ica A Ac 24 4 4 1 Setting Constant Parameter Values oocccccccccnnnnnnnnnnnnnnnnnnnnnnnnaninaninananananananararananenenens 24 4 4 2 Using Tables and Results fr
36. in the list of devices and choose Start Program from the pop up menu The program is downloaded to the device and started The status of the device is changed from STOP to RUN When you save the program in the flash memory on the device you choose a program bank in which to save the program You always save the program that is currently in the working memory of the device The table that is active is also saved with the program To save the program on the flash memory of the device 4 Select the device in the list of devices 5 Choose Options gt Device Management gt Flash gt Write Program in Flash 6 Select the program bank in which to save the program and click OK The program is now saved in the selected program bank If you save a program in program bank O this program will start when the device is pow ered up If you want the device to run a different program you can load that program using a PC either by using an existing product containing the program to be used or by downloading the program from the device s flash memory 8011007 SICK IVP Industrial Sensors www sickivp com All rights reserved 31 Chapter 4 32 Getting Started Operating Instructions IVC 3D 4 7 What s Next In this chapter we have looked at the basics of how to handle IVC Studio such as setting up a product and writing a simple program However there are many features in IVC Studio and the camera that have not been covered which ma
37. ing Instructions IVC 3D 3 14 Capturing 3D Images The camera takes a suitable number of profiles as the object passes under the laser By knowing the distance that the object moved between two profiles the camera can build a 3D image of the object from the profiles The camera assumes that the distance between the profiles is constant Therefore it is important to make sure that this is actually the case in order to generate accurate 3D images There are two ways to achieve this e Make sure that the object is moving with a known and constant speed The speed is specified in the program and the camera will then take profiles with a constant time interval e Use an encoder In this case the encoder will trigger the camera to take a profile when the object has moved a certain distance It is strongly recommended to use an encoder if you intend to measure for example the shape or volume of the objects If no encoder is used the results of the analysis may be inaccurate if the speed of the objects varies Object is moving with Object is moving slower The speed of the the expected speed than expected object is uneven 3 1 5 Missing Data Sometimes the laser line on the object is hidden by other parts of the object This makes it impossible for the camera to decide the height of the part of the object that is obscured In the resulting 3D image such areas are represented with missing data which is displayed as black or holes when viewing
38. kes it possible to write advanced programs for inspections and automation of production Some of the features are e Using the camera as a stand alone unit e Using several devices in a product e Using several programs on a single device Using Cameras Stand alone Once the program is developed it can be downloaded to the device and started Now the program will run in the device until it is stopped and it is no longer necessary to use IVC Studio If the program is also saved in program bank O on the flash memory the program will be started when the device is powered up If you want to interact with the device you can write a program that for example communi cates with other equipment via the RS485 port or set up a web page in the camera that can be used for monitoring and controlling the device in a web browser on a PC Using Several Devices A product may use several devices that each performs a certain inspection It is also possible to use the same device in several products and let the device run different programs depending on the current product Device 3 soe wan Sy Device 2 Device 1 Device 1 Product Bottle s Product Jar Dev Program Table Dev Program Table 4 Label Bottle_Label_Table 1 Label Jar_Label_Table 2 Bottle Filllevel Bottle_FillLevel_Table 3 Jar_FillLevel Jar_FillLevel_Table Mn Se SSS _ i oi oi o To use several devices in the
39. n Set to the customer serial number or another number that is unique in the network Netmask Your network s netmask pro vided by a network technician Gateway If there are subnets in the network the IP address of your network s gateway This should be provided by a network tech nician DHCP Set to O zero DHCP IPAutoConfiguration Set to O zero Directly to the PC All settings are the same as for either through a a network without DHCP server Switch or a cross Nenna above The IP address of the over Ethernet cable device should use the same DHCP subnet as the PC DHCP IPAutoConfiguration See appendix B of the IVC 3D Reference Manual for detailed information on the parameters SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Installation Guide Chapter 2 14 15 16 17 18 19 20 21 SICK IVP e Industrial Sensors www sickivp com All rights reserved Save the settings and close all dialog boxes Choose Options gt Configuration or press Ctrl F5 until the device appears in the device list This will search the network for available devices Right click the device in the right pane and choose Select Program In the dialog box select the program Empty and click OK Right click the device in the right pane and choose Select Table In the dialog box select the program EmptyTable and click OK Click
40. n the working memory To be able to work with a program in IVC Studio it must be associated with a device A program is always executed on a device and never on the computer The computer is mainly used for building and modifying the programs on the devices and to display the results sent from the devices Devices I Cameral Camera2 Camera3 l Nees l lt lt uses gt Programs Tables I ys de Label g EE LabelTable FillLevel E FillTable 3 2 1 Programs in Development and Production During development you build the program in IVC Studio but the program is automatically downloaded to the associated device When a program or program step is executed it is executed in the camera and the results are sent back to IVC Studio where they are displayed Program steps Table values Images Result values SICK IVP Industrial Sensors www sickivp com All rights reserved 13 Chapter 3 14 Functional Overview Operating Instructions IVC 3D When the development of a program is finished and it is ready to be used the program and table is downloaded to the device and started After this it is not necessary to use IVC Studio any more lt may be used to display the results from the program for example to signal when faults occur But the device can also be used as a stand alone unit where other equipment is used for controlling the device and displaying the output For example you could set up
41. nsors www sickivp com All rights reserved 35 Chapter 5 36 Hardware description Ethernet Connector Pin Color Signal 1 TX 2 RX 3 TX 4 RX Encoder Connector Pin Color Signal 1 In2 2 Ind 3 Int 4 In2 9 GND Operating Instructions IVC 3D O 2 remark remark RS 422 compatible RS 422 compatible RS 422 compatible RS 422 compatible SICK IVP e Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions Hardware description 5 3 Technical Data Table 5 2 Technical Data for IVC 3D Type Imager Max profile width Robust metod High resolution method Imaging angle Laser filter Laser wavelength Laser class Laser modes Power supply Current consumption Ripple Connectors Digital inputs Y Digital outputs Serial Interfaces Max encoder frequency Operating temperature Storage temperature Shock load Vibration load Weight Dimensions LxHxD Enclosure rating Housing material 1 One defined trigger input IVC 3D 30 IVC 3D31111 CMOS 1024 points 2048 points 53 IVC 3D 50 IVC 3D21111 IVC 3D21112 1024 points 2048 points 53 IVC 3D 200 IVC 3D11111 1024 points 2048 points 58 Chapter 5 IVC 3D 300 IVC 3D41111 700 points 1400 points 60 5 60 nm FWHW 658 nm 15 nm 2M Il IEC 60825 1 2001 8 21CFR 1040 10 11 DC and flash software programmed DC 24 V 20 lt 1A
42. om Other StepS cccccceeeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeees 26 4 4 3 Setting Parameter Values with EXpreSSIONS cco0cccccccccccnnnnnnccnonononcnonanananannnnnnnnanannnannns 28 4 4 4 Using Conditions and JUMPS id da 28 Ao Testing and RUNNING the Programi cis o de 30 O asa eee ae E ae eee cau 31 Bed NES INGN O A E A E 32 Hardware COS Ann A 33 SL Measurement SOU sci a A oia 33 92 Electical CONAESCHONS a aa 34 Sys Technical Data aii 37 54 Dimensional Draw ines ia secticcticctinte Rewettewice ee E a 38 8011007 SICK IVP e Industrial Sensors e www sickivp com All rights reserved 3 Operating Instructions IVC 3D SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 Operating Instructions IVC 3D 8011007 Introduction Chapter 1 Introduction The IVC 3D is a Smart Camera that combines imaging and analysis into one camera hous ing The camera performs inspection location or measurement of objects in order to enhance production yield control production or perform quality control When your application needs measurement or verification of non flat dimensions a smart camera that highlights height differences in the captured images is preferable compared to traditional two dimensional imaging The IVC 3D is a smart camera in every aspect such as easy configuration via a pc user interface a set of image processing tools generally applicable to your application easy connection to I O as well a
43. ou are then prompted for a user name and password The following user and password can currently be used By default you only have to log in the first time you start IVC Studio If you want the users to log in every time they start IVC Studio choose Options gt Configuration from the IVC Studio menu bar select User Access and change the setting 2 3 Receiving an Image from the Device The device must have an IP address in order to communicate with the PC over Ethernet The way to provide the IP address depends on how the device is connected to the PC The three typical options are e The device is connected through a switch to a network with a DHCP server In this case the device will automatically get a dynamic IP address This is the default setting e The device is connected through a switch to a network without a DHCP server In this case a network technician provides an unoccupied IP address e The device is connected directly to the PC either through a switch or a cross over Ethernet cable In this case the IP address of the device should use the same sub net as the PC The PC IP address is shown in the device configuration window as local IP address At delivery the IP parameters of the device are configured as follows 0 0 0 0 DHCP DHCP J F DHCP Wait Save DHCP IP AutoConfiguration SICK IVP e Industrial Sensors e www sickivp com All rights reserved T Chapter 2 Installation Guide Operating Instructions I
44. ption Chapter 5 IVC 3D Hardware description 5 1 Measurement setup The IVC 3D maximum field of view FOV is determined by the size of the housing the lens system and the laser fan angle The FOV is placed at a certain distance from the device the stand off and is a trapezoid shaped area in the laser plane The maximum height and the maximum width of an inspected object define a rectangle which must be entirely inside the trapezoid total FOV Stand off Ngee te eee Total FOV Total height range Height Figure 5 1 Explanation of IVC 3D FOV The measurement speed is dependent on required resolution in the length moving direction The device grabs profiles at a rate determined by the settings in the software tool Grab setup The possible profile soeed in a specific application is dependent on the chosen measurement accuracy and chosen laser strength 8011007 SICK IVP Industrial Sensors www sickivp com All rights reserved 33 Chapter 5 Hardware description Table 5 1 Measurement details IVC 3D 30 IVC 3D 50 Type IVC 3D31111 INWC 3D21111 IVC 3D21112 Example FOV 30 x 60 mm 50 x 150 mm height x width Y Max height range 33 mm 84 mm Max width at zero height 68mm 180 mm Top width at max height 60mm 135 mm Min stand off 200 mm 184 mm Height resolution Y 0 015 mm 0 04 mm Profile rate in image mode lt 5000 lt 5000 profiles s Profile rate in profile mode lt 3700 lt 3700 profiles s
45. rved 17 Chapter 4 18 Getting Started Operating Instructions IVC 3D 4 1 2 Select a Device The next step is to select the device used for the inspection 3 Click Devices in the left pane of the main window The camera is displayed in the right pane If there are more devices that can be used by IVC Studio in your network those will also be displayed there 4 Select a device by clicking in the checkbox in front of it in the right pane You should always select the devices that you intend to use in your product IVC Studio periodically updates the information in the device list by polling the devices that are se lected in the list If no device is selected in the list IVC Studio will poll every device it can find for informa tion This slows IVC Studio down and may also affect the performance of devices used in other applications 4 1 3 Create a Program We are now ready to create the program we intend to build and to associate it with a device The reason for associating the program with a device before building it is that the program is always run on a device and not on the computer What you see in IVC Studio when running a program are just the results which are sent from the device If you did not associate the program with a device you would not be able to see any result of the pro gram or even test the program 5 Right click Programs in the left pane of the main window and choose New Program from the pop up menu
46. s serial and Ethernet com munication The IVC 3D has a major advantage it can see three dimensions Highlighting surface defects depending on topography is now already done in the image capturing With tools that are defined to measure heights volume shapes etc previously tricky measure ment tasks now are easily solved with the calibrated 3D smart camera 1 1 Laser Safety This product is equipped with a Class 2M laser according to EC 60825 1 or Class Il accord ing to 21 CFR 1040 10 11 CDRH respectively Class 2M lasers emit visible radiation in the wavelength range from 400 nm to 700 nm where eye protection is normally afforded by aversion responses including the blink reflex However viewing of the output is hazardous if the user employs optical instruments within the beam or suppresses the blink reflex intentionally e Do not stare into beam e Do not view the laser beam directly with optical instruments like magnifying glasses telescopes etc LASER RADIATION DO NOT STARE INTO BEAM OR VIEW DIRECTLY WITH OPTICAL INSTRUMENTS CLASS 2M LASER PRODUCT according to IEC 60825 1 2001 8 SICK IVP e Industrial Sensors www sickivp com All rights reserved 5 Chapter 2 Installation Guide Operating Instructions IVC 3D Installation Guide 2 1 Preparing the IVC System The IVC System consists of one or more devices and the development environment IVC Studio Make sure that all ordered parts are delivered The following
47. s the result of the program step when applied to an image Tree View Toolbar Image Banks RA I P GettingStarted j lol xj Fie Edit Debug Options Help Pm Ze AAP EAS Image Region of Interest Filter Edge Measure Matching Circular Calculation Program System Communication Devices Programs Slice E 0 Set up the camera 1 ROI for the loaf 2 Retreive an image ES 3 Conveyor belt to the left ES 4 Conveyor belt to the right a Fiennes este E Ry 5 ROI for the conveyor belt Description Table Sigal GES 5 6 Conveyor belt level Sit uni the cashed 7 Total volume 7 8 Calculate desired volume of a slice i Grab Setup Setup 0 10 For ROI for the loaf i 2 O A 13 Set moving ROI 14 Volume in moving ROI WEB 15 Add to accumulated volume cae de i Oooo E 4 17 End of While uE 18 Save location AO EE Tables Retreive an image BS SliceT able Macros a E eee El O poem TA Table SliceT able e o TT gt cists EC a i belt to the left 03 X coordinate elo H ores OIE ES ES ES ROI Rectangle 01 X offset a RA 3 Es STOP ID 11 SICK IVP 2005 03 01 16 37 Z Table Program List Preview The toolbar actually contains several toolbars on which the tools are grouped into catego ries You switch between the categories by clicking the tabs at the bottom of the toolbar The program list shows each step in the program as a table E
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49. t and to the right of the loaf If the conveyor belt is not exactly planar we can compensate for this by using two areas e A ROI Union tool that makes one discontinuous ROI out of the two rectangular ROIs e A Fit Surface tool that creates a surface from the height data inside the two rectangular ROls 28 Add the following program steps at the end of the program and give them suitable descriptions ES 3 Conveyor belt to the lett ROI Rectangle LA 4 AO for the conveyor belt ROI Union 5 Conveyor belt level Fit Surface 5 6 Total volume Volume We will add the second ROI specifying the surface to the right after we have set the necessary parameters SICK IVP Industrial Sensors www sickivp com All rights reserved 23 Chapter 4 24 Getting Started Operating Instructions IVC 3D 4 4 Setting Parameter Values The input parameters of the tools can be set in a number of different ways e By manually entering a constant value e By using interactive setup to set constant values e By retrieving a value from the table e By using the result from a previous step e By writing an expression that may combine the methods above In this section we will look at different ways of setting constant parameter values Using tables results from previous steps and expressions will be shown in the following sections One important thing when specifying pixel coordinates in images coordinates are always measured from the top
50. ted Chapter 4 4 3 Adding Program Steps Now we are ready to start writing our program for measuring and slicing the loaf of bread Start by adding the first program step to the program which should grab a 3D image from the camera 14 Click on the name of your program in the left pane in the main window A toolbar is displayed at the top of the window which contains a number of tools that can be used with the device Below the toolbar there is a row of tabs which are used for switching between different tool categories aR TYC Studio IYP GettingStarted File Edit Debug Options Help oane SOE GT ET copy MATH Image 15 Click the Grab tool in the Image category on the toolbar to add the first step to the program The Grab tool is added to the program s folder in the left pane and to the Program List in the right pane 16 Double click the blue field at the top of the program step and type a description for the step for example Retrieve an image Previous Result o ipti Val Tabl oo eae Step Result Retrerve an image EEES EE a A E ae Tmo a cerien Oooo PEA D bostimaaes o S The command is now added to our program Before we can test the program and view the image we should set up the camera to grab the image that we want 17 Click the Grab Setup tool on the Image toolbar 18 In the dialog box that is displayed choose before current step and click OK The Grab Setup step is added to
51. tting the number of slices to make and to store the desired volume of a slice to be used later when we decide where to cut 41 Double click in the Value on Device column of an empty row in the table and fill in the number of slices to make Fill in a description of the value in the Description column of the row for example Number of slices The row is now highlighted in the table indicating that the value on the device differs from the value in the database Table Slice Table 42 In the table right click the value in the Value on Device column and choose Copy Device Value to the DB to synchronize the value on the PC with the value in the device 43 Add a Mathematical Operation tool from the Calculation toolbar to the program 44 Set the parameter 03 Mathematical operation to Division and fill in a description 45 Click in the Table column for the parameter 02 Variable B and type in the number of the table row in which you entered the number of slices 46 This tool can store the result of the calculation directly in the table so double click the Value column of the parameter 04 Table index and fill in the number of an empty row in the table Remember to fill in a description of the value in the table To calculate the desired volume of a slice we also need the total volume which we calcu lated in the previous step We may store the total volume in the table and read the value from there but we can also

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