Home

User's Manual

Contents

1. FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Edge extraction level set Get 0 to 1000 f x o Parallel line O condition Set Get 5to 1000 length range lower limit Parallel line O condition length range Set Get 5 to 1000 upper limit Parallel line 1 condition length range Set Get 5 to 1000 lower limit Parallel line 1 condition length range Set Get 5 to 1000 upper limit 138 Detection line count line count Set Get C Zeg line Genee condition Set Get 0 to 1000 Underrun range lower limit 140 Parallel line O condition Set Get 0 to 1000 Underrun range upper limit Parallel line 1 condition Set Get 0 to 1000 Underrun range lower limit Parallel line 1 condition Set Get 0 to 1000 Underrun range upper limit 143 Parallel line O condition Set Get 1 to 1000 Min width 144 Parallel line O condition Set Get 1 to 1000 Max width 145 Parallel line 1 condition Set Get 1 to 1000 Min width Parallel line 1 condition Max width Set Get 1 to 1000 Detection object color Set Get Sort condition Set Get Im Sotorder order Set Get 0 Ascending 1 Descending Judgement condition cross X lower limit Set Get 99999 9999 to 99999 9999 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 43 4 Specialized Processing Items ono Dataname mu Range 199 Judgement condition count lower limit 170 Judgement condition count upper limi
2. Measurement of reference position Measurement of parallel movement position Repeats parallel movement max 4 times and rotation movement max 10 times The greater the number of sampling points Measurement of rotation movement position the higher the accuracy Calculation of calibration parameters FZM1 Series Specialized Vision Sensor for Positioning User s Manual 17 3 Calibration and Scene Settings 1 Select Manual calib and tap Execute Calib para setting tato calib e Met ot eno fea eee T eae serene 2 Set the number of sampling points and tap OK Calibration Point Settine Please set the maximum point for sampling to calculate the calibration Parallel movement point Rotate movement point 2 UK Cancel Setting value Setting item Factory Description default Parallel 2 3 4 Set the maximum number of points for parallel movement movement point that will be sampled in the calibration Rotate movement point 2 3 4 5 6 7 8 Set the maximum number of points for rotation movement that will be sampled in the calibration 1 Setting is only possible for the following stages Robot 4 axes XYZR Stage XY0 OXY UVW UVWR 3 Set the target camera Target Camera Camera 0 Camera 1 D EE Setting value EN Camera 0 Target Camera Camera 1 Set the target camera for manual calibration Camera 0 Camera 1 4 Measure the reference position Tap
3. 4 Specialized Processing Items 42 To Get Measurement Results from an External Source Oo Measurement results for which output is possible calculation The following values can be output using processing items related to results output Measurement values from the processing unit such as expressions can also be referenced The judgement result for the unit Judge JG Ps g 0 Not yet measured 1 NG Reference SX Reference position coordinate XY X coordinate Reference SY Reference position coordinate XY Y coordinate Calculated from the cross detailed information group 0 Cross coordinates XY data group 1 X Cross coordinates XY data group 1 Y Calculated from the cross detailed information group 1 E A Cross coordinates XY data group 9 X Cross coordinates XY data group 9 Y Angle 9 THY Calculated from the cross detailed information group 9 o External Reference Tables 0 No judgement not yet measured Judge Get only 1 Judgement result OK 1 Judgement result NG Number of detections Get only 0 to 100 Cross coordinate X Get only 99999 9999 to 99999 9999 Cross coordinate Y Get only 99999 9999 to 99999 9999 Reference position X coordinate Get only 99999 9999 to 99999 9999 Reference position Y coordinate Get only 99999 9999 to 99999 9999 101 Output coordinate Set Get Ge Aer acron 1 Before scroll 102 Calibration Set Get 0 OFF 1 ON Reflect to overall judgement Set Get 7 SCH
4. Data name Chara cter Description string Y Reference position Y The Y coordinate of the reference position Reference position 0 The rotation angle of the reference position The position deviation between the reference position and Movement amount X the X axis of the measurement object The position deviation between the reference position and Movement amount Y the Y axis of the measurement object The position deviation between the reference position and Movement amount 6 the rotation direction of the measurement object The position deviation between the reference position and Movement amount U the U axis of the measurement object The position deviation between the reference position and the V axis of the measurement object Movement amount W MW The position deviation between the reference position and the W axis of the measurement object Movement amount R MR The position deviation between the reference position and the R axis of the measurement object o External Reference Tables MI a E 1 o D OR A A EE ee e EEC Setoniy EREECHEN a frencesi few 25 Reference penton Setony eerst Teen CO fee o Movement amount V MV 27 ze eessen e 2 MoverentamountU Getony ON eessen pen DEE ER z E OO Movement amount R Get only Reference calibration Set Get 0 Scene 32 1 Scene 33 pattern Calib pattern 2 Scene 34 3 Scene 35 For a robot 0 3 axes XYZ 1 4 axes XYZR 121 Stage Set
5. FZ3 PLC Stage robot Auto calibration start command Command execution completion response Calibration target camera setting command Command execution completion response Moves to reference position Movement completion response Reference setting command Command execution completion response Parallel movement in X direction Movement completion response Parallel movement setting command Command execution completion response Parallel movement in Y direction Movement completion response Repeats parallel movement max 4 times and rotation Parallel movement setting command movement max 10 times Command execution completion response Rotation movement Movement completion response Rotation movement setting command Command execution completion response Calibration calculation execution command Command execution completion response 14 FZM1 Series Specialized Vision Sensor for Positioning User s Manual FZS PLC 3 Calibration and Scene Settings For PLC Link Auto calibration start command Sets 1 in external reference No 501 Command execution completion response Moves to reference position Target camera setting command Sets the value in external reference No 120 Moves to reference position Command execution completion response Reference setting command Sets the value 0 in external reference No 600 Command execution completion response Parallel movement in X Y direction
6. 59 O SA tao a in a 31 P PASS WO EE 79 Pate SCIOC GE 9 POSCHG Start changing the measurement position 77 Position deviation calculati0N oooncccconccnconcnconncnnonanonos 20 R Reference calibration pattern oocccconccncooncnccconnnonononos 21 RODOS Ctd ir adeios ta r ieucerestpe ceases 10 FRODOL e e 10 KN en E 74 S Sampling method EE 12 Sampling setting 12 ScCamedge cre E 54 SCENE setting ici id 20 Scroll standard 23 Security Setting 83 SETCLBIF Register information for calibration calculation EE 75 SETPERMT Set calibration target camera 76 Size change nenennnnseennesrenersrrrrrssrrrrsstrrrssrrerrsrrerrsrrrereenne 65 SKID DOING WIATR pica alt tie 66 Stage setting ce ccccsecceccseseeeeccessececeeeseeeesesseeeseeseeeesaaeeeess 10 EIERE EE 11 Standard parallel UO 74 T Target cameras a 18 Index U Rive Cie ft de TEE ae E eo 39 VOTEN ccccecececececececececececececeueneavacaeaeeeaeeteeenenenenenes 80 UTE e AA A ire oe ete 80 UVWR parameter cooccoccccoccccnccccnccccncncnnoncnnnncnncnnnncnonnnnnnncnnnanoss 11 FZM1 Series Specialized Vision Sensor for Positioning User s Manual Authorized Distributor
7. Advanced setting is tapped the following conditions can be set Advanced cond Underrun 0 kend 1000 wl Underrun 0 WW 1000 m Detection line count 4 r Return Setting value Setting item Factory Description default 0 to 1000 Set the distance between the parallel lines that form 0 to 1000 the cross and the cross point 2 Set the number of parallel lines to be judged as a cross Detection line count 3 4 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 39 4 Specialized Processing Items Measurement Parameters Set the sort conditions and judgement conditions for crosses 0 0000 0 0000 MA A RK mm mg G 1 Inthe Sort cond area set each item Setting value Setting item Factory Description default Cross X Cross Y Sege Sort cond Length Set the sorting method or the measurement results when there are multiple cross points Ascending Descending 0 to 9 Enter the number of the cross for which to output data 2 After changing the measurement parameters tap Measure and check that the window display accurately reflects the settings Test measuring of this item Measure 3 Inthe Judgement area set the judgement conditions a Setting value Wi Cross X 99999 9999 to 99999 9999 Set the X coordinate range of crosses that are judged to be OK Cross Y 99999 9999 to 99999 9999 Set the Y coordinate range of
8. Change user window closes and the display returns to the special screen The system now operates at the security level that is set for the logged in user FZM1 Series Specialized Vision Sensor for Positioning User s Manual 79 6 Specialized Functions EN Note The security level is retained until login for another user is performed or the power is turned OFF After startup operation starts at security level 0 e Editing the password 1 Enter the current password and tap Edit When the user name and password match the following Edit Account Information window opens Edit Accoun t Information UserName New password SecurityLevel 1 N Tap and enter a new password 3 After entering tap OK The Edit Account Information window closes and the display returns to the special screen After changing the password execute Save data EN Note Set a string of 4 to 16 characters for the user name and password using 0 to 9 A to Z and a to Tei User Control Users can be added changed or deleted This function can only be used by users with security level 4 1 Enter the user name and password of a user with security level 4 SecurityLevel 1 UserName superadm in wd Password eros ed Edit Login Cancel User Account 2 Tap User Account When the user name and password match the following User Account window is displayed Select the button for the information th
9. Measure while the object is in the reference position Manual Calibration Target Camera Camera 0 Camera 1 D Data Registration DistanceX DistanceY Variation Cameral X Cameral Y Cameral X Cameral Y Standard Pos 0 0000 0 0000 0 0000 EEN 0 0000 0 0000 0 0000 0 0000 I Parallel shift Pos 1 0 0000 0 0000 0 0000 18 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings 5 Measure the sampling position Move the object select the check box for the parallel movement position or rotation movement position and enter the movement amount for the object When Measure is tapped the measurement values from the camera are displayed Manual Calibration Target Camera Camera 0 Camera 1 v Data Registration Distance DistanceY Variation Cameral X Cameral Y Cameral X Cameral Y Standard Pos 0 0000 0 0000 0 0000 Measure 0 0000 0 0000 0 0000 0 0000 d 0 0000 0 0000 0 0000 0 0000 a Parallel shift Pos 2 0 0000 0 0000 0 0000 Rotation Pos 1 0 0000 0 0000 f 0 0000 TC Rotation Pos 2 0 0000 ei 0 0000 SS f 0 0000 Measure This step is executed for the set number of times 6 Tap Calculate amp regist Calib parameter The parameters are calculated from the sampling values and registered Tap Error value calculation to calculate the calibration error value only The calibr
10. area specify the line to set Figure select C Lined Linel M Share setting 2 Inthe Color setting area select the Edge color specification check box 3 This item selects the color to be detected as edges Description Specify a region on the image that includes the target color The average color of the specified region is registered Tap the reference color on the color chart to specify it The RGB values for the specified color are displayed at the bottom The color to be detected is set with the RGB values This sets the allowable color difference for detecting the edge using Difference de RGB the specified color as the reference The larger the difference values the larger the color range that is used to detect the edge Specified color IN The position where a color other than the specified color changes to the specified color is detected as the edge Specified color OUT The position where the specified color changes to a color other than the specified color is detected as the edge Detection mode Start End Start End point point point point For Specified color IN For Specified color OUT 46 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Reference Position When the measurement region is set this position is automatically set at the same time as the reference position This item can be used to change the reference position to any desired pos
11. 0 No rotation Rotation setting Set Get 1 With rotation Lower limit value of the rotation Set Get 180 to 180 angle Upper limit value of the rotation Set Get 180 to 180 angle l 0 No size change Size change setting Set Get 1 With XY change Upper limit value of the size Set Get 50 to 150 change Lower limit value of the size Set Get 50 to 150 change Size change skipping Set Get 1 to 99 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Black and white reverse setting Set Get a Gap Candidate point level Set Get 1 to 100 0 Correlation value descending 1 Correlation value ascending 152 Sort condition Set Get A 4 Poorana e Ge 3 X coordinate ascending 4 Y coordinate descending 5 Y coordinate ascending TOUD FAN Correlation value of search e O to Geh O to 100 TOUL TAN Measurement coordinate of N 0to a pain 99999 9999 to 99999 9999 99 eech Measurement coordinate of N 0 to Search number N 99999 9999 to 99999 9999 99 1003 4N N 0to 99 Measurement angle of search SESCH 180 to 180 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 73 5 Methods for Connecting and Communicating with External Devices 5 Methods for Connecting and Communicating with External Devices For an explanation of communication with external devices such as a PC or programmable controller see 6 Methods for Connecting and Communicating with Exte
12. 2 lines Scan Edge Circle This processing item uses multiple measured edge points to calculate the circle equation and calculates the center coordinates and radius of the circle ECM Search Motion This processing item searches the input image for parts having a high degree of similarity to the target mark model and detects its correlation value similarity and position Up to 100 can be detected at the same time FZM1 Series Specialized Vision Sensor for Positioning User s Manual 1 1 About the FZ Motion Specialized Alignment Software 4 2 System Configuration An example of a system configuration that uses the software is shown below Camera connection Input device Mouse trackball USB connection RGB monitor When connecting to a robot When connecting to a stage Examples Picking process Examples FPD manufacturing process Palletizing process Semiconductor manufacturing process Painting process Tray positioning process 2 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 1 About the FZ Motion Specialized Alignment Software 1 3 Restrictions and Precautions e Compatibility chart for compatible controllers and cameras Controller Camera Digital camera FZ SCH SH SC S Small digital camera FZ3 H3xx H3xx 10 3xx 3xx 10 FZ SFC SF SPC SP Can be used by installing the software Intelligent camera FZ SLC15 SLC100 Auto focus camera FZ SZC15 SZC100 Digital camera FZ SCH SH SC5
13. Appendixes Measurement Mechanism Edge Detection Measurement in the FZ3 User s Manual Edge level FZM1 Series Specialized Vision Sensor for Positioning User s Manual 47 4 Specialized Processing Items For monochrome cameras Measurement Measure type e Projection Derivation Density change Light Dark C DarkLight Edge No Pol wel Edge level rn Position 3 for width of a density C Value 255 at the maximum of density ear Setting value D Measure type Projection AS the measurement type specify either Derivation projection or derivation Set whether a black to white change or a white to black change should be recognized as a density change in the specified area Light gt Dark Density change Dark gt Light Specify the edge number used to extract edges Edge numbers are assigned to detected edges Edge No starting from 0 and in the direction from the start point the arrow to the end point the arrow point in the selected area N AT Geh d Set the density change level to be detected as edges Edge level Ge ee For more details see 8 Appendixes e Value 255 at the Sg Er Measurement Mechanism Edge Detection EE Measurement in the FZ3 User s Manual O to 255 20 l 4 Set each item in the Noise removal area as required Noise removal Noise level 000 Noise width DEE Setting value Ee O to 442 When detection is affected by noise increase thi
14. Fusion line angle range Set Get O to 20 0 to 20 range 0 Length 159 Corner fusion condition Set Get 1 Distance from corner 2 Corner angle 160 Judgement condition Set Get 99999 9999 to 99999 9999 corner X lower limit 161 Judgement condition Set Get 99999 9999 to 99999 9999 corner X upper limit 162 Judgement condition Set Get 99999 9999 to 99999 9999 corner Y lower limit Judgement condition Set Get 99999 9999 to 99999 9999 corner Y upper limit 163 164 Judgement condition SE Set Get O to 360 angle lower limit 165 EELER Set Get 0 to 360 angle upper limit Judgement condition 166 number of detections Set Get O to 100 lower limit al FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items 36 167 ER E 0 to 100 count upper limit Reference position X Set Get O to 9999 Reference position Y Set Get O to 9999 1 Line connection level Set Get Ke SN Measurement coordinate Get only 99999 9999 to 99999 9999 ala Measurement coordinate Get only 99999 9999 to 99999 9999 N 0 to 99 10200 N N 0 to 99 Formed angle N Get only 0 to 360 4 2 EC Cross This detects cross shapes that are created by edges such as crosshair marks Important This processing item includes a process that shortens the processing time from the second time that is performed For this reason when measuring the same image the processing time the first time after starting up the
15. Get For a stage 0 XY 1 XY0 2 OXY 3 UVW 4 UVWR UVWR parameter R1 Set Get 99999 9999 to 99999 9999 UVWR parameter R2 Set Get 99999 9999 to 99999 9999 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings Set Get Data range UVWR parameter X axis positive 1 X axis negative i Set Get i U axis polarity Y axis positive 3 Y axis negative UVWR parameter Set Get V axis polarity UVWR parameter Set Get W axis polarity UVWR parameter Set Get R axis polarity Set Get X axis positive 1 X axis negative Y axis positive 3 Y axis negative X axis positive 1 X axis negative Y axis positive 3 Y axis negative H 140 141 142 43 X axis positive 1 X axis negative Y axis positive 3 Y axis negative Camera 0 Camera 1 Camera O 1 163 Camera display number Mid point between point 1 and point 2 Output position scroll Set Get Point 1 186 standard Point 2 1000 ea ASS Set Get 0 Not Visible 1 Visible display flag Camera 0 crossline 1001 display center Set Get O to 9999 coordinate X Camera 0 crossline 1002 display center Set Get O to 9999 coordinate Y 1003 E Maca Set Get 0 Not Visible 1 Visible display flag 1004 Camera 0 scale interval Set Get O to 9999 9999 1005 Camera 0 scale line Set Get 0 to 9999 9999 length 1006 Camera 0 scale unit Set Get parameter 1007 Camera 0 line type Set Get 0 Soli
16. Moves to reference position Parallel movement amount setting command Sets the value in external reference No 2x1 and No 2x2 Command execution completion response Measurement command Command execution completion response Parallel movement coordinate setting command Sets a value from 1 to 4 in external reference No 600 Command execution completion response Parallel movement in X Y direction Moves to reference position Rotation movement amount setting command Sets the value in external reference No 2x1 and No 2x2 Command execution completion response Measurement command Command execution completion response Rotation movement coordinate setting command Sets a value from 5 to 14 in external reference No 600 Command execution completion response Calibration calculation execution command Sets the value in external reference No 601 Command execution completion response Margin calculation execution command Sets the value in external reference No 602 Command execution completion response Result display execution command Sets the value in external reference No 603 Command execution completion response FZM1 Series Specialized Vision Sensor for Positioning User s Manual Stage robot Calibration calculation data registration external reference No 600 0 Reference coordinate registration 1to4 Parallel movement amount registration 5 to 14 8 movement amount registration 99 Registration
17. OK FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items To Get Measurement Results from an External Source Oo Measurement results for which output is possible calculation The following values can be output using processing items related to results output It is also possible to reference measurement values from expressions and other processing units The judgement result for the unit Judas 1 OK g 0 Not yet measured 1 NG Correlation value CR value CR Correlation value CR CR Correlation value EAEE N X Measurement position X coordinate coordinate X eas UE Measurement position Y coordinate coordinate Y cach et acne ieee SN Detection point A coordinate coordinate X pa eo Detection point Y coordinate coordinate Y Ge dd value CR CR NN Value of detected correlation value NN NN 0 to 99 Measurement X NN Value of detected measurement coordinate XNN N coordinate X NN 0 to 99 Measurement Value of detected measurement coordinate YNN N coordinate Y NN 0 to 99 Measurement angle TH Value of detected measurement angle THNN NN 0 NN ZER to 99 o External Reference Tables 0 No judgement not yet measured Judge Get only 1 Judgement result OK 1 Judgement result NG A IA A ES Correlation value Get only O to 100 CS Measurement coordinate X Get only 99999 9999 to 99999 9999 Measurement coordinate Y Get only 99999 9999 to 99999 9999 Measurement angle G
18. adjust areas such as the width as required 2 Inthe Area divide area set the number of divisions and the width Method Divide number st C Angle number Area width am J Start angle ol gt Direction In gt 0ut Ze Dut In EE Setting value er Setting item Factory default Description Method pice Dumaen Set the division method Angle number Area width a 1000 Set the area width for the divisions Start Startangle eem 0 to 359 Set the division start Set the division start angle Direction tw Set the measurement direction In Out FZM1 Series Specialized Vision Sensor for Positioning User s Manual 55 4 Specialized Processing Items 3 The area is divided evenly Scan area when the number Scan area when the number of area divisions is 1 of area bloe IS v AA mm wm mmm mm A E E mm Scan area when the number Scan area when the number e area divisions is ae of area divisions is 4 Enable or disable can be set for each divided area Tap on a divided area to display the following window Area D Disabled v Enabled p Edge Color Specification Color Camera Only This item selects the color of the edges to be detected If the target color changes this setting is not necessary If the color is not specified positions in the measurement region where the color changes drastically are detected as an edge 6 Scan Edge Circle E AE Color setting F Edge col
19. completing all the settings tap OK To Get Measurement Results from an External Source O Measurement results for which output is possible calculation The following values can be output using processing items related to results output It is also possible to reference measurement values from expressions and other processing units The judgement result for the unit 1 OK 0 Not yet measured 1 NG P OCN E S eem EE 5 eem o External Reference Tables A No judgement not yet measured Judge Get only 1 Judgement result OK 1 Judgement result NG Overall judgement result O Centerx Get Geo 99999 9999 to 99999 9999 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 61 4 Specialized Processing Items 62 Z O number number 101 Output coordinate Set Get A aE 1 Before scroll KEE 0 OFF 0 ON 10 Reflect to overall judgement Set Get 1 OFF Start angle SetGet 0to359 to 359 Division method Set Get Set is a scan lines 1 Skipping angle 122 Scanlines lines SetGet CO to 360 epg get es EEC sa EN CO LN e rm Reference position Y Seet 0 to 99999 9999 to 99999 9999 Circle calculation method Set Get a SES 1 Approximation circle Enclosing circle calculation Set Get 0 Fast method 1 Precision Edge profile display area SetGet Dommen to 359 1 In Out Ser ee 136000 Radius upper limit Radius upper limit limit Segel 0 0 to 99999 9999 to 99999 9999 E Lc
20. image and registers the information to use in the calibration parameter calculation If a reference position has been registered discard all the calibration calculation information that has been previously registered and then set the reference position again If the XY direction 6 direction has been registered set the calculation information by adding it to the calibration calculation information that has been previously registered By repeatedly executing this command multiple items of XY direction direction movement information can be registered If you try to perform registration for more than the specified number of points the command is not accepted and ER Is returned The command is not accepted and ER is returned unless the status is the calibration start condition CALIBSTT command already performed and the calibration target camera has been set SETPERMT command already performed For the XY stage reference position registration and 6 direction registration are disabled and ER is returned Command format S E T C L IB 1 F SP infomation type SP Jvoverent nau SPVovenertanourt2 e Response format When processed correctly O K IR When not processed correctly EJR FZM1 Series Specialized Vision Sensor for Positioning User s Manual 75 5 Methods for Connecting and Communicating with External Devices 76 Parameters explanation Specify the information type for calculation 0 Register reference
21. lower limit cc eg to 99999 9999 Maximum radius upper limit Set Get 0 to 99999 9999 Maximum radius lower limit Set Get 0 to 99999 9999 FZM1 Series Specialized Vision Sensor for Positioning User s Manual OO OO Q9 N 4 Specialized Processing Items 1 With enor pcia Edge color enhancement Set Get 0 to 442 level Monochrome edge detection 0 Light gt Dark Edge level absolute value Set Get O to 442 Edge level specification 0 216 Measurement type Set Get 0 Projection d 1 Differential 4 5 ECM Search Motion When detecting multiple objects or objects with numerous angles using ECM search enables high speed measurement Up to 100 can be detected at the same time In a normal search image pattern models are used that look at the color and light dark information but in ECM Search Motion models are used that look at the outline information This enables stable search to be performed even for images with low contrast or high noise levels Important This processing item includes a process that shortens the processing time from the second time that is performed For this reason when measuring the same image the processing time the first time after starting up the controller may be longer than the processing time for the subsequent times 140 141 142 143 144 145 200 201 02 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 6 LA 4 Specialized Processing Items Setting Flow T
22. tap OK Language setting Select language of the system Language PAS 2 Ifthere is no problem in the language setting tap Yes Language setting Change language To select YES save settings and system restart Yes No 3 Set the external device This can be changed after starting up For more details see Instrument Setting P7 Instrument Setting Please select Robot C Stage m ns FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings 3 Calibration and Scene Settings This section explains about the specialized functions of the software Calibration Setting Perform the calibration setting by following the sequence in the flow diagram below Instrument setting Set whether to connect to a stage or a robot m P7 Pattern setting Set the pattern number to which to save the calibration my PO calculation values Camera setting Set the input conditions for the camera image m P9 Stage specification setting Set the axis specifications for a stage or the number of axes wb P10 for a robot Sampling setting Set the measurement method for sampling m P12 EEN Execute calibration with auto calibration or manual calibration e P14 Instrument Setting Set the external device as appropriate for the equipment that you will use A window appropriate for the external device is displayed 1 Inthe menu bar select System Contr
23. the calibration settings in the standard product FZ3 Calibration setting calibration settings can be performed more easily and with higher accuracy Can be selected with auto or manual operations This processing item outputs the movement amount of the Calculate Scroll external device from the deviation between the reference position and the measurement position This processing item is suitable for inspecting corners A specialized menu for the selected external device can then This processing item is suitable for inspecting cross points P36 This processing item is suitable for calculating the Intersection coordinates of cross points Scan Edge Circle This processing item IS suitable for measuring the center coordinates and radius of circles ECM Search Motion This function is added to ECM Search of FZ3 When the inspection results are NG a value can be forcibly Force Setting entered to obtain an OK judgement and continue with the inspection Change User Users can be set and switched Operations can be restricted by dividing users with security Security setting levels using the user names and passwords that are set at the user level P7 P7 P20 P27 P36 4 P54 P63 P84 P79 P83 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 2 Basic Setting Procedure 2 Basic Setting Procedure The operation flow when using the software is shown by the flow diagram below Ins
24. using the calculated calibration Calibration parameters is returned 0 000000 to 9999999 9999 error value When 2 cameras are used 2 error values are returned with a separator The first is the error value for camera 0 and the second is for camera 1 o POSCHG Start changing the measurement position Displays the Force Setting window and starts the measurement position changing process Command format PJO S C H G SP Camera number x Response format When processed correctly When not processed correctly Parameters explanation Specify the number of the camera for which to change the measurement position Camera number 0 Camera 0 1 Camera 1 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 77 5 Methods for Connecting and Communicating with External Devices 78 Important Even if this command is executed the process for switching the camera image display is not performed The coordinates that are displayed after the command is sent use the camera coordinate system Also calibration conversion is performed for the changed search coordinates before they are saved as search coordinates o MDATOUT Measurement result output Recalculates the values that are assigned to Calculate Scroll in the flow before executing data output again Command format MID AlT OO Response format When processed correctly O K r When not processed correctly EIR Important Out
25. 0 000000 0 000000 E 1 000000 0 000000 E 1 000000 0 000000 F 0 000000 0 000000 F 0 000000 When the instrument setting is Stage Calibration setting Select pattern Pattern 0 DI Copy Initialize Pattern setting Camera setting Stage setting Sampling us CrossLine setting Stage setting Sampling setting Stage type KY stage Sampling method RIE 0 0000 at Camera Nothing R2 0 0000 GIS Camera 1 Nothing Ra 0 0000 GER R4 0 0000 04 Calib para settinz Auto calib Execute C Manual calib Camera 0 1 000000 D 0 000000 1 000000 D 0 000000 0 000000 E 1 000000 0 000000 E 1 000000 0 000000 F 0 000000 0 000000 F 0 000000 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings O Select pattern Up to 4 patterns can be saved for calibration calculation values 1 Select the number of the pattern to save Calibration setting Select pattern Pattern 0 v Copy Initialize p setti A A AAA Setting value Setting item Factory Description default Pattern 0 ee Papen By specifying the pattern numbers that are set here in Select pattern Calculate Scroll different calibration values can be applied Pattern 2 a Sr Pattern 3 in different situations O Camera setting 1 Tap Camera setting The Camera Image Input window is displayed Set Camera Image Input For more details see 1 Input i
26. 9 9999 system and the R1 line segment 0 0000 to 9999999 9999 0 0000 to Set the angle between the x axis in the coordinate 9999999 9999 system and the R2 line segment 0 0000 to Set the angle between the x axis in the coordinate 9999999 9999 system and the R3 line segment 0 0000 to Set the angle between the x axis in the coordinate 9999999 9999 system and the R4 line segment FZM1 Series Specialized Vision Sensor for Positioning User s Manual 11 3 Calibration and Scene Settings EE Setting value ER X positive X negative Y positive Y negative Set the polarity of the X and Y axes 3 After completing the settings tap OK o Sampling setting Select the processing item to be performed when calibration is executed 1 Tap Sampling setting The Sampling setting window is displayed Pattern setting Camera setting Robot setting Sampling setting rossLine setting ee setting lee setting 2 Set the sampling method for each camera Sampling setting Please select the measure method of the sample points If press the setting button the pattern will be opened Cameral Sampling Method Nothing Cameral Sampling Method Nothing OK Cancel Setting value Setting item Factory Description default Nothing Search Intersection oe l I Sampling ECM Search Select the processing item for performing sampling Method EC Corner measurement EC Cros
27. 9 9999 to 99999 9999 Intersection Y coordinate upper limit Set Get 99999 9999 to 99999 9999 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 122 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 5 4 Specialized Processing Items 138 Lost point line 1 upper limit 139 Lost point line 1 lower limit 200 Weeer Difference G Set Get 0 to 127 Difference B Set Get O to 127 A 0 Specified color IN Edge detection mode Set Get 1 Specified color OUT Edge No Set Get 0 to 99 Edge level Set Get O to 100 Noise width Set Get 0 to 9999 Edge color enhancement level Set Get O to 442 0 Light gt Dark 1 Dark gt Light Edge level absolute value Set Get O to 442 PEE 0 Edge level specification method Set Get Ehre te Scan width Set Get 1 to 1000 Display area Set Get O to 99 l 0 OFF 0 Projection Measure type Set Get 1 Differential 221 H Fix scan lines Set Get DS Onn 1 Fixed LA 4 Specialized Processing Items 94 Noise width Difference G Set Get O to 127 Difference B Set Get O to 127 0 Specified color IN e Edge detection mode Set Get 1 Specified color OUT 258 0 Edge No Set Get O to 99 Edge level Set Get O to 100 Set Get O to 9999 Edge color enhancement level Set Get O to 442 0 Light gt Dark zm Monochrome edge detection mode Set Get 1 DarkLight Edge level absolute value Set Get O to 442 255 256 257 258 59 260 61 262 263 265 66 2 Sc
28. 999 9999 Line 1 bottom edge position X BOTTOMX1 O to 99999 9999 Line 1 bottom edge position Y BOTTOMY1 O to 99999 9999 ecc Line 1 maximum long distance 1 to dist X_MAX Y_MAX o External Reference Tables 0 No judgement not yet measured Judge Get only 1 Judgement result OK 1 Judgement result NG E Intersection coordinate X Get only 99999 9999 to 99999 9999 1 Intersection coordinate Y Get only 99999 9999 to 99999 9999 Reference coordinate X Get only O to 99999 9999 Reference coordinate Y Get only O to 99999 9999 Line O peak edge position X Get only O to 99999 9999 1 eem 0 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 51 4 Specialized Processing Items 52 99999 9999 to 99999 9999 99999 9999 to 99999 9999 99999 9999 to 99999 9999 101 Output coordinate Set Get E ANGT poson compensa On 1 Before position compensation l I 0 OFF 103 Reflect to overall judgement Set Get oe pe 1 OFF Reference coordinate X Set Get O to 99999 9999 121 Reference coordinate Y Set Get O to 99999 9999 no m Z H 18 19 20 21 22 23 24 25 30 31 Share setting edge color Set Get e Not shared specification 1 Shared AS 123 Share setting measurement Set Get o Not shared parameters 1 Shared 124 Selected line number Set Get Ge E 1 Line 1 Intersection X coordinate upper limit Set Get 99999 9999 to 99999 9999 Intersection X coordinate lower limit Set Get 9999
29. M S5M SC2M S2M SC S Small digital camera FZ3 H7xx H7xx 10 7xx 7xx 10 FZ SFC SF SPC SP Can be used by installing the software Intelligent camera FZ SLC15 SLC100 Auto focus camera FZ SZC15 SZC100 Digital camera FZ SCH SH SC2M S2M SC S Small digital camera FZM1 350 ECT FZ SFC SF SPC SP The software is installed as standard Intelligent camera FZ SLC15 SLC100 Auto focus camera FZ SZC15 SZC100 Note Up to 2 cameras can be connected Important The software can be installed on H type controllers but the following processing items are not available e Camera Image Input HDR e Shape Search e Labeling e Barcode e 2D Code e Trapezoidal Correction e Stripes Removal Filter e Halation Cut e Panorama e Calibration o Compatible stages When connecting to a stage the software is compatible with the following axis configurations XY XYO OXY UVW UVWR e Compatible robots When connecting to a robot the software is compatible with robots that can be controlled with the following outputs XY XYO FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 1 About the FZ Motion Specialized Alignment Software 1 4 Differences with the Standard Product FZ3 The software is equipped with the following functions ay Page Function name Description g reference Use to select a stage or a robot as the external device to be Instrument Setting controlled by FZ3 be used Compared to
30. Specialized Vision Sensor for Positioning FZM1 Series User s Manual Cat No Q178 E1 01 Introduction Thank you for purchasing the FZ3 Series This manual provides information regarding functions performance and operating methods that are required for using the FZ3 Series When using the FZ3 Series be sure to observe the following e The FZ3 Series must be operated by personnel knowledgeable in electrical engineering e To ensure correct use please read this manual thoroughly to deepen your understanding of the product e Please keep this manual in a safe place so that it can be referred to whenever necessary Manuals Provided with this Product User s Manual this document User s Manual i S n This manual describes information on settings and specifications EtherCAT Communication Manual EtherCAT Communication Manual This manual provides reference information for when this product performs communications with an external device such as a PC or a programmable controller via EtherCAT Communications Contents 1 About the FZ Motion Specialized Alignment Software ooncconcoccconcccncocncocnconnnnnos 1 sl SOM Ale TE e ld odie 1 182 System e le te Nr E die coe vdducuetacuaen ste someone Ws E 2 1 3 IRESINICHONS and Precautions eege setae ic ube ee 3 1 4 Differences with the Standard Product EZ 4 2 Basic Setting Procedure iii 5 CN WR lp li Lillo EE 6 3 Calibration and Scene SettidgS n
31. an lines me 0 zm Edge level specification method Set Get 1 Absolute valie Set Get 1 to 100 Scan width Set Get 1 to 1000 Display area Set Get O to 99 i 0 OFF 0 Projection EE SSES 1 Differential 271 Fix scan lines Set Get e Not fixed 1 Fixed 4 4 Scan Edge Circle Multiple measured edge points are used to calculate the circle equation and calculate the center coordinates and radius of the circle Setting Flow The setting for the scan edge circle is shown by the flow diagram below Region setting Edge color specification color camera only Reference position Measurement parameter Judgement conditions Output parameter Set the detection region for circles m P55 When a color has been set for the edge that you want to detect m P56 specify the color Set the reference position for circles wk P57 Set the measurement conditions m P58 Set the judgement conditions my P59 Set how to handle the data for outputting the measurement results P60 to the external device FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Region Setting Set the area for performing the inspection Circumfe 220 Ae H gt Radius Al Re EIER Width Sall rem wm 1 Use the drawing tools to specify the measurement region The measurement region is registered and displayed in the image display area Use the circumference tool to
32. anged in external reference data 600 of the position deviation calculation and set 1 in external reference data 5000 of the position deviation calculation When the force setting starts the following window is displayed 100 000 Alale E 2 Specify the coordinates with the following method e Click the window that displays the image e Specify the coordinate values in the number boxes in the upper left e Move the coordinates with the arrow keys in the upper left The coordinates move by 1 pixel at a time 3 Tap OK The movement amount in Calculate Scroll is recalculated with the value set in 2 84 FZM1 Series Specialized Vision Sensor for Positioning User s Manual Index A AGING aN accord 81 Alignment measurement oocccconcnccnnccncnnncnnonncnnonncononnnnnonnnnnnos 20 PUCA GIVISION ai ir as 45 55 Auto calibration rai tdo 14 C CALCCLBP Perform calibration calculation 77 Calibration error Value ooooococcoccoccnconconcnconcnccnccnincnnnoncns 19 77 Calibration Setting ui is 7 CALIBSTT Start Calibration ccococoncnccccocncnncnnnnnnnnnnnns 75 Candidate point level iisi aiioe a a 69 A TN 79 Changing the password sui ii 80 Check No range occccccocccococcncnnnconocononocnnnnononcnnnnnonnnccnnononanoss 59 Combination angle tintas id 29 38 Combination seam distance ocoonccncccnoccnnnononcnnnonnnnnnnnos 30 39 Combination tip distance ooccc
33. at you want to change Add Account Edit Account 80 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 6 Specialized Functions 3 After changing the setting tap OK The following message is displayed Tap OK User Account Click Data save and reboot OK 4 Tap OK to return to the special screen Execute Save data ES GE Important Seta W e of 4 to 16 characters for the user name and password using 0 to 9 A to Z and a to Z wow e Adding an account 1 In the User Account window tap Add Account The following Add Account window is displayed Add Account UserName Password SecurityLevel Regist Cancel 2 Enter the following items Setting item Setting item Enter the user name that you want to add Password Enter the Enter the password for the added user for the added user Peod ii uset the security level for the added user SecurityLevel 0 1 4 3 Tap the Regist button The following message is displayed If there is no problem tap OK Register Account 4 If the account is added successfully the following message is displayed Tap OK The display returns to the User Account window Registration succeeded EN Note The same user name as an already registered user cannot be registered Up to 100 accounts can be registered FZM1 Series Specialized Vision Sensor for Positioning Us
34. ation parameters are not updated Close Calculate amp regist Calib parameter Error value calculation Calibration setting Calibration parameter calculation succeeded amera Ai 7 490384 z 0 150354 B 0 043475 z 0 003118 C 0 000000 gt 0 000000 Deflection 0 000056 amera Ar 0 033280 z 0 016113 E 0 051065 z 0 026152 C NW 0 000000 Deflection 0 000062 Important 1 is displayed if no error value is calculated FZM1 Series Specialized Vision Sensor for Positioning User s Manual 19 3 Calibration and Scene Settings 3 3 Alignment Measurement and Scene Setting This section explains about the process in the measurement flow that measures the position deviation The flow is shown below Sample inspection flow when using 2 cameras Camera image input Loads the camera images Search Executes measurement for point 1 Camera switching Switches the camera Search Executes measurement for point 2 Calculates the position deviation between the reference Position deviation calculation position and the measurement position based on the position that was measured in Search Outputs the position deviation that was calculated in tting to ext i Puno CAMERA MES Calculate Scroll to the external device 3 4 Position Deviation Calculation The deviation between the measurement object position and the reference position that was registered during setting is calculated in order to
35. calculate a movement amount appropriate for the external device By outputting this movement amount to the external device the measurement object can be moved to the registered reference position Important e Calibration must be performed before using Calculate Scroll e Do not insert more than one Calculate Scroll into a single scene lf you want to perform Calculate Scroll multiple times first divide the scene p Setting Flow The setting for the position deviation calculation is shown by the flow diagram below Pattern select Select the calibration pattern to reference m P21 Calculation data setting Set the target processing unit m P22 Output setting Set as required m P23 20 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings Parameters Select the calibration pattern to reference and the processing unit for which the measurement values will be calculated For a robot 2 Galculate Scroll SSS l Parameter Output Setting Basic setting Calib pattern Pattern 0 D Robot Three axes xYz v Calculate data Pointi lt None gt y Details Point2 lt None gt D Details For a stage 1 Calculate Scroll A Parameter Output Setting Basic setting Calib pattern Pattern 0 e Stage GJ o 000 0 0000 0 0000 0 0000 0 0000 U axis Y axis Calculate data Pointi lt None gt v Details Po
36. cccccnnccccnncccnnncconnnncnanonos 30 39 Communication Commande 75 COMET col visa 30 Comer TUSION necia 31 Gross DriQNiNneSS cari hae a ha ate ed eee 39 CrossLine setting nnonnnneoennneoennenornnrrorrrrrornnrrnrenerreenrnee 13 D EISTING AN ACCOUNT E 82 Density change EE 48 58 Detection correlation value ANEN 69 Detection line count ee 39 E ECCOME a E 27 EG COTOS eea eee eee 36 ECM Search Re de EE 63 Edge color enhancement eye 47 58 Edge Ad de EE 28 37 64 67 OGG NOV AA A A 47 48 58 EGOE NO da 47 48 58 Editing an accord 82 Error model registration cccooncccccocnoconccnnnononocononononnnns 67 nn PA 74 Stelle eg elen E UR El DEE 74 F FOCS SENNO AA E E RE O O gt S dened en 84 Forward rotation of Camera 11 Instr ment Setting cinco dido all cacas 7 Intersection COOrdiNates ooonccconcccconccnccnnonccnoncnonanonnnnons 44 FZM1 Series Specialized Vision Sensor for Positioning User s Manual Index L Line Connect level ui nace el eee 29 Line connection level nnnnnannnennnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnne 38 LO do 79 M Manual calibration 00nnaannannnannnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnne 17 M sk TSGISU ATOM ura ii 66 MDATOUT Measurement result output cccccoooccnncc 78 Measurement type ccooccccnccccnocccconnccnnnonanononononcnnnncnnonons 48 58 leur e 66 N Noise TCV CU oscar ede ce eas Es 48 59 NoiSe Width EE 48
37. controller may be longer than the processing time for the subsequent times Setting Flow The setting for the Ec cross is shown by the flow diagram below Region setting Set the detection region for crosses m P37 Reference position Set the reference position for crosses m P38 Line extraction Extract the lines that form crosses m P38 Cross extraction Extract crosses m P39 Measurement parameter Set the sort conditions and judgement conditions m P40 Output parameter Set how to handle the data for outputting the measurement results m P41 to the external device FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Region Setting Set the area for performing the inspection Upper left position 1 ae ek gt Lower right positio aan e gt Tono 3 2 2 EJ 1 Use the drawing tools to specify the measurement region 2 In the figure setting area tap OK The measurement region is registered and displayed in the image display area 3 Tap Edge extraction and check the edge extraction image If there is a break in the outline of the measurement object adjust the edge level For more details see 8 Appendixes Measurement Mechanism Edge Detection Measurement in the FZ3 User s Manual Edge extraction setting Mask size 5x5 Edge level Setting value Setting item Factory Description default Select the range of pixels which are use
38. cooccoccccnnccncccnconnocncnnnronccnnnnnnnnnrrnnrrnnrnnnrnnnrnnrnnnnns 7 3 1 Calbratl n Seting uste 7 Moruenn SUING sarao leiste tie lec T calibrator Seting WINGOW ces cie 8 3 2 Galbraton IMGWIOG Ss EE 14 AWO Calbratom alacena oz 14 Manual e Me Le NEE 17 3 3 Alignment Measurement and Scene Setting ooocccocnccocnconcncnonccnnnononocnnnnoncncnacnnos 20 3 4 Position Deviation Calculation EE 20 SEUN ai Le 20 Farametels cnt ii is 21 CUTOUT SERINO Seeerei 23 To Get Measurement Results from an External Source ooccocconccocnconcocnconcocnonccnnnnnnnnnnos 23 4 Specialized PrOCESSINO NOMS orarin a 27 AS A A E E EEA AE TEE ENE E A E en ae T 27 SENG e 27 REJON SEUNG EE 28 Seege IO DEE 29 HNE E NaC ON rai 29 COMELEXUICUO asia oo is dais 30 Measurement Rarameters taste tad 31 output Parameters nadia 32 To Get Measurement Results from an External Source ooccocconccocccoccoccconcocnonncnnnonnnnnnns 33 Ee E 36 Seting FOW seran no yy a neuvackasaceb eurceemocadeeseane 36 o o A A 37 Ret erence FOSON suscrita 38 ENS EXCITA ali 38 CTOSS XU AC HON seda ino iio 39 Measurement EE Eege ride 40 output Parameter ata 41 To Get Measurement Results from an External Source oococcccccnconccccconocononcnnnnnncnnnnnns 42 Index 4 3 lnt rsection Coordinates ni daa 44 SENO e EE 44 Ke ele E dn Le errar said 45 Edge Color Specification Color Camera Only cooocccccnccccncoccncncnccnnnconnnoncnnnanonanononc
39. crosses that are judged to be OK 45 0000 to 45 0000 Set the cross angles that are judged to be OK Count 1 to 100 Set the number of detections for crosses that are judged to be OK 40 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Output Parameters Set how to handle the data when outputting the measurement results to the external device Calibratio oe e Reflect to overall judgement DN gt Dean ke General Information Normally the factory default value will be used for this item Do not change this setting unless there is a particular reason Setting method 1 Set the following parameters as required er Setting value Ss As measurement results select whether to output Output After scroll coordinate values to external devices before or after the coordinates Before scroll e SE position compensation is applied Select whether to reflect the calibration in the values output to the external device as measurement results Calibration ON Output coordinate values that have been converted to the actual dimensions OFF Output the camera coordinate values Enables choosing whether or not the judgement results of Reflect to overall i SCH this processing unit is reflected in the scene overall judgement i judgement 2 After completing all the settings tap OK FZM1 Series Specialized Vision Sensor for Positioning User s Manual 41
40. d dark for the model Specify whether to allow size change for the Checked model Unchecked When the check box is selected tap Detail setting to select the setting Rotation 180 to 180 Size change FZM1 Series Specialized Vision Sensor for Positioning User s Manual 65 4 Specialized Processing Items 2 When the Size change check box is selected tap Detail setting The Model parameter Size change area is displayed Model parameter Size change Hove range 30 alil 110 wd Skipping width MAD gt Return A Setting value E 50 to 150 Specify the move range in which to change the O Specify the skipping percentage within the 1 to 99 move range by which to change models being 10 created A smaller skipping width increases accuracy but slows down the processing Skipping width 3 Tap Return The Model parameter area is displayed o Mask any unnecessary items By registering a mask the part you do not want included in the model is excluded 1 Tap Mask register Rezistered figure Model rezister Mask register 2 Draw the mask figure using the drawing tools Rezistered figure 5 3 Tap OR NOT The mask figure is displayed in red 4 Inthe figure setting area tap OK eo Adjusting the edge level In ECM Search Motion processing is performed for the edge extraction image Change this item as necessary when the edge is not ex
41. d 1 Dot 1008 Camera 0 line width Set Get 1 to 10 1009 Camera 0 line color Set Get GE Color 1 NG Color 2 Arbitrary 1010 Camera 0 line color R Set Get O to 255 1011 Camera 0 line color G Set Get O to 255 1012 Camera 0 line color B Set Get O to 255 1020 Camera 1 crossline Set Get 0 Not Visible 1 Visible display flag FZM1 Series Specialized Vision Sensor for Positioning User s Manual 25 3 Calibration and Scene Settings Camera 1 crossline 1021 display center Set Get O to 9999 coordinate X Camera 1 crossline 1022 display center Set Get O to 9999 coordinate Y 1023 a eee Set Get 0 Not Visible 1 Visible display flag 1024 Camera 1 scale interval Set Get O to 9999 9999 1025 Camera scale Ine Set Get 0 to 9999 9999 length 1026 Camera 1 scale unit Set Get a SEH EES 1027 Camera 1 line type Set Get 0 Solid 1 Dot 1028 Camera 1 line width Set Get 1 to 10 1029 Camera 1 line color Set Get ye Color 1 NG Color 2 Arbitrary 1030 Camera 1 line color R Set Get O to 255 1031 Camera 1 line color G Set Get O to 255 1032 Camera 1 line color B Set Get O to 255 Oto 1 output 26 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items 4 Specialized Processing Items The specialized processing items in the software are as follows scan Edge Circle ECM Search Motionotion 4 1 EC Corner This processing item is suitable for detecting corners It detects the cross poin
42. d to extract the Mask size y edge With a larger mask size search is less affected by variation in pixels Adjust the edge extraction level when the edge is hard to see due to low contrast with the background or when unnecessary background noise should be removed 0 to 1000 100 Edge level FZM1 Series Specialized Vision Sensor for Positioning User s Manual 37 4 Specialized Processing Items Reference Position When the measurement region is set this position is automatically set at the same time as the reference position This item can be used to change the reference position to any desired position This is handy for measuring the position deviation from a certain position 1 Tap the position to be set as the reference position 2 Make fine adjustments using numeric value inputs or the arrow buttons as required To re measure on the displayed image and set the reference position tap Measure ref Ref position CZE SL al 4 Measure ref pr Line Extraction Set the extraction conditions for the line sections that will form the cross Line extraction cond Length Line connect level 1 Set the following items as required ee Setting value ee Length 0 to 1000 Set the length of the edges to use as the extraction target 2 1 fine conned Set how much to connect the fragmented lines from the lines that were detected by edge extraction The higher level ne the value the easier it
43. data clear Parallel movement amount setting External reference 2x5 Camera X movement amount x 1 to 4 2x6 Camera Y movement amount x 1 to 4 Repeats parallel movement max 4 times and rotation movement max 10 times Rotation movement amount setting External reference 2x5 Camera 0 movement amount x 5 to 9 3x5 Camera 0 movement amount x 0 to 4 15 3 Calibration and Scene Settings Important 1 Select Auto calib and tap Execute ib para setting e Aut lib pices Execute Na Ua a Before executing auto calibration complete the settings for external communication with the PLC Camera 0 Camera 1 A 1 000000 OD 0 000000 Al 1 000000 D 0 000000 P74 2 Set the number of sampling points and tap OK Make sure that the number of sampling points that are set here and the number of sampling points to be executed are the same Calibration Point Settine Please set the maximum point for sampling to calculate the calibration Parallel movement point z Rotate movement point 2 NE Setting value Setting item Factory Description default Parallel 2 3 4 Set the maximum number of points for parallel movement movement point that will be sampled in the calibration Rotate movement point 2 3 4 5 6 7 8 Set the maximum number of points for rotation movement that will be sampled in the calibration 1 Setting is only possible f
44. desired position This is handy for measuring the position deviation from a certain position 1 Tap the position to be set as the reference position 2 Make fine adjustments using numeric value inputs or the arrow buttons as required To re measure on the displayed image and set the reference position tap Measure ref Ref position 1 Celtes A Measure ref FZM1 Series Specialized Vision Sensor for Positioning User s Manual 57 4 Specialized Processing Items Measurement Parameters Set the measurement conditions for the circle 1 Inthe Display area area specify the area number to set Display area Display area No 0 end gt 2 In the Measurement area set each item as required For color cameras Measurement Edge No 0 wel Edge level Ge Position for width of a color C Value 442 at the maximum of color Setting Setting value Dan item Factory default H Specify the edge number used to extract edges Edge numbers are assigned to detected edges starting from 0 and in the direction from the start point the arrow to the end point the arrow point in the selected area Edge No e Position for width of a color Seta color difference level with which the edge is detected O to 100 50 For more details see 8 Appendixes e Value 442 at the maximum of color Measurement Mechanism Edge Detection O to 442 20 Measurement in the FZ3 User s Manual Ed
45. e FZ Motion Specialized Alignment Software 1 About the FZ Motion Specialized Alignment Software This is specialized software based on FZ3 for performing positioning operations in processes such as assembly and picking By using the wide range of setting functions that are available with this software it is easy to perform highly accurate and efficient inspections AT Software Outline The software can be used to perform the following inspections Auto Manual Calibration There are 2 calibration methods auto calibration that is executed when a command is sent from the PLC and manual calibration for which the movement amount is entered manually Up to 4 patterns can be saved for the calibration setting values Position Deviation Calculation This processing item calculates the deviation in the position of the measurement object in accordance with the stage type EC Corner This processing item detects corners from the cross point of 2 lines that are created by edges Stable detection can be performed even for images with low contrast or high noise levels EC Cross This processing item detects cross shapes that are created by edges such as crosshair marks Stable detection can be performed even for images with low contrast or high noise levels Intersection Coordinates This processing item uses the edge points to calculate 2 linear regressions and calculates the intersection coordinates and the angle formed by the
46. e the drawing tools to specify the measurement region ions according to the measurement range uncheck the The measurement region is registered and displayed in the image display area In the Area divide area set the number of divisions and the width By default the number of area divisions is 5 and the area width is 5 The area is divided evenly Scan area when the number of area divisions is 1 Scan area when the number of area divisions is 3 EN Note Scan area when the number of area divisions is 2 ae ee ae E ee E EE E EE AA mm WG wm mm mmm mp pg mg mm me pr e E pm Se me e Gr Scan area when the number of area divisions is 4 Enable or disable can be set for each divided area Tap on a divided area to display the following window rea U Disabled Enabled FZM1 Series Specialized Vision Sensor for Positioning User s Manual 45 4 Specialized Processing Items 5 Inthe Figure select area select Line1 and set the region with the same procedure as line 0 Edge Color Specification Color Camera Only This item selects the color of the edges to be detected If the target color changes this setting is not necessary If the color is not specified positions in the measurement region where the color changes drastically are detected as an edge 5 Intersec tion yaaa select i Line Region ure Ref re se 1 Inthe Figure select
47. easurement region 2 In the figure setting area tap OK The measurement region is registered and displayed in the image display area 3 Tap Edge extraction and check the edge extraction image If there is a break in the outline of the measurement object or there are too many edges adjust the edge level For more details see 8 Appendixes Measurement Mechanism Edge Detection Measurement in the FZ3 User s Manual Edge extraction setting Mask size 5x5 Edge level Setting value Setting item Factory Description default Select the range of pixels which are used to extract the Mask size y edge With a larger mask size search is less affected by variation in pixels Adjust the edge extraction level when the edge is hard to see due to low contrast with the background or when unnecessary background noise should be removed O to 1000 Edge level 100 28 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Reference Position When the measurement region is set this position is automatically set at the same time as the reference position This item can be used to change the reference position to any desired position This is handy for measuring the position deviation from a certain position 1 Tap the position to be set as the reference position 2 Make fine adjustments using numeric value inputs or the arrow buttons as required To re measure on the displa
48. ection Y direction or 6 direction The command is not accepted and ER is returned unless the status is the calibration start condition CALIBSTT command already performed Command format SJE T IP JE R M T SP Target camera Sr Response format When processed correctly When not processed correctly Parameters explanation Use a Bit to specify the camera for which to register calibration information Target camera Ameca a 1 Camera 1 2 Camera 0 camera 1 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 5 Methods for Connecting and Communicating with External Devices o CALCCLBP Perform calibration calculation Calculates the calibration parameters based on the calibration parameter calculation information that is currently set The calibration parameters of the calculation result are retained in the buffer area of the system When these calibration parameters are applied to Camera Image Input in a scene the calibration parameter writing command is used The command is not accepted and ER is returned unless the status is the calibration start condition CALIBSTT command already performed Command format CIAILIC C LIBIP SP Calculation mode Cr Response format When processed correctly OJK 6 When not processed correctly Parameters explanation 0 Calculate calibration error value Calculation mode 1 Calculate error value The error value for the actual coordinate
49. ed to be 0 to 99999 9999 SS the maximum radius that is judged to be Radius Min Min O to 99999 9999 Set the minimum radius that is judged to be OK SE to 99999 9999 Set the Set the average radius that is judged to be OK radius that is Set the average radius that is judged to be OK to be OK Lost point count 0 to 360 SSC number of lost points that is judged to Output Parameters Set how to handle the data when outputting the measurement results to the external device rem wm ke General Information Normally the factory default value will be used for this item Do not change this setting unless there is a particular reason 60 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items o Setting method 1 Set the following parameters as required EE Setting value Se As measurement results select whether to output coordinate values to external devices before or after the position compensation is applied Output After scroll coordinates Before scroll Select whether to reflect the calibration in the values output to the external device as measurement results ON Output coordinate values that have been converted to the actual dimensions OFF Output the camera coordinate values Calibration Enables choosing whether or not the judgement results of this processing unit is reflected in the scene overall judgement Reflect to overall judgement 2 After
50. ee Corner extraction cond can be connected Specify the conditions when connecting 2 lines for the nearest distance between one line when it is extended and the vertex of the other line With larger values lines that deviate perpendicularly from each other can be connected 10 to 350 90 Set the range for the corner angle O to 180 5 Set the margin range for the angle Both Corner color Bright Dark Set the relationship between bright and dark for the corner and background 2 When Advanced setting is tapped the following conditions can be set Line 0 cond Length Im mi Angle o eotie Overrun woa 10 al Line 1 cond Length mn 1000 Angle e ID wa Overrun 10 eff 10 fad Corner fusion Length C Dist from corner C Corner angle Dist mua hel Direction 5 0000 wd gel Angle 5 0000 ram Return FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items ee Setting value pr Line 0 cond Length condition for extracting line O Length 5 to 1000 clockwise left side as seen from the cross point Angle condition for extracting line O Angle 0 to 359 clockwise left side as seen from the cross point Overrun condition for extracting line O Overrun 1000 to 1000 clockwise left side as seen from the cross point Line 1 cond Length condition for extracting line 1 clockwise Le
51. er s Manual 81 6 Specialized Functions e Editing an account A user account can be edited 1 In the User Account window tap Edit Account The Edit Account window is displayed 2 Enter the following required items and change the security level Setting Wem item o Description S Use q_ A the target user name All the set user names are displayed Password Enter the Enter the password for the user to be edited for the user to be edited i ee ee the security level for the user to be edited SecurityLevel 0 1 4 3 Tap Edit The following message is displayed If there is no problem tap OK Edit Account Change Account information 4 Tap OK Edit Account Account information updated The Edit Account window closes and the display returns to the User Account window After editing the account execute Save data O Deleting an account 1 Inthe User Account window tap Del Account The following Del Account window is displayed Del Account UserName SecurityLevel Delete Cancel 2 Tap to the side of UserName and select the user name to delete 82 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 6 Specialized Functions 3 Tap Delete The following message is displayed If there is no problem tap OK Del Account Delete Account OK Cancel 4 If the account is deleted successfully the following me
52. et only 180 to 180 Reference coordinate X Get only 0 to X_PMAX Reference coordinate Y Get only 0 to Y PMAX Reference angle Get only 180 to 180 Detection point coordinate X Get only 0 to X_PMAX FZM1 Series Specialized Vision Sensor for Positioning User s Manual 71 4 Specialized Processing Items 72 Detection point coordinate Y Get only 0 to Y PMAX 5 01 Output coordinate Set Get o After scroll 1 Before scroll 102 Calibration Set Get 0 OFF 1 ON ii H 1 1 103 Reflect to overall judgement Set Get 0 ON 1 OFF 110 Detection correlation value Set Get O to 100 112 Reduction ratio Set Get 10 to 100 I O 3 3 1 5 5 121 Edge extraction level Set Get O to 1000 Detection point coordinate X Set Get 0 to X_PMAX Detection point coordinate Y Set Get 0 to Y PMAX Reference coordinate X Set Get 0 to X_PMAX Reference coordinate Y Set Get 0 to Y PMAX Upper limit value of correlation Set Get 0 to 100 value Lower limit value of correlation value 128 ZPPer a mon si n 99999 9999 to 99999 9999 coordinate X 129 EE REES 99999 9999 to 99999 9999 coordinate X 130 pepe EE EE S aiar 99999 9999 to 99999 9999 coordinate Y 131 Oe mI ae sena sica 99999 9999 to 99999 9999 coordinate Y 432 Upper limit value of the Set Get 180 to 180 measurement angle 133 Lower limit value of the Set Get 180 to 180 measurement angle Number of detections upper limit Set Get O to 100 Number of detections lower limit Set Get O to 100 l g
53. ge level For monochrome cameras Measurement Measure type e Projection Derivation Density change Light Dark C Dark Light Edge No Tv gt Edge level Ge Position for width of a density C Yalue 255 at the maximum of density ae Setting value a Setting item Factory default Description Measure type Projection As the measurement type specify either projection or Derivation derivation Dendi cande Light gt Dark Set whether a black to white change or a white to black change y J Dark Light should be recognized as a density change in the specified area Specify the edge number used to extract edges Edge No 0 to 99 Edge numbers are assigned to detected edges starting 0 from 0 and in the direction from the start point the arrow to the end point the arrow point in the selected area e Position for width of a density Set the density change level to be detected as edges Edge level O to 100 50 For more details see 8 Appendixes Measurement e Value 255 at the Mechanism Edge Detection Measurement in the maximum of density FZ3 User s Manual O to 255 20 58 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items 3 Inthe Noise removal area set each item as required Noise removal Noise level IO Noise width For color cameras 0 to 442 5 When detection is affected by noise increase For monochrome cameras th
54. he setting for ECM Search Motion is shown by the flow diagram below Model registration Register the characteristic section of the measurement image as P64 a model Register models whose correlation values you want to reduce P67 Error model registration g during measurement as error models Region setting Set the range for performing measurement m P67 Detection point Set the detection point P67 Reference position Set the reference position m P68 Measurement parameter Set the judgement conditions for measurement parameters m P69 Set how to handle the data for outputting the measurement results P70 Output parameter to the external device Model Registration Register the pattern characteristic from the measurement object image as a model In ECM Search Motion only the outline information of the image is registered Important In ECM Search Motion 6 pixels at each end of an image cannot be registered as a part of the model If a model is re registered the error model is deleted When re registering a model also register the error model 5 h x i 1 Use the drawing tools to specify the model registration range 2 In the figure setting area tap OK The model is registered 3 Tap Edge extraction and check the edge extraction image If there is a break in the outline of the measurement object adjust the edge level Also change the reduction ratio as required 4 If there is unnecessary outli
55. ich to detect Candidate point O to 100 candidate points in a rough search Specify a level 50 smaller value for candidate point level when model search results are unstable Correlation limit S ER Set the correlation value to detect Judge Point Corr descending Corr ascending X descending Specify the conditions by which the search X ascending number is re assigned Y descending Y ascending O to 99 Input the search number for outputting the data Important If you want to change measurement parameters after registering a model it is necessary to re register the model Sort condition 2 When the setting has been changed tap Measurement in the Detail area to verify whether measurements can be made correctly Test measurement of this item Measurement 3 Set the judgement conditions as required Judgement Count 0 ol mn Measure pos X 0 0000 39999 9999 wali 99999 9999 ed Measure pos Y 0 0000 99993 9399 99999 9999 ed Measure angle 0 0000 180 l l 180 i Correlation 0 0000 g 100 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 69 4 Specialized Processing Items 70 Important The value beside each item are measurement results of the displayed image Take these values into consideration to determine the upper and lower limit values 0 to 100 SEH the number of detections to be judged as Measurement 99999 9999 to 99999 9999 Spec
56. ify the range of X axis shifting that is judged to coordinate X be OK Measurement 99999 9999 to 99999 9999 Specify the range of Y axis shifting that is judged to coordinate Y be OK 180 to 180 Specify the range of angles that are judged to be OK ltr 0 to 100 Specify the range of correlation values that are judged to be OK pr Output Parameters Set how to handle the data when outputting the measurement results to the external device Output coordinates e After scroll C Before scroll Calibration OFF C ON Reflect to overall judgement ON C OFF Important Normally the factory default value will be used for this item Do not change this setting unless there is a particular reason e Setting method 1 Set the following parameters as required EE Setting value E As measurement results select whether to output Output After scroll l l coordinate values to external devices before or after the coordinates Before scroll DN SC position compensation is applied Select whether to reflect the calibration in the values output to the external device as measurement results Calibration ON Output coordinate values that have been converted to the actual dimensions OFF Output the camera coordinate values Enables choosing whether or not the judgement results of this processing unit is reflected in the scene overall judgement Reflect to overall judgement 2 After completing all the settings tap
57. int2 lt None gt DI Details Oo Setting method 1 Inthe Basic setting area set the following parameters Setting value Setting item Factory Description default Pattern 0 Pattern 1 Set the calibration pattern to reference Pattern 2 Reference P9 Pattern 3 Calib pattern FZM1 Series Specialized Vision Sensor for Positioning User s Manual 21 3 Calibration and Scene Settings 22 Important The setting data is copied from the referenced calibration pattern to the camera image input and position deviation calculation in the flow Note that the parameter copying for the camera settings is only performed for the latest camera image input 0 Camera image input lt Camera setting parameters copied from the reference calibration pattern 2 Camera switching 4 Position deviation calculation GE Stage setting parameters copied from the reference calibration pattern 2 Inthe Calculate data area select the target processing unit Tap Details as required to perform advanced settings The advanced setting window is displayed 2 Galculate Scroll SS SSeS Parameter Output Setting Point1 Position Return 3 Tap as required to set an expression For more details on expressions see 4 Support Inspection and Measurement Calculation in the FZ3 Processing Items List Manual Position X ULA 0 Camera Image Input v FZM1 Series Specialized Vision Sensor for Posit
58. ioning User s Manual 3 Calibration and Scene Settings P Output Setting Set how to handle the data when outputting the measurement results to the external device 2 Galculate Scroll Parameter Ref lect to overall judgement e ON C OFF Output position Scroll standard Middlepoint D Dutput Setting E Output 9 ett in KS ke General Information Normally the factory default value will be used for this item Do not change this setting unless there is a particular reason Setting method 1 Set the following parameters as required fae Setting value W Enables choosing whether or not the judgement results of this processing unit is reflected in the scene overall judgement Reflect to overall judgement Output position Middlepoint Scroll standard Point1 Point2 Select the points to use in the deviation amount calculation 2 After completing all the settings tap OK To Get Measurement Results from an External Source Oo Measurement results for which output is possible calculation The following values can be output using processing items related to results output It is also possible to reference measurement values from expressions and other processing units string The judgement result for the unit Overall judgement result JG 1 OK 0 Not yet measured FZM1 Series Specialized Vision Sensor for Positioning User s Manual 23 3 Calibration and Scene Settings 24
59. is to connect Custom 2 When the line connection level is set to Custom set the following items as required Line connect level z Angle ERT wad Tip dist O ES Seam dist re wend E Setting value SES Specify the angle range when connecting 2 lines With Angle 0 0 to 30 0 3 0 larger values 2 lines with different inclinations can be connected 38 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Specify the distance between vertexes when connecting Tip dist O to 1000 10 2 lines With larger values lines that are further away can be connected Specify the conditions when connecting 2 lines for the nearest distance between one line when it is extended Seam dist O to 1000 5 and the vertex of the other line With larger values lines that deviate perpendicularly from each other can be connected Cross Extraction Set the conditions for intersecting the lines Line 0 cond Length Width Line 1 cond Length Width Cross brightness Both Bright Bark Advanced setting 1 Inthe Line 0 cond Line 1 cond Cross brightness area set each item oe Setting value oe Line O cond Line 1 cond Length 10 to 1000 Set the length of the parallel lines Width 10 to 1000 Set the width of the parallel lines Set the relationship between light and dark for Cross brightness Bright the cross and background 2 When
60. is value Noise level O to 255 5 Set the width for judging noise e When detection is affected by noise increase Noise width 0 this value 4 inthe Detail area set enable or disable for the region as required No Me Divide Value ON 0 000 0 0000 ON 90 000 0 0000 ON 180 000 0 0000 ON 270 000 0 0000 Check gies Check revers Pajas SEET Setting value SC Specify the area numbers for which to perform batch reversing of the enable or disable setting SHENG ees Tap Check reverse to reverse the check box settings of the areas within the range Judgement Conditions Set the range of circles that are judged to be OK U e 6 Scan Edee Circl Region setting alc parameter 99999 9996 0 0000 99999 999p 0 0000 100 000 Ala Ed FZM1 Series Specialized Vision Sensor for Positioning User s Manual 59 4 Specialized Processing Items 1 Inthe Calc parameter area set the calculation method as required Smallest enclosing circle Approximation circle Method Select settings for the circle calculation method Eilen Eilen ect SERGE 0 to 360 Set the number of areas to remove 2 Set the judgement conditions as required Canta 99999 9999 to 99999 9999 Set the range of center coordinate Xs that are judged to be OK Conte 99999 9999 to 99999 9999 Set the range of center coordinate Ys that are judged to be OK 0 to 99999 9999 a the range of radiuses that is judg
61. ition This is handy for measuring the position deviation from a certain position 1 Tap the position to be set as the reference position 2 Make fine adjustments using numeric value inputs or the arrow buttons as required To re measure on the displayed image and set the reference position tap Measure ref Ref position CZE SL Lal 4 Measure ref Measurement Parameters Set the measurement conditions for the intersection coordinates 1 Inthe Figure select area specify the line to set Figure select Lined Linel M Share setting 2 Inthe Display area set the area number if the area is enabled Display area Display area No 0 wd gt Iw Enabled 3 Inthe Measurement area set each item as required For color cameras Measurement Edge No Edge level Position 3 for width of a color Value 442 at the maximum of color E Setting value SE Specify the edge number used to extract edges 0 to 99 Edge numbers are assigned to detected edges Edge No 0 starting from 0 and in the direction from the start point the arrow to the end point the arrow point in the selected area e Position for width ofa e O to 100 50 e Value 442 at the maximum of color O to 442 20 O O to 442 This emphasis level can be set only if the edge color j 100 to detect is specified Set a color difference level with which the edge is detected For more details see 8
62. l Four be used axes XYZR Omara oa EE Specify the forward direction for the stage on the camera of camera Counterclockwise Robot type 10 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings For a stage Stage setting Please select the stage type If UYY or UVWR is being used Please input the parameter of the box Stage type Forward rotation of camera Clockwise UVWR parameter eg Setting value wer XY stage XY0 stage Stage type OXY stage UVW stage UVWR stage Forward rotation Clockwise Specify the forward direction for the stage on the of camera Counterclockwise camera UVWR parameter Enabled only when the stage type is UVW or UVWR R1 0 0000 to Set the distance of the line segment that connects 9999999 9999 the U axis pivot point with the rotation center R2 0 0000 to Set the distance of the line segment that connects 9999999 9999 the V axis pivot point with the rotation center 0 0000 to Set the distance of the line segment that connects 9999999 9999 the W axis pivot point with the rotation center Set as appropriate for the axis specifications of the stage that will be used Set the distance of the line segment that connects the R axis pivot point with the rotation center Enabled only when the stage type is UVWR 07 0 0000 to Set the angle between the x axis in the coordinate 999999
63. mage Camera Image Input in the FZ3 Processing Items List Manual a Image Input Cameras Camera erch H Screen adjust White balance Calibration Camera settings Shutter speed le Select typical value Set by number Number of lines to be read E Start line End line Electronic flash setting STEP STGOUT delay 90 us STGOUT width 390 us o STGOUT polarity e Positive C Negative ue G OK Cancel FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings o Stage specification setting For a stage set the axis specifications and rotation direction For a robot set the number of robot axes 1 Tap Robot setting or Stage setting button For a robot Pattern setting Camera setting ampling setting Robot Robot setting 5 CrossLine setting Robot Sampling setting OO Robot tvoe Three axes X Z Sampling method Pattern setting Camera setting Ea tine CrossLine setting Stage setting ampling set age PU A Pete ing See MM abana Cammlima math 2 Set the corresponding specifications For a robot Robot setting Please select the robot type Robot type Three axes X Z Forward rotation of camera Clockwise OK Cancel Setting value Setting item Factory Description default Three axes XYZ Set as appropriate for the specifications of the robot that wil
64. makes it easier to tap 2 Make fine adjustments using numeric value inputs or the arrow buttons as required Detection coordinate DOT 375 sel y Reference Position When the measurement region is set this position is automatically set at the same time as the reference position This item can be used to change the reference position to any desired position This is handy for measuring the position deviation from a certain position 1 Tap the position to use as the reference position EN Note Enlarging the image display makes it easier to tap 2 Make fine adjustments using numeric value inputs or the arrow buttons as required To re measure on the displayed image and set the reference position tap Measure ref Reference coordinate 4 Measure ref 68 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Measurement Parameters This item specifies the judgement condition for measurement results Specify the criteria to judge the measurement result if the X and Y coordinates and the correlation values with the model are OK 1 In the Measurement condition area set each item Measurement condition Search condition Candidate point level l 50 end lt gt Correlation limit 30 end gt Judge Point Sort condition Corr descending v Search No 0 ed Ge E Setting value Ce Search condition Specify the threshold value with wh
65. ne information in the model tap Mask register to set the mask 5 To check the model display tap Display model The registered model is displayed in the image display area 64 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items EN Note When a model is registered the center coordinate of the model is registered as the detection point coordinate A detection point is a point output as a measurement value Detection point coordinates Can be changed to any position later Model e Changing model parameters Model parameter values can be changed as needed to address unstable measurement results or to increase the processing speed Normally the factory default value will be used After changing a setting check whether measurement can be done properly by performing an actual measurement Model parameter Iw Rotation Angle range 180 180 Reverse l Size change 1 Inthe Model parameter area set a value for each item EE Setting value e Checked Unchecked When the measurement object is rotating select the Rotation check box and specify how many degrees the model created rotates each time and through what range of angles A smaller skipping angle increases stability but slows down the processing The forward 180 to 180 direction is clockwise Reverse Checked Specify whether to allow the reverse of light and Unchecke
66. ngth 9 to 1000 right side as seen from the cross point Angle condition for extracting line 1 clockwise Angle 0 to 359 right side as seen from the cross point Overrun condition for extracting line 1 Overrun 1000 to 1000 clockwise right side as seen from the cross point Corner fusion Length A flag for specifying which cross point to Corner fusion Dist from corner leave behind by priority when performing Corner angle intersection fusion Dist 0 to 1000 10 0 The distance range for judging whether or not to fuse when performing intersection fusion S The line angle range for judging whether or not e ee to fuse when performing intersection fusion The corner angle range for judging whether or SEN not to fuse when performing intersection fusion Measurement Parameters Set the sort conditions and judgement conditions for corners CO A EOI 0 0000 O ROT UU 0 0000 tom H emm AH 100 000 J 100 Al al 2 E FZM1 Series Specialized Vision Sensor for Positioning User s Manual 31 4 Specialized Processing Items 1 Inthe Sort cond area set the following items as required SE Setting value SE Corner X Corner Y Order Length Set the sorting method for the measurement results Ascending Descending Corner No 0 to 99 Enter the number of the corner for which to output data 2 After changing the measurement parameters tap Measure and check that the window di
67. nnns 46 Re lerence OSO WEE 47 Measurement Ge EE 47 Jydgement Ee ue Ile Lu rr cion 49 OUTDUE P rameters See eege 49 To Get Measurement Results from an External Source coocccocccocococncocnconncocnconocononos 50 AA cam Edge Oe lt q A 54 Stand ROW cria daa 54 REGION O de Le siii iii 55 Edge Color Specification Color Camera Only cooocccccnccccncoccconcncccnnnonnconcnonancnnnonononnns 56 REL POSITION aora baaa 57 Measurement Ge EE 58 Judgement E e ue De ds 59 Output Paramete S anida aa 60 To Get Measurement Results from an External Source coocccocccocococncocncocncocnconnnononos 61 40 EGM Search MOTO armani 63 SEWING AO Wicca 64 Model Registratlol WEE 64 Error model FEGISMAl OM encata 67 REGIONO SIUN sp it ld adas 67 MCE CHOMP OME ti ti oman a a 67 Reference FOSO Nr 68 Measurement De an 69 luet 70 To Get Measurement Results from an External Source ocoocccccncocococccocncocncocncocnnononos 71 Methods for Connecting and Communicating with External Devices 74 5 1 Differences with the Standard Product EA 74 Command KEE na ad 74 Communication Command Details ooccooccocccocnconnonnconnconcnrconnnononanonnonanonnonanonons 15 Specialized FUNCTIONS cccccccceceseeceeceeceeceseeeeceseeneeneeeseenecaeceseeneeneeaeeeneeneseeeeneones 79 Se Eelef Edel e EE 79 EE MING S eege eege a net lle e a le acia 79 USE eu Le WEE 80 EIERE ii tiras 83 0 2 ADOUCFOCO SEWN EE 84 1 About th
68. oller Instrument Setting Instrument Setting Please select Robot C Stage OK Cancel Setting value Setting item Factory Description default Set the external device as appropriate for the specifications Instrument Robot of the equipment that you will use Setting Stage Robot When using equipment in which a robot is used Stage When using equipment in which a stage is used 2 Specify the external device and click OK Important After changing settings save them onto the controller and then restart the system FZM1 Series Specialized Vision Sensor for Positioning User s Manual 7 3 Calibration and Scene Settings Calibration Setting Window Calibration is performed to align the camera references with the device references to enable accurate position inspections 1 Tap Calibration setting that is displayed in the toolbar area The Calibration setting window is displayed Edit flow DI Data save E Scene switch Measure M Continuous meas When the instrument setting is Robot Calibration setting Select pattern Pattern 0 DI Copy Initialize Pattern setting Camera setting Robot setting Sampling cettine CrossLine setting Robot setting Sampling setting Robot type Three axes XYZ Sampling method Camera D Nothinz Camera 1 Nothinz Calib para settinz Auto calib Execute C Manual calib Camera 0 1 000000 D 0 000000 E 1 000000 D
69. or not the judgement results of this processing unit is reflected in the scene overall judgement Reflect to overall judgement 2 After completing all the settings tap OK To Get Measurement Results from an External Source o Measurement results for which output is possible calculation The following values can be output using processing items related to results output It is also possible to reference measurement values from expressions and other processing units Ces Setting value E The judgement result for the unit 0 Not yet measured 1 NG FRetPosiion x rex coordinate ofthe reference poston Dor sv Tre coordinate ofthe reference poston Goen CO coordinates XY aia group X Zonen YO EN E THO E ow CO gen Zonen O EN eg THT EN CO dO RE FZM1 Series Specialized Vision Sensor for Positioning User s Manual 33 4 Specialized Processing Items Setting value See Angle99 TH99 Corner angle data group 99 34 Linedangle99 DIRL99 Calculated from the corner detailed information 99 Line1angle99 DIRR99 Calculated from the corner detailed information 99 External Reference Tables 0 No Judgement not yet measured Judge Get only 1 Judgement result OK 1 Judgement result NG Corner coordinate XY X Get only 99999 9999 to 99999 9999 E Corner coordinate XY Y Get only 99999 9999 to 99999 9999 CI mge Get only O to 360 SE SES Get only 99999 9999 to 99999 9999 coordinate Reference posi
70. or specification KS a 1 Inthe Color setting area select the Edge color specification check box 2 This item selects the color to be detected as edges Setting method Description Specify a region on the image that includes the target color The Image display area Se ane i average color of the specified region is registered 56 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Tap the reference color on the color chart to specify it The RGB values for the specified color are displayed at the bottom The color to be detected is set with the RGB values This sets the allowable color difference for detecting the edge using the specified color as the reference The larger the difference values the larger the color range that is used to detect the edge Color chart Difference ReGeB Specified color IN The position where a color other than the specified color changes to the specified color is detected as the edge Specified color OUT The position where the specified color changes to a color other than the specified color is detected as the edge Detection mode Start a End Start y End point point point point For Specified color IN For Specified color OUT Ref Position When the measurement region is set this position is automatically set at the same time as the reference position This item can be used to change the reference position to any
71. or the following stages Robot 4 axes XYZR Stage XY0 OXY UVW UVWR 16 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings 3 Execute auto calibration on the PLC The movement amounts for the object are displayed The measurement values on the camera are displayed Auto Calibration Parameter Setting Real DistanceX Real DistanceY Real Distance l Cameral X Cameral Y Cameral X Cameral Y Standard Pos 0 0000 0 0000 0 0000 0 0000 0 0000 Parallel shift Pos 1 0 0000 0 0000 0 0000 0 0000 0 0000 Parallel shift Pos 2 0 0000 0 0000 0 0000 0 0000 0 0000 Rotation Pos 1 0 0000 0 0000 0 0000 0 0000 0 0000 Rotation Pos 2 0 0000 0 0000 0 0000 0 0000 0 0000 After sampling is complete the calibration values are registered by the Calibration calculation command Calibration setting Calibration parameter calculation succeeded amera ll Ar 7 490384 2 1000 B 0 043475 0 009115 C 0 000000 gt 0 000000 Deflection 0 000086 amera 1 A 0 039280 z 0 016113 E 0 051065 z 0 026152 C 0 000000 0 000000 Deflection 0 000062 Important 1 is displayed if no error value is calculated Manual Calibration Manually enter the object position and then execute measurement at that position to perform sampling After repeating for several points execute the calibration parameter calculation to determine the calibration values An outline is shown below
72. position do not set movement amount 1 Register XY direction set X direction shift amount for movement amount 1 and Y direction shift amount for movement amount 2 2 Register XY direction set X direction shift amount for movement amount Information type 1 and Y direction shift amount for movement amount 2 3 Register 6 direction set 6 direction shift amount for movement amount 1 and do not set for movement amount 2 9 Discard calibration calculation information do not set movement amount The discarded information is the registered position information and calibration target camera Specify the shift amount for the X direction and the shift amount for the 6 direction 9999 9999 to 9999 9999 When the information type is 1 X direction shift amount When the information type is 2 X direction shift amount When the information type is 3 6 direction shift amount When the information type is other than the above None Specify the shift amount for the Y direction 9999 9999 to 9999 9999 When the information type is 1 Y direction shift amount When the information type is 2 Y direction shift amount When the information type is other than the above None Movement amount 1 Movement amount 2 o SETPERMT Set calibration target camera When registering calibration information first specify a camera for which to enable information registration The registration availability flag is only enabled when registering the X dir
73. put is not available when Output to external device is set to OFF in the ADJUST window FZM1 Series Specialized Vision Sensor for Positioning User s Manual 6 Specialized Functions 6 Specialized Functions This software also has the following specialized functions 6 1 About User Settings The security level can be set with the user names and passwords that are set at the user level User Settings 1 Inthe menu bar select System Controller Change User In this window perform settings such as changing the security level or password The current security level is displayed in the upper left SecurityLevel 0 UserName ed Password ed Edit Login Cancel User Account EN Note After starting FZ3 operation starts at security level 0 In the factory default the following initial values are registered for the user information When using the user control function first change settings such as the user name and password and then execute Save data Semi Username ini pasword ee II i o Important The user information that is initially registered cannot be deleted Even if the information is deleted it is registered again automatically O Logging in 1 Enter the user name and password Chanee User SecurityLevel 0 UserName admin ed Password 20000 kd Edit Login Cancel User Account 2 Tap Login When the user name and password match the
74. rnal Devices in the FZ3 User s Manual 5 1 Differences with the Standard Product FZ3 Some menu items are different from the standard product The items that can be selected from System Communication in the menu bar are different from the standard product FZ3 Jata Tool Help 1 Camera I Y D Communication Standard Parallel 1 0 Controller gt RS 232C 422 Normal Ethernet Normal UDP EtherG AT Screen capture gt Control that uses commands from a PC or specialized device via the parallel interface Standard Parallel I O For more details see 6 Methods for Connecting and Communicating with External Devices Controlling Outputting through Parallel Communication in the FZ3 User s Manual Control that uses commands from a PC or specialized device via RS 232C 422 For more details see 6 Methods for Connecting and Communicating with External Devices Controlling Outputting through Serial Communication Non procedure in the FZ3 User s Manual RS 232C 422 Normal Control that uses commands from a PC or specialized device via Ethernet For more details see 6 Methods for Connecting and Communicating with External Devices Controlling Outputting through Serial Communication Non procedure in the FZ3 User s Manual EtherCAT Control that uses commands from a PC or specialized device via EtherCAT For more details see the EtherCAT Communication Manual pr Command List Normal This
75. s 5 value O to 9999 Set the width for judging noise Noise width When detection is affected by noise increase this value 5 In the Approximate line area specify the points to use in the linear regression calculation Noise level Approximate line Noise cancel Ee Setting value Ee Select the ON check box to remove the l OFF l i Noice cancel ON measurement points with the largest deviation before calculating the linear regression 48 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Judgement Conditions Set the range of positions that are judged to be OK Lost point count Lihe0 Lost point count Lihe 21212 Si AN Setting value SS IntersectionX EE EE are judged to be OK IntersectionY Ee nae geo COSS paisa are judged to be OK 0 0000 to 180 0000 Set the angles formed by the 2 lines that are judged to be OK Lost point count Line0 0 to 100 Set the number of lost points that is judged to Lost Lost point count Line1 count Line1 be OK Output Parameters Set how to handle the data when outputting the measurement results to the external device KA 21212 Ed FZM1 Series Specialized Vision Sensor for Positioning User s Manual 49 4 Specialized Processing Items 50 ke General Information Normally the factory default value will be used for this item Do not change this setting unless there is a particular rea
76. s EC Circle Search 3 After completing the settings tap OK 12 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 3 Calibration and Scene Settings O Crossline setting Set the crosslines and memory width to be displayed on the window Set as required 1 Tap CrossLine setting The CrossLine Setting window is displayed Lo Pattern setting Camera setting Robot setting ans sti En si eres setting as i 2 Set the following display settings as required Display settine ORRA Setting value Ee Set the center coordinate for the crosslines The setting methods are as follows e Tap the screen directly e Enter the coordinate values e Set with the crosshair cursor Unchecked Center Position Checked Unchecked Checked interval 0 0000 to 9999 9999 aliado Set conditions such as the scale intervals and Lenath 0 0000 to 9999 9999 units gth 10 0000 Pix FZM1 Series Specialized Vision Sensor for Positioning User s Manual 13 3 Calibration and Scene Settings 2 Calibration Methods This section explains about auto calibration and manual calibration Auto Calibration When a sequence that repeats Object movement gt Amount of movement to FZ3 and sampling instruction is set on the PLC and finally a calibration calculation command is executed the calibration value is determined on FZ3 An outline is shown below For serial communication Non procedure
77. section explains about the commands that have been added to this software and are used in serial communication normal methods such as RS 232C 422 Normal and Ethernet Normal UDP Command Return Command name Argument 1 References name value CALIBSTT Start auto calibration Register information for SE SE RE SETCLBIF calibration calculation type amount 1 amount 2 SETPERMT Set the number of the camera for Target calibration parameter registration camera Ethernet Normal UDP POSCHG Change measurement Camera position number MDATOUT Measurement result output E EE CALCCLBP Perform calibration Error Calculation calculation value mode 74 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 5 Methods for Connecting and Communicating with External Devices Communication Command Details O CALIBSTT Start calibration Enters a condition where auto calibration can be executed Calibration cannot be performed unless this command is executed to enter the auto calibration start condition If the auto calibration setting screen is not displayed the command is not accepted and ER is returned In the calibration start condition CALIBSTT command already performed ER is returned Command format CACTUS Response format When processed correctly Olli When not processed correctly ElGls Oo SETCLBIF Register information for calibration calculation Performs measurement for the current camera
78. similar for example P and R as an error model the correlation values can be lowered to prevent measurement mistakes Only one error model can be registered 1 Display the error model image Register the error model with the same procedure as for model registration Important If a model is re registered the error model is deleted Register error models when re registering a model Region Setting Specify the model search range with Rectangle Instead of measuring the entire input image narrowing the measurement area shortens the processing time 1 Tap Edit egistered figure Edit The figure setting area is displayed 2 Specify the model search range The rectangle covering the entire screen is set Adjust the size and position of the rectangle 3 Tap OK The range to measure is registered Detection Point Specify a position in the model that should be used as the detection coordinates during measurement Usually the center position of the set model is registered as the detection point This function is used to change to any desired position EN Note After changing the detection point coordinates to another position re registering the model will change it back to the center coordinates of the model FZM1 Series Specialized Vision Sensor for Positioning User s Manual 67 4 Specialized Processing Items 1 Tap the position to use as the detection point EN Note Enlarging the image display
79. son O Setting method 1 Set the following parameters as required E Setting value ES As measurement results select whether to output coordinate values to external devices before or after the position compensation is applied Output After scroll coordinates Before scroll Select whether to reflect the calibration in the values output to the external device as measurement results ON Output coordinate values that have been converted to the actual dimensions OFF Output the camera coordinate values Calibration Enables choosing whether or not the judgement results of this processing unit is reflected in the scene overall judgement Reflect to overall judgement 2 After completing all the settings tap OK To Get Measurement Results from an External Source o Measurement results for which output is possible calculation The following values can be output using processing items related to results output Measurement values from the processing unit such as expressions can also be referenced The judgement result for the unit 1 OK 0 Not yet measured 1 NG E V IN CO O E IS emm A A Pm Overall judgement result FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Line 0 minimum short distance 0 Line 0 line component C 99999 9999 to 99999 9999 Line 1 peak edge position X DEER A O to 99999 9999 Line 1 peak edge position Y PEEKY1 O to 99
80. splay accurately reflects the settings Test measuring of this tem Measure 3 Inthe Judgement area set the judgement conditions ET Setting value ES Corner X 99999 9999 to 99999 9999 Set the X coordinate range of corners that are judged to be OK ComerY 99999 9999 to 99999 9999 Set the Y coordinate range of corners that are judged to be OK 0 0000 to 360 0000 Set the corner angles that are judged to be OK Count 4 to 100 Set the number of detections of corners that are judged to be OK Output Parameters Set how to handle the data when outputting the measurement results to the external device y ale ke General Information Normally the factory default value will be used for this item Do not change this setting unless there is a particular reason 32 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items o Setting method 1 Set the following parameters as required N Setting value SESCH As measurement results select whether to output coordinate values to external devices before or after the position compensation is applied Output After scroll coordinates Before scroll Select whether to reflect the calibration in the values output to the external device as measurement results Calibration ON Output coordinate values that have been converted to the actual dimensions OFF Output the camera coordinate values Enables choosing whether
81. ssage is displayed Tap the OK button The display returns to the User Account window Del Account Account deleted Security Setting Set the operation range for each user Important This operation is possible when logged in as a user with security level 4 1 Inthe menu bar select System Controller Security setting For a robot Security setting 4 superadmin Select Pattern Copy Pattern Initialize pattern Pattern settinz Camera setting Robot settinz Sampling setting CrossLine setting Calib para setting Execute Calibration For a stage Security setting 4 superadmin Select Pattern Copy Pattern Initialize pattern Pattern settinz Camera setting Stage setting Sampling setting CrossLine setting Calib para setting Execute Calibration FZM1 Series Specialized Vision Sensor for Positioning User s Manual 83 6 Specialized Functions 2 Set the security as required 3 Tap OK 6 2 About Force Setting If detection cannot be performed correctly during alignment measurement the coordinates can be entered manually to continue with the process 1 If detection cannot be performed correctly start at either of the following times e When starting with serial communication Normal Execute POSCHG e When starting with PLC link Set the number of the camera for which the measurement position will be ch
82. t O 1 Line connection level Set Get o Ge fo gt Measurement coordinate Get only 99999 9999 to 99999 9999 K 2 he H Measurement coordinate Get only 99999 9999 to 99999 9999 10200 N N 0to 9 Formed angle N Get only 45 to 45 4 3 Intersection Coordinates The edge points are used to calculate 2 linear regressions and the center coordinate and angle are calculated from each cross point Setting Flow The setting for the intersection coordinates is shown by the flow diagram below Region setting Set the measurement region for linear regression m P45 Edge color specification When a color has been set for the edge that you want to detect mp P46 specify the color color camera only Reference position Set the reference position m P47 Measurement parameter Set the measurement conditions m P47 Judgement conditions Set the judgement conditions my P49 Output parameter Set how to handle the data for outputting the measurement results P49 to the external device 44 FZM1 Series Specialized Vision Sensor for Positioning User s Manual Region Setting Set the area for performing the inspection Figure select F Lined Linel figure e E 100 000 aleja E rea divide Scan lines Scan width To change the number of area divis check box OK Cancel scan lines In the figure setting area tap OK 4 Specialized Processing Items Us
83. t of 2 lines that are created by edges such as the corner of a square workpiece By specifying conditions such as length direction and edge strength the desired corner can be detected Position compensation can be executed based on the detected corner coordinates Important This processing item includes a process that shortens the processing time from the second time that is performed For this reason when measuring the same image the processing time the first time after starting up the controller may be longer than the processing time for the subsequent times Setting Flow The setting for the EC corner is shown by the flow diagram below Region setting Set the detection region for corners m P28 Reference position Set the reference position for corners m P29 Line extraction Extract the lines that form corners m P29 Corner extraction Extract corners m P30 Measurement parameter Set the sort conditions and judgement conditions m P31 Set how to handle the data for outputting the measurement results m P32 Output parameter to the external device FZM1 Series Specialized Vision Sensor for Positioning User s Manual 27 4 Specialized Processing Items Region Setting Set the area for performing the inspection c Corner CASA Po Sa Registered figure Rectangle Upper left position ord def oa 4 Lower right position Ki Pa a e al y ale EJ 1 Use the drawing tools to specify the m
84. tallation and wiring For the installation and wiring method see the FZ3 User s Manual Initial setting The work required when turning on the power for the very first m P6 time Communication setting Perform the settings for communication with the external device m P74 Calibration The work for aligning the coordinate axes of the equipment and m P7 Camera setting FZ3 Instrument setting Robot or stage Sampling setting Calibration execution Alignment measurement and scene creation Alignment measurement scene setting Create a measurement scene for alignment m P20 Test measurement Calibration parameter Before operation execute a margin judgement for the calibration m P19 checking value and depending on the margin judge whether to update P77 the calibration values Force setting If NG occurs the measurement position can be forcibly written m P84 Use as required to obtain an OK judgement and continue with the measurement O 2 ke D E O User switching The user that operates the controller can be set and operation m P79 Security setting restrictions can be set for each user Maintenance FZM1 Series Specialized Vision Sensor for Positioning User s Manual 2 Basic Setting Procedure Initial Setting This section explains about the settings that are required when starting up for the first time 1 The Language setting window is displayed Select the language to use and
85. tion Y Get only 99999 9999 to 99999 9999 coordinate Output coordinate Set Get O Or serto 1 Before scroll 102 Calibration Set Get 0 OFF 1 ON Z n to overall 0 ON 120 Edge extraction level Set Get O to 1000 ui I x e EN em e eieeser ae em o E ae mem EE Combination seam Set Get 0 to 1000 distance Line O condition Set Get 5 to 1000 length range lower limit Line O condition Set Get 5 to 1000 length range upper limit Line 1 condition Set Get 5 to 1000 length range lower limit 130 ll nn cr 5 to 1000 length range upper limit Line O condition line Set Get 0 to 359 angle 132 EE Set Get 0 to 180 line angle range FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items Setting item Set Get Range 133 Line 1 condition line Set Get 0 to 359 angle 134 Line 1 condition Set Get 0 to 180 line angle range 135 Formed angle Set Get 10 to 350 136 Formed angle range Set Get O to 180 137 E TO EE 1000 to 1000 overrun range lower limit 138 A oa SEHR 1000 to 1000 overrun range upper limit 139 EE a Een 1000 to 1000 overrun range lower limit 40 EE Sida 1000 to 1000 overrun range upper limit 41 1 0 Both 1 Detection object color Set Get 1 Dark 2 Bright 0 Cross point X 149 Sort condition Set Get 1 Cross point Y 2 Length 150 Sort order Set Get E GE 1 Descending Gerten cid 158 Comer tusion ON OFF Set Get A SN
86. tracted or is extracted along with noise Important During model registration as much of the edge is extracted as possible and the entire edge of the model is registered while deleting defects such as noise with Mask register On the other hand when measuring even if the edge has skips an image with the noise suppressed makes it possible to search the model stably To set separate edge extraction conditions for model registration and for measuring after registering the model change the edge extraction conditions 66 FZM1 Series Specialized Vision Sensor for Positioning User s Manual 4 Specialized Processing Items 1 Inthe item tab area tap Edge extraction 2 Inthe Edge extraction setting area set each item E Setting value E ee Select the range of pixels which are used to Mask size y extract the edge With a larger mask size search is less affected by variation in pixels 9x9 Adjust the edge extraction level when the edge is hard O to 255 Edge level to see due to low contrast with the background or when 100 unnecessary background noise should be removed Set the percentage to which the input image 10 to 100 and the model image are reduced during a Reduction search The smaller the image is reduced the 50 faster the processing becomes but search results may be unstable with a smaller image Error model registration By registering in advance an image pattern in which the characteristic sections are
87. yed image and set the reference position tap Measure ref Ref position ee D mg 2 ma Measure ref Line Extraction Set the conditions for extracting lines 1 Set the following items as required Line extraction cond Length D D D D D D D D D D i Line connect level fi y eee Setting value GE Length 0 to 1000 Set the length of the edges to use as the extraction target 2 1 Set how much to connect the fragmented lines from the lines that were detected by edge extraction The higher the value the easier it is to connect Line connect level Custom 2 When the line connection level is set to Custom set the following items as required Line connect level z Angle 3 0l wand Tip dist tod lt 2 Seam dist re weie a Setting value E Specify the angle range when connecting 2 lines With Angle 0 0 to 30 0 3 0 larger values 2 lines with different inclinations can be connected FZM1 Series Specialized Vision Sensor for Positioning User s Manual 29 4 Specialized Processing Items EE Setting value Ae Specify the distance between vertexes when connecting 2 lines With larger values lines that are further away 30 Tip dist 0 to 1000 10 Seam dist O to 1000 5 Corner Extraction Set the conditions for extracting corners Corner extrac hal tl lt gt 1 Advanced siting Set the following items as required e Setting value n

Download Pdf Manuals

Related Search

Related Contents

T26 DC/AC T32 DC/AC  Marlow Series 20EVP - Depco Pump Company  ISOLA TORS-EX - Scame Parre S.p.A.  MANUALE DELL`UTENTE  Whirlpool CAM2762TQ0 User's Manual  Fecha y horario tope para recibir ofertas: 23/09/14 a las 14.00 hs.  Manual cortinas serie CRMH y RM ESP  User Guide - NovAtel Inc.  OF-500 OptiFiber®  

Copyright © All rights reserved. Failed to retrieve file