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Epson Net 5 User's Manual

1. Remarks The RobotU result is similar to the Angle result except that the position results are returned with reference to the robot coordinate system This means that the RobotU result is suited for robot guidance applications However keep in mind that a special result called the RobotXYU result is most often used for robot guidance because it returns not only the U but also the X and U coordinate positions as well as whether or not the part was found See RobotXYU Result for more information It should be noted that the RobotU result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then the RobotU result will return 0 Statistics For the RobotU Result the following statistics are available RobotUMax RobotUMean RobotUMin RobotUStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result Blob Object CameraX YU Result Correlation Object Edge Object Found Result Geometric Object Line Object PixelXYU Result Polar Object RobotX Result RobotY Result RobotX YU Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 121 RobotX Result RobotX Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the X position coordinate of the found part s position in the robot coordinate system Usage VGet Sequence Obje
2. 1 For example an image resolution of 640x480 and a 16 pixel radius gives a range of 16 463 Default Y coordinate Screen Position of the center of the Polar object Remarks This property is filled in automatically when the CenterPointObject property for a Polar object is set to another vision object However if the CenterPointObject property for a Polar object is set to Screen then the user may set the Center Y property to position the Polar object The user may also set the CenterPointObject property for a Polar object automatically by physically dragging the Polar object to a new position on the screen When this drag operation is done the Center Y property is automatically updated with the new CenterY position of the Polar object See Also CenterX Property CenterPoint Object Tab Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 35 Compactness Result Compactness Result Applies To Vision Objects Blob Description Returns the compactness of a blob Usage VGet Sequence Object Compactness result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional integer result number from 1 to the NumberToFind property If omitted the result number is the CurrentResult Values Minimum v
3. osa A r E a aa em GA Ain si 121 RobDotX Result 100 iria A A eed 122 RobotX1 Result 000 00 nono nono no nono nn non nro nn nn nro n nn cnn nn narran nn nnn ran nr nnnnnnnnanennnss 123 RobotX2 Result coxis aa 124 RobotxYU RESUIE a toni lindas 125 Roboty Result A eh ee eee 126 Roboty T Resulta binge WE eae heen hae ha tae eerie iets 127 RobotyY 2 Results a as Ae aoa A es ae ias 128 RotationAngle Property merione oaeee e a E aaa 129 Roughness Resulte enore AA A Oe EA Ee 130 RuntimeAcquire Property coooccccccconcnnncnnncnnnnnnnnnnnnonononononononcnn nono nnnnnonnnnn nono nano nenoneronenineniness 131 RuntimeFreeze Property ice ieceie chee sche tients a e a ia 133 Savelmage Propeny ciisece Re eee A ede ee 134 scale Results xt cance ae itice e iaa 135 ScaleEnable Property inicia den cutee der i E E Bras ee 136 ScaleFactorMax Property i sc sc c c csseeeceavsdocaaseeceas Seeavseaagecesasabbateudaddesena eeebesayacaseatbeetetenstesssenatee 137 ScaleFactorMin Property c ccccccececeeceeecececeeeeeeeeeneaeeeeeeeeseseccneeeeeeeeeesesecneseeeeeeeeseeseseeeees 138 scale Target Properties leet a wees 139 Score Result at ie 140 ScoreWeightContrast Property ooocccccccncnconoconcccococononannnnnoncnnonnnnnnnnnnnnnnnennnnannnnnnnnnnennanannnnnninn 141 ScoreWeightStrength Property cecceecccceceeeeeeeeeneaeeeeeeeeeeeceneaeeceeeeeeeseeccueeeeeeeeeesesneneaees 142 SearchWidth Property ee iie aeda aaa ear raa aaa o Ta E Aena
4. Integer variable representing the height of the Search Window in Pixels to get from or set to the SearchWinHeight property All Values are in Pixels See the Left Top Width and SearchWinHeight Properties for exact value data Remarks The SearchWin property was added to provide easy access to the SearchWinTop SearchWinLeft SearchWinWidth and SearchWinHeight Properties from the SPEL Language The SearchWin property allows the setting of all 4 Properties with just 1 function call There are cases where the user may want to define the position and size of the Search Window dynamically and for that reason the SearchWin property was created Do not the set the SearchWin setting too large If the value is too large the detection time gets longer and may result in false detection See Also Blob Object Correlation Object ImageOp Object Object Tab SearchWinHeight Property SearchWinLeft Property SearchWinTop Property SearchWinWidth Property 144 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SearchWinHeight Property SearchWinHeight Property Applies To Vision Objects Blob Correlation Geometric ImageOp Description Defines the height of an object s search window Usage VGet Sequence Object SearchWinHeight var VSet Sequence Object SearchWinHeight value Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object mu
5. var Integer variable that will contain the value of the result result Optional integer result number from 1 to the NumberToFind property If omitted the result number is the CurrentResult Values Valid values are zero to the number of holes found Remarks A hole is a blob with opposite polarity located within the blob that was found Holes that intersect the edge of the blob are not counted See Also Compactness Result Object Tab Perimeter Result Roughness Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 57 ImageFile Property ImageFile Property Designtime only Applies To Vision Sequence Description Sets or returns the image file for the current sequence Remarks Use the ImageFile property to view and search images stored on disk with the Savelmage property See Also Sequence Tab Vision Sequences Savelmage Property ImageSource Property 58 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ImageSource Property ImageSource Property Designtime only Applies To Vision Sequence Description Sets or returns the current image source for the sequence Remarks ImageSource allows you to run a sequence from a camera image or from an image file set with the ImageFile property If the ImageFile property is set to a valid image file then the ImageSource property will automatically be set to 2 File See Also Sequence Tab Vision Sequences ImageFile Property Vision Guide 5 0 Reference Ver 5 3 R
6. Defines the X coordinate of a Point object Usage VGet Sequence Object X var VSet Sequence Object X value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video width 1 Remarks The X property is used to locate horizontal position of the Point object in the image coordinate system This property is initially set to the X position where the user drops a newly created Point object However if a Point object is associated with another object in the sequence i e the PointType property is set to another vision object and not set to Screen then the X property for the Point object is automatically modified according to the associated object When the PointType property is set to Screen there are two methods which can be used to move the Point object Click on the Point object s label and drag the object to the position you want to place it Change the X and Y properties for the Point object See Also Object Tab Point Object Y Property 186 Vision Guide 5 0 Reference Ver 5 3 Rev 1 X1 Property X1 Property Applies To Vision Objects Edge Line Description Defines the X1 coordinate of an object where the X1 Y1 coordinat
7. Edge Object Strength Result StrengthTarget Property 168 Vision Guide 5 0 Reference Ver 5 3 Rev 1 TargetSequence Property TargetSequence Property Applies To Vision Calibration Description Specifies the vision sequence that is used to find the calibration target s during calibration Usage VGet Calibration TargetSequence var VSet Calibration TargetSequence value Calibration Name of a calibration or string variable containing a calibration name var String variable that will contain the value of the property value String expression for the new value of the property Values String value containing the name of the vision sequence Remarks The TargetSequence property must be specified for all calibrations For more details see the chapter Calibration in the Vision Guide manual See Also UpwardSequence Property ReferenceType Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 169 Thickness Property Thickness Property Applies To Vision Objects Polar Description Defines the thickness in pixels of the ring used for the Polar object Radius Thickness Usage VGet Sequence Object Thickness var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values 1 25
8. NOTE Vision Guide automatically checks which vision objects may be used as LineObjectl and only displays CS those items in the LineObject1 drop down list See Also Line Object Object Tab Point Object PointT ype Property 64 Vision Guide 5 0 Reference Ver 5 3 Rev 1 LineObject2 Property LineObject2 Property Applies To Vision Objects Point Description Specifies the 2nd Line object to use for defining the position of a Point object when that position is defined by the intersection point of 2 lines LineObjectl and LineObject2 together define 2 lines whose intersection point can be defined as the position of the Point object Usage VGet Sequence Object LineObject2 var VSet Sequence Object LineObject2 value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Any Line object which is located prior to the Point object can be specified as the LineObject2 property value Default None Remarks The LineObject2 property is only required when you want to define the position of a Point object as the position of intersection between 2 Lines In this case LineObjectl must also specify a Line object before the PointType property can be set Once the lines
9. Simply use the image which is already in the frame buffer This is useful when a series of Vision sequences are to work from the same image For example you could acquire an image in sequence 1 During this sequence you could also execute some vision objects Next assume that you want to use another vision sequence on the same image Simply set the RuntimeAcquire property to None for the 2nd vision sequence and the same image will be used for both sequences 1 Stationary The camera is stationary not moving A new image is acquired at the start of the vision 2 Strobed sequence This is the normal method for running a vision sequence Each time a new vision sequence is executed a new image is acquired at the start of the sequence The ExposureTime property affects how stationary images are acquired See ExposureTime for details The image acquisition starts by the trigger input Also the strobe output is output This is the mechanism for setting up strobed lighting for capturing moving images within the frame buffer See the remarks section below for more details Default 1 Stationary Vision Guide 5 0 Reference Ver 5 3 Rev 1 131 RuntimeAcquire Property Remarks The RuntimeAcquire property is very important to understand There are 3 setting for the RuntimeAcquire property as explained in the Values section The most common of the 3 is the Stationary setting since in most cases you will want to acquire a new image at the beg
10. VRun findmark Get any info req d from 1st sequence her i e VGet findmark xxx xxx VSet findmark Camera CAMERA2 VRun findmark Get any info req d from 2nd sequence her i e VGet findmark xxx xxx Fend See Also CameraGain Property CameraOffset Property Sequence Tab Vision Sequences 18 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CameraGain Property CameraGain Property Applies To Vision Sequence Description Specifies the gain settings for the camera used in the current sequence The gain determines the dynamic range of the digital values that will be assigned to the video signal in the A D converter on the camera Also known as Contrast Usage VGet Sequence CameraGain var VSet Sequence CameraGain value Sequence Name of a sequence or string variable containing a sequence name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 255 Default 80 Remarks Adjust the value of the CameraGain property when you want to change the contrast of an acquisition The CameraGain property can have values in the range of 0 255 with lower values representing higher gain in the analog section The CameraGain property is normally left at a value of 80 Setting too high or low CameraGain property value may cause improper vision processing See Also Camera Property CameraOffset Property Sequence Tab Visi
11. azota lever AEE ANAA iari 35 Compactness Result semesti ie Ir dl aoe aioe 36 Confusion Property cccccceccececceceeeeeeeceeceeeaeeeeeeeeeeeceneaeeaeeeeeeesececeneaeeeeeeeeseceeccueeseeseeeessseaneess 37 Contrast Result aos tad adios 38 ContrastlargetiProperlVcccvacnniss rip t iria otra cds 39 ContrastVariation Property oonoooccocccnnccccnncononncnnonoconnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrinannnnncns 40 CurrentResult Properties aed edie 41 DetailkkeveliPrope rly cacciaie tet ki hte bee Lee ae dS ae eee 43 Vision Guide 5 0 Reference Ver 5 3 Rev 1 vii Table of Contents viii Edge Threshold Prope ny coord eves aa aaaea aaa enaa EEEa aeiaai 44 Edge Type Propecia adas 45 EndPntObjResult Property ccccccceceeeceeeeneeceeeeeeeeececneeeeeeeeeeeceececeeseeeeeeeseeccueeeeeeeetesseneees 46 EndPointObject Property cintia dd 47 EndPointlype Property ini Meee ete AA ee Oe te 48 Exposure Time Property aiii coa radiata 50 Extrema Result ven Sie A Se aie ee i 51 EQU ROS A dt bi 52 FoundColor Property keena aderoi esana lanes ccd gene ada det gate ccas cavevae dd onneasevesvvulateneadadsvbeveitienk estas 53 FouindOnEdge Result ici 54 Frame POP A A A A a i 55 Graphics Propecia A Ae etek 56 Holes Result ama tas 57 ImageFile Property cai a A a A E 58 ImageSource Property veri icc ecient Marinette A do 59 Iterations Property t2icusteieiie a ie AAA 60 Lamp Property start E A E AE a a deeds 61 LampDelay
12. A point position can be set to coincide with the midpoint of the line defined by the LineObjectl property If the LineObjectl property does not specify a line then an error dialog will appear if you try to set the PointType to MidPoint informing you that LineObjectl does not exist i e you cannot define a point as the midpoint of a non existent line 2 Intersection A point position can be set to coincide with the intersection of 2 lines defined by the LineObjectl and LineObject2 Properties If the either the LineObjectl or LineObject2 property does not specify a Line then an error dialog will appear if you try to set the PointType to Intersection informing you that one of the 2 lines required to form an intersection does not exist NOTE The intersection of 2 lines does not have to appear directly between the starting and ending points for the CS lines The intersection could occur somewhere along the imaginary extension of either or both lines 110 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PointType Property See Also Line Object LineObject1 Property LineObject2 Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 111 Polarity Property Polarity Property Applies To Vision Objects Blob Edge ImageOp Description For Blob and ImageOp objects Polarity defines the differentiation between objects and background For Edge objects Polarity defines the transition of an edge Usage VGet Sequence Object Polar
13. Every line must have a starting point and ending point The CameraX1 and CameraX2 results represent the X coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the CameraX1 CameraY1 and CameraX2 CameraY2 coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects In other words if a Line Object s starting point is defined by a Correlation object then the CameraX CameraY results from the Correlation object will match the CameraX1 CameraY 1 results for the Line object It should be noted that the CameraX1 result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX1 result an error will occur See Also Angle Result CameraX2 Result CameraY1 Result CameraY2 Result Line Object Object Tab PixelX Result PixelX1 Result RobotX Result RobotX YU Result X1 Property X2 Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 23 CameraX2 Result CameraX2 Result Applies To Vision Objects Line Description Returns the end point position X2 of a Line object in Camera coordinates Usage VGet Sequence Object CameraX2 var Sequence Name of a sequence or string variable containing
14. Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Self Use the model for this object to search with objectName Use the model for this object Default Self Remarks The ModelObject property enables you to use one model for several objects of the same type For example if you have 5 polar objects that all search for the same part you can teach the model for the first polar object then set the ModelObject for the remaining polar objects to Polar01 the first polar object Note that you cannot set the ModelObject property to an object whose ModelObject property is not Self See Also Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 77 ModelOK Property ModelOK Property Runtime only Applies To Vision Objects Correlation Geometric Polar Description Returns the status of an object s model Usage VGet Sequence Object ModelOK var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property Values False True Remarks If the model has been taught ModelOK will return true You can ensure that the sequence will run b
15. Object Tab SearchWinHeight Property Search WinLeft Property SearchWinTop Property Window Property 148 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SeparationAngle Property SeparationAngle Property Applies To Vision Objects Geometric Description Sets returns the minimum angle allowed between found objects Usage VGet Sequence Object SeparationAngle var VSet Sequence Object SeparationAngle value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real value from 0 180 degrees 0 Disabled Default 10 Remarks Use SeparationAngle to specify the minimum angle required between found objects SeparationAngle works with SeparationMinX SeparationMinY SeparationScale Note that only one separation condition needs to be satisfied for objects to be considered found See Also Object Tab SeparationMinX Property SeparationMinY Property SeparationScale Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 149 SeparationMinX Property SeparationMinX Property Applies To Vision Objects Geometric Description Sets returns the minimum distance along the X axis allowed between found objects Usage VGet Sequence Object SeparationMinX var VSet
16. Property YAxisPoint Property Applies To Vision Objects Frame Description Defines the vision object to be used as the Y axis point for a Frame object Usage VGet Sequence Object Y AxisPoint var VSet Sequence Object Y AxisPoint value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Valid vision objects for the Y AxisPoint property are Blob Correlation Edge Line and Point objects The Y AxisPoint may also be based on the Screen position of the Frame Values Screen or any object that runs prior to the frame and returns PixelX and PixelY results Default Screen Remarks When a Frame object is first drag and dropped onto the Image display area of the Vision Guide Window the default Y AxisPoint property is set to Screen Frame objects are normally attached to other Vision objects This is the purpose of the OriginPoint and YAxisPoint Through these 2 properties the user can define a frame of reference for other objects to have their position based upon This capability is useful when specific features can be used to find reference points on a part and then other vision objects can be located on the image with respect to the frame position defined The O
17. Property irnia i il a a E a et pe a 62 E O TA 63 LineObjectt Properties 64 LineObject2 Propecia 65 EOI 66 Maxlength Property coi ade eds 67 MaxPixellength ProperiV rita tarada citada 68 MaxX Result WA A pein Eeghe 69 Ma Resulta AA da A EAT 70 MinArea Property cccccccccecececceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseseeeeeeneeeeeeeeeeeseeeseeeseeeseeeseneeeeess 71 Minkength Property sein a A iria 72 MinMaxArea Property siii ii ib 73 MinPixelLength Property zeii eang a ae oaea ao hae iain ia Sondeo Eiaa R nii a nie 74 MINA R sultat eE A A a AN 75 MIn YA Result a A de ato a 76 ModelObject Property iccomccninicria tea eine di 77 ModelOK Property nernet a AA IA ee ls 78 ModelOrgAutoCenter Property ccccccecccescececeeeeeeeeeneaeeeeeeeeseceqceeseeeeeeeseseceeeseeeeeeeesenenaeaees 79 ModelOrgX Property cmo ac ei dass 80 ModelOrgY PropPerVini ee ee A eee ie 81 ModelWin Property ccccccccccccceceecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeeeeeeeeeeseeeeenanenegs 82 ModelWinHeight Property iiie ea a ed e ei EE ia AE A EA aa EE EEEE oa Eh 83 ModelWinkeft Property eritir antee a a aa Aa aaa aeai eaaa 84 ModelWiN Top Property dada a 85 ModelWinWidth Property iei astei e eaae eaaa oreina ieena akera i aaaeei 86 Name Properiy A AE EEAS E ESEE SE EE SE 88 NumberFound Result ocaso lala aa 89 NumMberToOFIMO Property An 91 Operation Property iii 93 Vision Guide 5 0 Reference Ver 5
18. Result Correlation Object Edge Object Found Result Geometric Object PixelXYU Result Point Object Polar Object RobotY Result RobotU Result RobotX YU Result 122 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotX1 Result RobotX1 Result Applies To Vision Objects Line Description Returns the X coordinate of the starting point position X1 of a Line object in the robot coordinate system Usage VGet Sequence Object RobotXl var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in millimeters Remarks Every line must have a starting point and ending point The RobotX1 and RobotX2 results represent the X coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the RobotX1 RobotY1 and RobotX2 RobotY2 coordinate pairs can actually be Robot coordinate positions which match the RobotX and RobotY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the RobotX RobotY results from the Correlation object will match the RobotX1 RobotY1 results for the Line object The RobotX1 result is always in millimeters in the robo
19. Result RobotY Result RobotU Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 125 RobotY Result RobotY Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the Y coordinate of the found part s position in the robot coordinate system Usage VGet Sequence Object RobotY result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values var Real number in millimeters Remarks The RobotX result returns an Y coordinate in the robot coordinate system and can therefore be used for robot guidance applications However keep in mind that a special result called the RobotX YU result is most often used for robot guidance because 1t returns not only the Y but also the X and U coordinate positions as well as whether or not the part was found See RobotXYU Result for more information The RobotY Result is always returned in millimeters It should be noted that the RobotY result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then
20. RobotX and RobotY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the RobotX RobotY results from the Correlation object will match the RobotX1 RobotY1 results for the Line object The RobotY 1 result is always in millimeters in the robot coordinate system It should be noted that the RobotY1 result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then using VGet to retreive the RobotY1 result will cause an error to occur See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotX1 Result RobotX2 Result RobotXYU Result RobotY Result RobotY2 Result X1 Property X2 Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 127 RobotY2 Result RobotY2 Result Applies To Vision Objects Line Description Returns the Y coordinate of the ending point position Y2 of a Line object in the robot coordinate system Usage VGet Sequence Object RobotY2 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in mi
21. SeN Raada anai 143 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ix Table of Contents SearchWin Property coria daa Raras 144 SearchWinHeight Property oocococncoococccnccccconnnononccncncoconnnnnonnnnnnnonnnnannnnnnnnnnnnnncannnnncnnnnnncicinnnnss 145 SearchWinLeft Property cccccecceceeceeeeeeeeeeceeeeeeeeeeeceeeeeaeeeeeeeeeeeeccceeeseeeeeeeeseceneeaeeeeeeeeeees 146 SearchWinT op Properly vita da 147 SearchWinWidth Property cccceceeeeeeeeeneaeeeeeeeeeeeeeeeeeeeeeeeeeseceesaaeaeeeeeeeesseeciaeeseeeeeteeeeas 148 SeparationAngle Property ccc cccccceeeeeeeeeeeneceeeeeeeeeeeeeeeaeeeeeeeeeeseeecaeeeeeeeeeeeseeeeeaeeeeeeertes 149 SeparationMinxX Property c i70 84 nti A ivi es Adie Me oe a eas 150 SeparationMinY Property cccccccccceeeeeeceeenneceeeeeeeeceeeeeaeeeeeeeeeeseecceeeeeeeeeeeseeenneeaeeeeeeeeeees 151 SeparationScale Property ccccccecccceeeeeeeceeeneeeeeeeeeeeceeceeaeeeeeeeesesceeceeeseeeeeeseseecueeaseeeeeeeees 152 SharedEdges Propiciar 153 ShowAllResults ReSult ccccccceeceeccceeeeeeeeeeeeeaeeeeeeeeeeceneaeeeeeeeeeseseceeaeaeeeeeeeesseceiaeeeeeeeetees 154 ShowExtensions POPE A eae 155 ShowModel POPE Vitis latin 156 ShowProcessing Property c cccceceeeeeeeeeneaeeeeeeeeeeeeeneaeeeeeeeeeeecenqceeeeeeseseceeeeieeeseeeeseneas 158 SIZETO RIMA POPE Vias a cade ere 159 Smoothness Property iii ia 160 SOM PLOPeMly ueno ria aaa 161 StartPntObjResult Propert
22. Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value in pixels from 0 to video height SearchWinHeight Remarks The SearchWinTop property is available for the Blob Correlation Geometric and ImageOp objects Each of these object types have similar rectangular Search Windows used to define the area to search within The SearchWinTop property is set automatically when the user drags the upper horizontal window handle of a specific object s Search Window or moves an object s Search Window vertically However the Top position of an object s Search Window can also be moved by simply entering a new value in the SearchWinTop property There are cases where the user may want to position the Search Window dynamically and for that reason the SearchWinTop property can also be set from the SPEL Language See Also Blob Object Correlation Object Geometric Object ImageOp Object Object Tab SearchWinHeight Property SearchWinLeft Property SearchWinWidth Property Window Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 147 SearchWinWidth Property SearchWinWidth Property Applies To Vision Objects Blob Correlation Geometric ImageOp Description De
23. Sequence Object SeparationMinX value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real value from 0 100 of model width 0 Disabled Default 10 Remarks Use SeparationMinX to specify the minimum distance along the X axis required between found objects SeparationMinX is a percentage of model width SeparationMinX works with SeparationAngle SeparationMinY SeparationScale Note that only one separation condition needs to be satisfied for objects to be considered found See Also Object Tab SeparationAngle Property SeparationMinY Property SeparationScale Property 150 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SeparationMinY Property SeparationMinY Property Applies To Vision Objects Geometric Description Sets returns the minimum distance along the Y axis allowed between found objects Usage VGet Sequence Object SeparationMinY var VSet Sequence Object SeparationMinY value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Rea
24. XmmPerPixel Result Applies To Vision Calibration Description Returns the X millimeters pixel value of the specified calibration Usage VGet Calibration XmmPerPixel var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Values Real number in millimeters Remarks XmmPerPixel is the number of millimeters per pixel along the camera X axis See Also XAvgError XMaxError YmmPerPixel Vision Guide 5 0 Reference Ver 5 3 Rev 1 191 XTilt Result X Tilt Result Applies To Vision Calibration Description Returns the calibration X tilt result Usage VGet Calibration XTilt var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Remarks XTilt is a relative value that indicates camera tilt along the camera X axis The directions are as viewed from the camera in the image coordinate system plus x is right A positive value indicates tilt to the right negative is tilt to the left See Also YTilt Result 192 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Y Property Y Property Applies To Vision Objects Points Description Defines the Y coordinate of a Point object Usage VGet Sequence Object Y var VSet Sequence Object Y value Sequence Name of a sequence or string variable containing a sequence name
25. a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values The value returned for the CameraX2 result depends upon the calibration used for the camera Values are always returned in millimeters Remarks Every line must have a starting point and ending point The CameraX1 and CameraX2 results represent the X coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the CameraX1 CameraY1 and CameraX2 CameraY2 coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the CameraX CameraY results from the Correlation object will match the CameraX1 CameraY 1 results for the Line object It should be noted that the CameraX2 result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX2 result an error will occur See Also Angle Result CameraX1 Result CameraY1 Result CameraY2 Result Line Object Object Tab PixelX Result PixelX2 Result RobotX Result RobotX YU Result X1 Proper
26. and depends upon calibration in order to return a value Remarks The Length result can only be returned if calibration has been performed because the length is measured in millimeters This calibration can be done with or without the robot The Length result can be used for inspection and measurement applications where measurements are required For example to measure spark plug gaps See Also Calibration Line Object Object Tab PixelLength Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 63 LineObject1 Property LineObject1 Property Applies To Vision Objects Point Description Specifies the Ist Line object to use for defining the position of a Point object LineObjectl defines the line which is used by the PointType property for defining the position of the Point object Usage VGet Sequence Object LineObjectl var VSet Sequence Object LineObjectl value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Any Line object which is located prior to the Point object can be specified as the LineObjectl property value Default None Remarks When a Point object is first created the default LineObjectl property is set to None However if y
27. and result reference pages is given below Applies To Description Usage Values Remarks See Also Runtime only If the property or result is used with vision objects then this section simply lists the vision objects for which this property applies Ex Blob Correlation Polar If the property or result is used with vision sequences then the words Vision Sequence will appear in this section If the property or result is used with vision calibration then the words Vision Calibration will appear in this section A simple description is given for each property or result This section is normally very short for simplicity The Usage Section describes how to access the property or result from the SPEL Language Describes the range of acceptable values which the property can be set to or which the result will return A default value is also shown for those properties that have a default Explains more details than the Description Section This section is normally used to describe any caveats or special information that may apply to the specific property or result It is highly recommended to read the Remarks Section for each property prior to its usage Gives a list of related properties results vision objects and other topics that may prove useful to review This is displayed under the property or result name when it applies Runtime only properties and results cannot be accessed from the Vision Guide
28. are defined for LineObjectl and LineObject2 the PointType property can be set to Intersection However if either the LineObject1 or LineObject property is not yet defined then an error will occur when trying to set the PointType property to Intersection Note It is important to note that for each specific vision sequence only those Line objects which are executed CS gt prior to the Point object in the vision sequence steps will be available to use as LineObject2 The order of the vision object execution can be adjusted from the Sequence Tab When using the point and click interface click on the LineObject2 property Value Field and a drop down list will appear showing a list of available Line objects which can be used for the LineObject2 property Click on one of the choices and the value field will be set accordingly When using the Point and Click Object tab to set the LineObject2 property it is important to note that only those objects which are defined prior to the Point object are displayed in the drop down list This helps reduce the chances of the user defining a Line object which isn t defined prior to the Point object NOTE Vision Guide automatically checks which vision objects may be used as LineObject2 and only displays CS those items in the LineObject2 drop down list See Also Line Object LineObject1 Property Object Tab Point Object PointType Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 65 MaxArea Property Ma
29. completed True Calibration has been completed Remarks Use CalComplete to determine if a calibration has been completed successfully See Also PointsTaught Property 16 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Calibration Property Calibration Property Applies To Vision Sequence Description Sets returns the calibration used with the specified sequence Usage VGet Sequence Calibration var VSet Sequence Calibration value Sequence Name of a sequence or string variable containing a sequence name var String variable that will contain the value of the property value Name of a calibration or string expression containing a calibration name Values String value of up to 16 characters containing the name of the calibration Remarks Calibration is required for most vision applications to calculate the proper results for the robot coordinate system and camera coordinate system The Calibration property associates a previously defined calibration with the specified vision sequence All calibrations which have been completed previously will appear in the Sequence Tab Calibration property which allows the user to select which calibration to use for this sequence It should be noted that each vision sequence may have only 1 calibration defined at a time However if you want to run a sequence with different calibrations you can set the Calibration property for the sequence at runtime prior to initiating the sequence For ex
30. for the Blob object such that if a blob area does not fit within the range then it is considered not found When a new Blob object is created the range between the MinArea property and MaxArea property is quite large because the default values are set at 25 and 100 000 respectively This means that in most situations the Blob object will return a Found result as true since the range is large In most applications it is useful to set a tighter range between the MinArea and MaxArea Properties but of course there values will vary from application to application The point here is to remember to set the MinArea and MaxArea Properties and don t just rely on the default settings Do no set the range between MinArea and MaxArea too large If the range is too large it may result in false detection See Also Area Result Blob Object MaxArea Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 71 MinLength Property MinLength Property Applies To Vision Objects Line Description Defines the lower length limit for the Line object For a Line to be found it must have a Length result above the value set for MinLength property Usage VGet Sequence Object MinLength var VSet Sequence Object MinLength value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that w
31. maximum X pixel coordinate of the blob extrema Usage VGet Sequence Object MMaxX result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values The value returned is always in pixels and may be from 1 video width Remarks The MinX MaxX MinY and MaxY results together define a blob s smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob This rectangle is known as the Extrema The MinX MaxX MinY and MaxY results can hold fractional values For example 100 5 would be between the 100 and 101 pixels See Also Area Result Blob Object Extrema Result Max Y Result MinX Result MinY Result Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 69 MaxY Result MaxY Result Applies To Vision Objects Blob Description Returns the maximum Y pixel coordinate of the blob extrema Usage VGet Sequence Object MaxyY result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence va
32. not fit within the range then it is considered not found This is useful when you want to gauge the length of a line in pixels To gauge a line in Millimeters see the MinLength and MaxLength properties The default settings allow most lines to be found See Also Line Object MaxLength property MinLength property MaxPixelLength property Object Tab 74 Vision Guide 5 0 Reference Ver 5 3 Rev 1 MinX Result MinX Result Applies To Vision Objects Blob Description Returns the minimum X pixel coordinate of the blob extrema Usage VGet Sequence Object MinX result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in pixels Remarks The MinX MaxX MinY and MaxY results together define a blob s smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob This rectangle is known as the extrema The MinX MaxX MinY and MaxY results can hold fractional values For example 100 5 would be between the 100 and 101 pixels See Also Area Result Blob Object MaxX Result MaxY Result MinY Result Object Tab Vision Gui
33. of the model window whenever the model window is moved or resized NOTE If the ModelOrgAutoCenter property is set to True then the ModelOrgX and ModelOrgY Properties cannot S be used to reposition the model origin See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgX Property ModelOrgY Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 79 ModelOrgX Property ModelOrgX Property Applies To Vision Objects Correlation Geometric Description A model has a fixed reference point by which we describe its location in an image This point is referred to as the model origin The ModelOrgX property contains the X coordinate value of the model origin Usage VGet Sequence Object ModelOrgX var VSet Sequence Object ModelOrgxX value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values The ModelOrgX property can be set between 1 255 because the model window is limited in the X direction to 255 pixels It should be noted that the ModelOrgX defines the X coordinate of the model origin with respect to the model s upper left corner Default The model origin is placed in the center of the model window when a new obje
34. pixels Default 5 Remarks It is important to remember that the Polar object is used to process images that are circular in nature The Thickness property defines the thickness of the circular ring which is used to define the Search Window for the Polar Search In many cases the Thickness property does not need to be very large for a successful search Since the Thickness property defines the Search Window size for the Polar object keeping the Thickness small results in faster Polar search times See Also CenterPoint Property CenterX Property CenterY Property Object Tab Polar Object Radius Property 170 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ThresholdColor Property ThresholdColor Property Applies To Vision Objects Blob ImageOp Description Sets or returns the color of the pixels whose gray values fall between the ThresholdHigh and ThresholdLow properties Usage VGet Sequence Object ThresholdColor var VSet Sequence Object ThresholdColor value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Black 2 White Default Black Remarks The ThresholdColor property defines the color of the pixels whose gray values are between t
35. property Values 0 100 Default 0 search for best strength Remarks An edge s strength is the minimum maximum edge value along the width of the edge depending on polarity This value is a normalized percentage of the maximum pixel value Use StrengthTarget to find edges with lower strengths First find the edge you want to search for a record the Strength result value Next set the StrengthTarget property to this value Then set the Score WeightStrength to a higher value than ScoreWeightContrast This tells the Edge object to look for an edge with the desired strength and base the score on it See Also Edge Object Strength Result Strength Variation Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 167 StrengthVariation Property StrengthVariation Property Applies To Vision Objects Edge Description Strength Variation is the tolerance for the StrengthTarget property Usage VGet Sequence Object StrengthV ariation var VSet Sequence Object StrengthVariation value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Long variable that will contain the value of the property value Long expression for the new value of the property Values 0 100 Default 0 Remarks Use StrengthVariation to tighten the search for the edge with strength of StrengthTarget See Also
36. represent the X coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the PixelX1 PixelY1 and PixelX2 PixelY2 coordinate pairs can actually be pixel coordinate positions which match the PixelX and PixelY results for other vision objects In other words if a Line object s endpoint is defined by a Correlation object then the PixelX PixelY results from the Correlation object will match the PixelX2 PixelY2 results for the Line object See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotXYU Result X1 Property X2 Property Y1 Property Y2 Property 104 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PixelXYU Result PixelXYU Result Runtime only Applies To Vision Objects Blob Correlation Edge Point Polar Description Returns the PixelX Pixel Y and Angle coordinates of the found part s position in the image coordinate system Usage VGet Sequence Object PixelXYU result found xVar yVar uVar Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence found Boolean variable representing whether or not the part you are looking for was found xVar Real variable representing
37. returned in degrees It should be noted that the CameraX YU result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraXYU result an error will occur The CameraXYU result is available at runtime only See Also Angle Result Blob Object CameraX Result CameraY Result Correlation Object Edge Object Found Result Point Object Polar Object RobotX YU Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 25 CameraY Result CameraY Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the Y position coordinate of the found part s position in the camera coordinate frame Usage VGet Sequence Object CameraY result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in millimeters Remarks The CameraY result is always in millimeters in the camera coordinate system It should be noted that the CameraY result can only be calculated for vision sequences which have been associated wit
38. the graphics display characteristics for each vision object These will normally be set to values which when combined with the Graphics Properties of other vision objects will help reduce screen display clutter The Graphics property is normally used to set the graphics characteristics exactly as you would like your final vision solution to display graphics on the Run or Operator Window The Graphics property settings for all vision objects can be overridden with the Force All Graphics On and Force Labels Off Vision Guide toolbar buttons NOTE Itis important to point out that the Graphics property settings apply in both runtime and design modes i e CS the Run Window Operator Window and Vision Guide Window This is done to ensure that the graphics display is always the same regardless of if you run a sequence from the Vision Guide Window or from a program See Also Blob Object Correlation Object Edge Object Frame Object Geometric Object ImageOp Object Line Object Object Tab Point Object Polar Object 56 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Holes Result Holes Result Applies To Vision Objects Blob Description Returns the number of holes found within a Blob object Usage VGet Sequence Object Holes result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence
39. the leftmost window handle is the small square on the left vertical side of the Model window You will see the mouse pointer change to a two direction horizontal arrow Now drag the leftmost vertical side of the model window and you will see the size of the model change Release the mouse button when you want to set the position It is also possible to set a specific value for the ModelWinLeft property Click on the ModelWinLeft property Value Field in the Object tab and simply enter in the value which you would like to set the ModelWinLeft property to Once the user moves the cursor off the value field the leftmost position of the model window will be adjusted for the associated vision object See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgAutoCenter Property ModelOrgX Property ModelOrgY Property ModelWin Property ModelWinHeight Property ModelWinTop Property Model WinWidth Property Object Tab 84 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelWinTop Property ModelWinTop Property Applies To Vision Objects Correlation Geometric Description Defines the upper most position of the model window for Correlation and Geometric objects Usage VGet Sequence Object ModelWinTop var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variab
40. then try to run that Correlation object it e will not search with angle You must re teach the Correlation Model with the AngleEnable property set to True in order for Correlation search with angle to work properly You must also have the proper settings for the AngleMaxIncrement and AngleRange Properties prior to teaching the new Model as well NOTE See Also AngleMaxIncrement Property AngleRange Property Angle Result Correlation Object Geometric Object Object Tab 8 Vision Guide 5 0 Reference Ver 5 3 Rev 1 NOTE ee AngleMaxIncrement Property AngleMaxincrement Property Applies To Vision Objects Correlation Description The AngleMaxIncrement property specifies the maximum angle increment amount for teaching a correlation model for searching with angle The model training function selects an angular increment automatically and then uses the smaller of the automatically selected increment and the maximum angle increment defined by the AngleMaxIncrement property Usage VGet Sequence Object AngleMaxIncrement var VSet Sequence Object AngleMaxIncrement value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number in degrees from 1 4
41. turn may cause the execution time to increase The ModelWinWidth property is available from both the Vision Guide window Object tab and from the SPEL Language The easiest way to set the ModelWinWidth value is to simply click on the left or right vertical side of the model window and then drag the model window to a new position The ModelWinWidth property will be set automatically You can also click on the left or right vertical side of the model window at the center of the vertical line where the window handle is the small square on the upper horizontal side of the Model window You will see the mouse pointer change to a two direction horizontal arrow Now drag the side of the model window and you will see the of the model change in width Release the mouse button when you want to set the position It is also possible to set a specific value for the ModelWinWidth property Click on the Model WinWidth property Value Field and simply enter in the value which you would like to set the ModelWinWidth property to Once the user moves the cursor off the value field the uppermost position of the model window will be adjusted for the associated vision object Note that the additional width is added to the right side of the model window This is because the left most position of the model window is fixed according to the Model WinLeft property 86 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelWinWidth Property See Also Anatomy of a Vision O
42. which an edge is considered found during the geometric search Usage VGet Sequence Object DetailLevel var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values 1 Medium 2 High 3 Very High Default 1 Medium Remarks The DetailLevel property determines what is considered an edge during the search Edges are defined by the transition in grayscale value between adjacent pixels The default level Medium offers a robust detection of active edges from images with contrast variation noise and non uniform illumination Nevertheless in cases where objects of interest have a very low contrast compared to high contrast areas in the image some low contrast edges can be missed If your images contain low contrast objects a detail level setting of High should be used to ensure the detection of all important edges in the image The Very High setting performs an exhaustive edge extraction including very low contrast edges However it should be noted that this mode is very sensitive to noise The Smoothness property also affects how edges are extracted See Also Geometric Object Smoothness Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 43 EdgeThreshold Property EdgeThreshold Property Applies To Vision Ob
43. which define the position and size of the model to be taught The ModelWinHeight property is set automatically when the user drags the upper or lower horizontal sides of the model window Keep in mind that larger model windows cause the taught Model to be bigger which in turn cause the execution time to increase The Model WinHeight property is available from both the Vision Guide window Object tab and from the SPEL Language The easiest way to set the Model WinHeight is to simply click on the upper or lower horizontal sides of the model window and then drag them vertically It is also possible to set a specific height value for the ModelWinHeight property Click on the ModelWinHeight property Value Field and simply enter in the value which you would like to set the ModelWinHeight property to Once the user moves the cursor off the value field the ModelWinHeight will be adjusted for the associated vision object Note that the additional height is added to the lower side of the model window This is because the upper most position of the model window is fixed according to the ModelWinTop property See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgAutoCenter Property ModelOrgY Property ModelOrgY Property ModelWin Property ModelWinLeft Property ModelWinTop Property Model WinWidth Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 83 ModelWinLeft Property ModelWinLeft Property Appli
44. xVar yVar uVar Remarks Name of a sequence or string variable containing a sequence name Name of an object or string variable containing an object name The object must exist in the specified sequence Boolean variable representing whether or not the part you are looking for was found Real variable that will contain the X coordinate position of the part Real variable that will contain the Y coordinate position of the part Real variable that will contain the angular position rotation of the part Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results True or False Real number in millimeters Real number in millimeters Real number in degrees The RobotX YU result returns a position in the robot coordinate system and therefore can be used for robot guidance applications The RobotXYU result xVar and yVar values are always returned in millimeters The uVar value is always returned in degrees When used for a Point object uVar always returns 0 It should be noted that the RobotXYU result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then the RobotXYU result cause an error to occur See Also Blob Object CameraX Result CameraY Result CameraXYU Result Correlation Object Edge Found Result PixelX YU Result Point Object Polar Object RobotX
45. 11 Angle Range Prope ity eE a ctnacbucthiedten Seanbelfibecdedscencebtbtvaddeseecestesthbeddecen ce ped aaia aaaea Ta tn 12 AngleStart Property rereana Since cee J Aen GA eastern ces neni ae ates 13 Area Result ici a ir a 14 BackColor Property uocica a Fed ee ht 15 CalComplete Result cocoa rl EEE aA EAA EEEE EE AAEE EEEE at a SEE 16 Calibration Propecia BPs eee e eas 17 Camera Propeny EEEE EEA AA E AAA dl ine 18 CameraGald Property ici aiii 19 CameraQOfiset Property ata ee hea eee ai ee 20 CameraOrientation Property cccccccecccscccceceeeeeeceeceneeeeeeeeeesecceeceeeeeeeeseceesaeeeeeeeeesensnnineaeeess 21 Camera Res Uli cn tak AA A Ge eG ee eee 22 Camerax Result uan td poli lp tit Uaatdeete 23 CameraX2 Result ici ais la aay eee iia 24 CameraXx YU ResUl a a let pad eee de nent 25 Camera Rel A de 26 Cameray 1 Res iii rica add 27 Camera 2 Res A 28 Caption Properiy a A Ae eh A A A Matin A 29 CenterPntObjResult Property oooooococccccccnncocoocccnococonnnononononnncnnoncnnnnnonnnnnnnennnnannnnnnnnnnennaninnnnnninno 30 CenterPntOffsetX Property cenna eia e paa aaa aa ela a a a aa aeS 31 CenterPntOffsetY Property cccccccceseceeeeceeeeeeeeeeceecneeeeeeeesesencaeeeeeeeesesesesuuseeseeeessessnseeeees 32 CenterPointObject Property oooooocococncccccinccoconccccncocononnnnncncnnnnnoncnnnnnnnnnnnnnncnnnnnnnnnncnnecincnnnnnncnnin 33 CenterX Property ae saorane atara ler la eeases tens Miged anra aeaaea teened teh 34 CenterY Property
46. 2 coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the CameraX CameraY results from the Correlation object will match the CameraX1 CameraY1 results for the Line object It should be noted that the CameraY1 result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraY 1 result an error will occur See Also Angle Result CameraX1 Result CameraX2 Result CameraY2 Result Line Object Object Tab PixelX Result Pixel Y2 Result RobotY Result RobotXYU Result X1 Property X2 Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 27 CameraY2 Result CameraY2 Result Applies To Vision Objects Line Description Returns the ending point position Y2 of a Line object in Camera coordinates Usage VGet Sequence Object CameraY 2 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values The value returned for the CameraY2 result depends upon the calibration used for the camera Values are al
47. 3 Rev 1 Table of Contents OriginAngleEnabled Property cccccceeseececeeeceeeeeeeeneeceeeeeeeeececeeaeeeeeeeesesecccaeeeeeeeeseseeeeneaees 95 OriginPntObjResult Property cccccccecsccceceeeeeeeseeeceeeeeeeeeeeceeaeeeeeeeeceseeeceeeseeeseeeseenenneaeeess 96 OriginPoint Properties 97 Perimeter Results iii ine ih edit a aE AEA aea Ni 99 Pre lLengt Resulticn c02 eset A ed Wh a 100 Pixelkin Result ccoo a daa added eae See 101 PixelX Result 2308 2 28805 BM Ae A et 102 PIERA nk oan Maan een 103 aeDA ETE EREE TE EE ad Pes eds ad ete A dav ar aint 104 PixelXy UiResult ustca ies ete ae a At A oa eee et GE ee a ene 105 Pixel Res li A 106 Pixely 1 A oe eea E EAEE EE e 107 RixelY2 AEE i T EEE S PE E E A S 108 Points aught Property a tie a a a r A a ee a ee 109 POIMblype Property me iiaee iia a ae aa E a a aap EE E E AAEE E a en genet 110 Polarity ARO PY e e a an 112 R dius Property eisint er a dd 113 RejectOnEdge Propecia A AAA E EA Ale Sah 114 ReferenceType PropertY cccccccccccceececseneeceeeeeeeceneeneaneeeeeeeeeeeeneaaeeseeseeessecceieaeeeeeeeesseneeeeeaees 115 RoOBOtACCOl PrOPertY ico ri TA a A ei 116 RobotArm Property cir ots heed ate A ee 117 RobotLocal Property o ooooccccccccncconnconnconnconnnonononnnnonononcnnncnnnnnnnn conc nn r nn nn nn nn nnnn nn nn nnnnnnrnnnnnnnnanenans 118 RobotSpeed Property seia e eee did 119 Robot ool Property TA EEE ias A EE ade etd ads Peanut ele Whagetes 120 RobotUResSult
48. 5 Default 1 Remarks Before reading anything else about the AngleMaxIncrement property it should be noted that the Correlation Model must be taught after a new value for the AngleMaxIncrement property is set in order for those settings to take affect If you teach a Correlation Model then later set the AngleMaxIncrement property to a new value and then try to run that Correlation object it will not search with the new angle increment You must re teach the Correlation Model with the AngleEnable property set to True and with the new value for the AngleMaxIncrement property in order for Correlation search with angle to use the new AngleMaxIncrement property value You must also have the proper settings for the AngleRange property prior to teaching the new Model as well If you wish to measure angle precisely you should provide a maximum angle increment corresponding to the degree of precision you desire You should keep in mind however that the smaller the angle increment the more storage will be required for the model and the slower the search time will be It should be noted that while correlation with angle is normally able to find rotated parts the correlation search time usually increase significantly This is why correlation with angle is most useful for finding parts which rotate only slightly The Polar object however is normally very fast and can be used in conjunction with a Correlation object for a powerful and fast combination
49. Applies To Vision Calibration Description Sets returns the CameraOrientation type for the specified calibration Usage VGet Calibration CameraOrientation var VSet Calibration CameraOrientation value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Standalone 2 Fixed Downward 3 Fixed Upward 4 Mobile on J2 5 Mobile on J4 6 Mobile on J5 7 Mobile on J6 Default 1 Remarks The CameraOrientation property must be set before teaching calibration points See Also Camera Property CameraGain Property Sequence Tab Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 21 CameraX Result CameraX Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the X position coordinate of the found part s position in the camera coordinate frame Usage VGet Sequence Object CameraX result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Value
50. EPSON EPSON RC 5 0 Option Vision Guide 5 0 Properties and Results Reference EM08ZR1778F EPSON RC 5 0 Option Ver 5 3 Vision Guide 5 0 Properties and Results Reference Rev 1 EPSON RC 5 0 Option Ver 5 3 Vision Guide 5 0 Properties and Results Reference Rev 1 Copyright O 2007 2008 SEIKO EPSON CORPORATION All rights reserved Vision Guide 5 0 Reference Ver 5 3 Rev 1 i FOREWORD WARRANTY 11 Thank you for purchasing our robot products This manual contains the information necessary for the correct use of the EPSON RC software Please carefully read this manual and other related manuals when using this software Keep this manual in a handy location for easy access at all times The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls tests and inspections to certify its compliance with our high performance standards Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period Please ask your Regional Sales Office for warranty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments o
51. Extrema result varMinX varMaxX varMinY varMaxY Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence varMinX Real variable containing minimum X position of the blob s Extrema varMaxX Real variable containing maximum X position of the blob s Extrema varMinY Real variable containing minimum Y position of the blob s Extrema varMaxY Real variable containing maximum Y position of the blob s Extrema result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values The values returned are always in pixels and may be from 1 video height Remarks The MinX MaxX MinY and MaxY results together define a blob s smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob This rectangle is known as the extrema The Extrema result enables you to retrieve all four coordinates in one command The Extrema value can be fractional For example 100 5 would be between the 100 and 101 pixels See Also Area Result MinX Result MaxX Result Max Y Result MinY Result Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 51 Found Result Found Result Applies To Vision Objects Blob Correlation Edge Frame Geometric Line Point Polar Description Returns whether or not the object
52. FactorMin ScaleTarget To use ScaleFactorMax and ScaleFactorMin you must set the ScaleEnabled property to True See Also Object Tab Scale Result ScaleEnable Property ScaleFactorMax Property ScaleTarget Property 138 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ScaleTarget Property ScaleTarget Property Applies To Vision Objects Geometric Description Sets returns the expected scale of the model you are searching for Usage VGet Sequence Object ScaleTarget var VSet Sequence Object ScaleTarget value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values 0 5 2 0 Default 1 0 Remarks To use ScaleTarget you must set the ScaleEnabled property to True The actual scale range is determined by ScaleTarget ScaleFactorMin and ScaleFactorMax The range is determined as follows minimum scale ScaleFactorMin ScaleTarget maximum scale ScaleFactorMax ScaleTarget See Also Object Tab Scale Result ScaleEnable Property ScaleFactorMax Property ScaleFactorMin Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 139 Score Result Score Result Applies To Vision Objects Correlation Edge Geometric Polar Description Returns an integer va
53. GUI They can only be accessed from the SPEL language or from VB Guide Vision Guide 5 0 Reference Ver 5 3 Rev 1 1 AbortSeqOnFail Property AbortSeqOnFail Property Applies To Vision Objects Blob Geometric Correlation Edge Freame Line Point Polar Description Allows the user to specify that if an object fails 1 e is not found then the entire sequence is aborted at that point and no further objects are processed Usage VGet Sequence Object AbortSegOnFail var VSet Sequence Object AbortSeqOnFail value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Does not cause the sequence to abort when the object is not found True Causes the sequence to abort when the object is not found Default False Remarks Use AbortSeqOnFail when you no longer want a sequence to continue if an object is not found See Also Blob Object Correlation Object Edge Object Frame Object Geometric Object Line Object Point Object Polar Object Object Tab 2 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Accept Property Accept Property Applies To Vision Objects Correlation Edge Geometric Polar Description The Accept property specifie
54. If the ModelOrgAutoCenter property is set to True then the model origin is automatically set to the center of the model window NOTE Ifthe ModelOrgAutoCenter property is set to True the ModelOrgY property cannot be used to reposition CS the model origin See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgAutoCenter Property ModelOrgX Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 81 ModelWin Property ModelWin Property Runtime only Applies To Vision Objects Correlation Geometric Description Defines the position and size of the model window for Correlation and Geometric objects Usage VGet Sequence Object ModelWin LeftVar TopVar WidthVar HeightVar Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence LeftVar Integer variable representing the leftmost position of the model window in Pixels TopVar Integer variable representing the uppermost position of the model window in Pixels WidthVar Integer variable representing the width of the model window in Pixels HeightVar Integer variable representing the height of the model window in Pixels Values All Values are in Pixels See the ModelWinTop ModelWinLeft ModelWinWidth and ModelWinHeight Properties for exact value data Remarks The ModelWin property was a
55. ImageOp Description Sets returns the angle of rotation for the ImageOp object Rotate operation Usage VGet Sequence Object RotationAngle var VSet Sequence Object RotationAngle value Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Default 0 degrees Remarks RotationAngle is used to determine how many degrees to rotate the image when the AngleObject property is set to Screen If AngleObject is not set to Screen the RotationAngle has no effect Rotation is counter clockwise for positive angles Pixels that are not in the rotation are set to 0 black See Also AngleObject Property ImageOp Object Operation Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 129 Roughness Result Roughness Result Applies To Vision Objects Blob Description Returns the roughness of a blob Usage VGet Sequence Object Roughness result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional integer result number from 1 to the Num
56. Language statement initiates execution of vision sequences When VRun is initiated the vision sequence specified begins execution This means that an image is acquired unless the user sets the RuntimeAcquire property to False into the frame buffer and then vision objects are applied to that image as defined in the vision sequence It is important to note that VRun returns prior to completing execution of the vision sequence specified with VRun Once the image is acquired VRun returns control to the next SPEL statement which follows VRun This improves the throughput of the overall cycle time by allowing other SPEL statements to execute while vision processing occurs For example the robot can move during vision processing or a calculation could be performed during this time Once VRun is executed VGet is normally used to get the results of the vision sequence such as part position data good part bad part status part count information or many other results Shown below is a simple program which uses VRun and VGet to execute a vision sequence and then use results from that sequence to display useful information to the user Function test It is assumed that a sequence called FindHoles has already been created prior to running this program FindHoles contains a Blob object called Part which is configured to find how many holes are in the search window In this example we will run the sequence and then display the number of holes
57. Min 0 Max Video height 1 Remarks The Pixel Y result is the Y coordinate of the objects position in the image coordinate system The value is a real number that has a fractional component because of the sub pixeling feature Statistics For the PixelY result the following statistics are available PixelYMax PixelYMean PixelYMin Pixel YStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result CameraXYU Result CameraY Result Found Result Geometric Object Object Tab PixelXYU Result RobotY Result RobotXYU Result 106 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PixelY1 Result PixelY1 Result Applies To Vision Objects Line Description Returns the pixel Y coordinate of the starting point of a Line object Usage VGet Sequence Object PixelY1 var Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Min 0 Max Video height 1 Remarks Every line must have a starting point and ending point The PixelY1 and PixelY2 results represent the Y coordinate position starting Y1 and endpoints Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the PixelX1 PixelY1 and PixelX2 PixelY2 coordi
58. Object Yl Real variable representing the Y coordinate position of the starting point of the Line object specified by Object X2 Real variable representing the X coordinate position of the ending point of the Line object specified by Object Y2 Real variable representing the Y coordinate position of the ending point of the Line object specified by Object Values X1 X2 Real variable specified in pixels from 1 video width YI Y2 Real variable specified in pixels from 1 video height Remarks The PixelLine result is a runtime result which provides the X1 Y1 X2 and Y2 pixel coordinate data for the starting and ending points of the specified Line object The PixelLine result returns the same information as the PixelX1 PixelY1 PixelX2 and PixelY2 results However it returns this information with 1 function call rather than 4 separate calls See Also Line Object Object Tab PixelX1 Result PixelX2 Result Pixel Y1 Result PixelY2 Result RobotXYU Result RobotU Result RobotX Result RobotY Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 101 PixelX Result PixelX Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the X position coordinate of the found part s position in pixel coordinates Usage VGet Sequence Object PixelX result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable c
59. Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video height 1 Remarks The Y property is used to locate the vertical position of the Point object in the image coordinate system This property is initially set to the Y position where the user drops a newly created Point object However if a Point object is associated with another object in the sequence i e the PointType property is set to another vision object and not set to Screen then the Y property for the Point object is automatically modified according to the associated object When the PointType property is set to Screen there are two methods which can be used to move the Point object Click on the Point object s label and drag the object to the position you want to place it Change the X and Y properties for the Point object See Also Object Tab Point Object X Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 193 Y1 Property Y1 Property Applies To Vision Objects Edge Line Description Defines the Y1 coordinate of an object where the X1 Y1 coordinate pair defines the position of the starting point of the object Usage VGet Sequence Object Y 1 var VSet Sequence Object Y 1 value Sequence Name of a sequence or string variable con
60. Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 187 X2 Property X2 Property Applies To Vision Objects Edge Line Description Defines the X2 coordinate of an object where the X2 Y2 coordinate pair defines the position of the starting point of the object Usage VGet Sequence Object X2 var VSet Sequence Object X2 value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video width 1 Remarks Line Object The X2 property is used to locate horizontal position for the endpoint of a Line object This property is initially set to the ending point X position where the user drops a newly created Line object However if a Point object is associated with another object in the sequence i e the EndPointType property is set to another vision object and not set to Screen then the X2 property for the Line object is automatically modified according to the associated property When the EndPointType property is set to Screen there are 2 methods which can be used to move the Line object Click on the Line object s label and drag the object to the position you want to place it Change the X1 Y1 X2 or Y2 c
61. Rev 1 YAvgError Result YAvgError Result Applies To Vision Calibration Description Returns the average calibration error along the Y axis Usage VGet Calibration Y AvgErr var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Values Real number in millimeters Remarks Y AvgError is the average calibration error along the Y axis detected during calibration See Also XAvgError YMaxError YmmPerPixel Vision Guide 5 0 Reference Ver 5 3 Rev 1 199 YMaxError Result Y MaxError Result Applies To Vision Calibration Description Returns the maximum calibration error along the Y axis Usage VGet Calibration Y MaxErr var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Values Real number in millimeters Remarks Y MaxError is the maximum calibration error along the Y axis detected during calibration See Also XMaxError Y AvgError YmmPerPixel 200 Vision Guide 5 0 Reference Ver 5 3 Rev 1 YmmPerPixel Result YmmPerPixel Result Applies To Vision Calibration Description Returns the Y millimeters pixel value of the specified calibration Usage VGet Calibration YmmPerPixel var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will c
62. See the sections on Correlation or Polar Searching for more information See Also Angle Result AngleEnable Property AngleRange Property Correlation Object Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 9 AngleObject Property AngleObject Property Applies To Vision Objects ImageOp Description Sets returns the object to be used to determine the angle of rotation for the ImageOp object Rotate operation Usage VGet Sequence Object AngleObject var VSet Sequence Object AngleObject value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Screen or the name of an object whose step number is prior to the step number of the ImageOp object and returns an Angle result Default Screen Remarks Use AngleObject together with the Rotate setting of the Operation property to automatically rotate the image according to the Angle result of the AngleObject The following objects can be used Blob Correlation Geometric Polar Frame See Also ImageOp Object Operation Property RotationAngle Property 10 Vision Guide 5 0 Reference Ver 5 3 Rev 1 AngleOffset Property AngleOffset Property Applies To Vision Objects Polar Descri
63. Sequence Object FoundColor var VSet Sequence Object FoundColor value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Light Green If this object is found show it in Light Green 2 Dark Green If this object is found show it in Dark Green Remarks You can set the FoundColor property to show an object that is found in Light Green or Dark Green In a bright image the Dark Green could be easier to see whereas in a darker image the Light Green would be easier to see See Also Graphics Property Found Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 53 FoundOnEdge Result FoundOnEdge Result Applies To Vision Objects Blob Correlation Geometric Description Returns True when a Blob Correlation or Geometric object is found too close to the edge of the search window Usage VGet Sequence Object FoundOnEdge result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the result result Optional result number If omitted the result number
64. Start to set the starting search angle This property is only valid when AngleEnable is set to True The system will search for the model starting with AngleStart using the AngleRange property For example if AngleStart is 45 degrees and AngleRange is 10 degrees then the system will search from 35 to 55 degrees Note that after setting AngleStart the model will be automatically preprocessed on the next run which could cause slower cycle time on that first run Subsequent cycle times will be at normal speed See Also Angle Result AngleEnable Property AngleMaxIncrement Property AngleRange Property Correlation Object Geometric Object Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 13 Area Result Area Result Applies To Vision Objects Blob Description Returns the area of a blob Usage VGet Sequence Object Areal result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Values Real number in pixels from 1 to search WinWidth x search WinHeight Remarks The Area result is the total area of the blob in pixels The area measurement may have a fractional component Statistics For the Area result the following statist
65. Using a wider search window helps ignore imperfections in the edge The figures below show an edge object with SearchWidth set to 3 on the left and Search Width set to 30 on the right The edge object on the left finds the bump where as the edge object on the right finds the correct edge because the wider search width will cause the projected search line to favor the true edge See Also Edge Object Score Result Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 143 SearchWin Property SearchWin Property Runtime only Applies To Vision Objects Blob Correlation ImageOp Description Defines the position and size of a search window Usage VGet Sequence Object SearchWin LeftVar TopVar WidthVar HeightVar VSet Sequence Object SearchWin LefiVar TopVar WidthVar HeightVar Sequence Object LeftVar TopVar WidthVar HeightVar Values Name of a sequence or string variable containing a sequence name Name of an object or string variable containing an object name The object must exist in the specified sequence Integer variable representing the leftmost position of the Search Window in Pixels to get from or set to the SearchWinLeft property Integer variable representing the uppermost position of the Search Window in Pixels to get from or set to the SearchWinTop property Integer variable representing the width of the Search Window in Pixels to get from or set to the SearchWinWidth property
66. WeightStrength works with ScoreWeighContrast Both of these property values must add up to 100 When you set one property the system will automatically set the other property to the correct value See Also Edge Object Contrast Result Score WeightContrast Property 142 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SearchWidth Property SearchWidth Property Applies To Vision Objects Edge Description The Search Width property specifies the width of the search for Edge objects Usage VGet Sequence Object SearchWidth var VSet Sequence Object SearchWidth value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 3 99 pixels Default 3 Remarks Normally the Edge object will work fine with the default 3 pixel search width However for some applications you may want to increase the width of the edge search to help find an edge with some imperfections By increasing the Search Width the Edge object can gather more information to determine where the edge is During processing the 2 dimensional search window is transformed to a 1 dimension row of grayscale values Edge filters are applied to this row of values to determine where the edge is
67. WinTop property Click on the ModelWinTop property Value Field and simply enter in the value which you would like to set the ModelWinTop property to Once the user moves the cursor off the value field the uppermost position of the model window will be adjusted for the associated vision object See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgAutoCenter Property ModelOrgX Property ModelOrgY Property ModelWin Property ModelWinHeight Property ModelWinLeft Property Model WinWidth Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 85 ModelWinWidth Property ModelWinWidth Property Applies To Vision Objects Correlation Geometric Description Defines the width of a model window Usage VGet Sequence Object ModelWin Width var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values Integer number in pixels Default 50 Remarks The model window always fits inside the search window The ModelWinWidth property is set automatically when the user drags the entire model window to a new location or when one of the horizontal sides of the model window is dragged to resize the model window Keep in mind that larger model windows cause the taught Model to be larger which in
68. ab Vision Guide 5 0 Reference Ver 5 3 Rev 1 67 MaxPixelLength Property MaxPixelLength Property Applies To Vision Objects Line Description Defines the upper pixel length limit for the Line object For a Line to be found it must have a PixelLength result below the value set for MaxPixelLength property Usage VGet Sequence Object MaxPixelLength var VSet Sequence Object MaxPixelLength value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values 0 or higher in pixels Default 1000 Remarks The purpose of the MinPixelLength and MaxPixelLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found i e the Found result 1s returned as False This is useful when you want to gauge the length of a line in pixels To gauge a line in Millimeters see the MinLength and MaxLength properties The default settings allow most lines to be found See Also Line Object MinLength Property MaxLength Property MinPixelLength Property Object Tab 68 Vision Guide 5 0 Reference Ver 5 3 Rev 1 MaxX Result MaxX Result Applies To Vision Objects Blob Description Returns the
69. able containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Integer expression for the new value of the property Values False Frame will not rotate with origin point angle True Frame will rotate with origin point angle Default False Remarks The OriginAngleEnabled property enables a frame to rotate with the angle of the origin object For example you can set the OriginPoint to a Polar object and set OriginAngleEnabled to True The frame will rotate to the angle of the Polar object If the YAxisObject is set to a value other than Screen then OriginAngleEnabled has no effect See Also Frame Object Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 95 OriginPntObjResult Property OriginPntObjResult Property Applies To Vision Objects Frame Description Specifies which result to use from the OriginPointObject Usage VGet Sequence Object OriginPntObjResult var VSet Sequence Object OriginPntObjResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values The value can range from 1 to the NumberToFind value for the OriginPointObject If the OriginPo
70. aining an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in pixels Remarks Unlike the Length result the PixelLength result returns a value even if calibration has not yet been performed This is because the units are in pixels and no calibration is needed for pixel unit based calculations If the user needs a length in millimeters then a standalone or robot based camera calibration is required Statistics For the PixelLength result the following statistics are available PixelLengthMax PixelLengthMean PixelLengthMin PixelLengthStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Calibration Length Result Line Object Object Tab 100 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PixelLine Result PixelLine Result Runtime only Applies To Vision Objects Line Description Run time only result which returns the pixel coordinate position data of the starting X1 Y1 and ending X2 Y2 points of the specified Line object Usage VGet Sequence Object PixelLine X1 Y1 X2 Y2 Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence XI Real variable representing the X coordinate position of the starting point of the Line object specified by
71. alue is 1 0 Remarks Compactness is a measure of how close all particles in a blob are from one another It is derived from the perimeter and area A circular blob is most compact and is defined to have a compactness measure of 1 0 the minimum More convoluted shapes have larger values See Also Holes Result Object Tab Perimeter Result Roughness Result 36 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Confusion Property Confusion Property Applies To Vision Objects Correlation Geometric Polar Description Indicates the amount of confusion expected in the image to be searched This is the highest shape score a feature can get that is not an instance of the feature for which you are searching i e Will there be patterns in the image which will confuse the searching algorithms To what level Usage VGet Sequence Object Confusion var VSet Sequence Object Confusion value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 1 999 with the higher numbers representing a higher confusion in an image Default 800 Remarks Both the Confusion property and the Accept property affect searching and pattern finding speed The Confu
72. ample you can run the sequence test with calibration calib and then later run the sequence fest with calibration calib2 as follows VSet test Calibration calibl VRUN test VSet test Calibration calib2 VRUN test See Also Calibration Details Sequence Tab Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 17 Camera Property Camera Property Applies To Vision Sequence Vision Calibration Description Specifies which camera to use for a vision sequence or calibration Usage VGet Sequence Calibration Camera var VSet Sequence Calibration Camera value Sequence Name of a sequence or string variable containing a sequence name Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 1 8 Default 1 Remarks One camera may be associated with a vision sequence or calibration at a time For sequences the camera number must be selected before executing VRun For calibrations the camera number must match the camera number of the calibration target sequence Example The following example shows how to use different cameras with the same vision sequence We will set the Camera property prior to executing the vision sequence called FINDMARK Function test define CAMERA1 HE define CAMERA2 2 VSet findmark Camera CAM
73. ange value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number in degrees from 0 180 Default 180 Remarks Note Before reading anything else about the AngleRange property it should be noted that the Correlation Model Ee must be taught after a new value for the AngleRange property is set in order for those settings to take affect If you teach a Correlation Model then later set the AngleRange property to a new value and then try to run that Correlation object it will not search with the new angle range You must re teach the Correlation Model with the AngleEnable property set to True and with the new value for the AngleRange property in order for Correlation search with angle to use the new AngleRange property value You must also have the proper settings for the AngleMaxIncrement property prior to teaching the new Model as well The AngleRange property is must be set before teaching the model This value specifies the range within which to train a series of rotated models For example if the AngleRange property is set to 5 then when the model is trained a set of models is actually trained within 5 degrees of the current model position These m
74. attach a line object to each one of the results by specifying the blob for the EndPointObject of each line and a different EndPntObjResult for each line See Also Edge Object EndPointObject Property Line Object Object Tab StartPntObjResult Property 46 Vision Guide 5 0 Reference Ver 5 3 Rev 1 EndPointObject Property EndPointObject Property Applies To Vision Objects Edge Line Description Specifies the vision object to use for the end point of a Line object Usage VGet Sequence Object EndPointObject var VSet Sequence Object EndPointObject value Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Valid vision objects for the EndPointObject property are Blob Correlation Edge Geometric Line and Point objects The Screen may also be used as the EndPointObject Values Screen or any object that runs prior to the Line object Remarks When a Line object is first created the EndPointObject property is set to Screen However Line objects are normally attached to other vision objects This is the purpose of the StartPointObject and EndPointObject properties Through these two properties the user can define a line between any two vision objects except F
75. berToFind property If omitted the result number is the CurrentResult Values Minimum value is 1 0 Remarks Roughness is a measure of the unevenness or irregularity of a blob s surface It is the ratio of the true perimeter to the convex perimeter of a blob The convex perimeter is the length of a line connecting all the extremities of the blob directly while the true perimeter is the length of a line connecting every pixel along the blob s edge Smooth convex blobs have a roughness of 1 0 the minimum whereas rough blobs have a higher value because their true perimeter is bigger than their convex perimeter See Also Compactness Result Holes Result Perimeter Result 130 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RuntimeAcquire Property RuntimeAcquire Property Applies To Vision Sequence Description The RuntimeAcquire property tells the vision sequence which method to use to acquire an image for use with that sequence Usage VGet Sequence Object RuntimeAcquire var VSet Sequence Object RuntimeAcquire value Sequence Object var value Values 0 None Name of a sequence or string variable containing a sequence name Name of an object or string variable containing an object name The object must exist in the specified sequence Integer variable that will contain the value of the property Integer expression for the new value of the property This tells the vision system not to acquire an image
76. bject Correlation Object ModelOrgAutoCenter Property ModelOrgX Property ModelOrgY Property ModelWin Property ModelWinHeight Property ModelWinLeft Property ModelWinTop Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 87 Name Property Name Property Applies To Vision Sequence Vision Calibration Vision Objects All Description All vision objects Sequences and Calibrations must have a name The name is then used to refer to the individual vision object Sequence or Calibration Usage VGet Sequence Object Name var Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property Remarks Upon the creation of a new vision sequence a dialog is displayed requesting a name for the new Sequence This name is then set as the Name property Value for the vision sequence However the user can modify this name from the Sequence Tab Upon the creation of a new vision object such as a Blob Correlation etc a name is automatically assigned to the object The names used are based on the object type with a numeric value appended to the end of the name For example the following names might have been created for a specific vision sequence Blob01 Corr01 Blob02 Blob03 Corr02 LineO1 See Also Blob Object Correlation O
77. bject Edge Object Frame Object Geometric Object Line Object Object Tab Point Object Polar Object Sequence Tab 88 Vision Guide 5 0 Reference Ver 5 3 Rev 1 NumberFound Result NumberFound Result Applies To Vision Objects Blob Correlation Edge Geometric Description Returns the number of features found within a single Search Window for a Blob Correlation Edge or Geometric object Usage VGet Sequence Object NumberFound var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the result Values Valid number found for all objects is O 100 Remarks Blob Correlation Edge and Geometric objects support the finding of multiple features within a single Search Window The NumberToFind property defines how many features to search for The NumberFound result returns how may features were actually found The NumberFound result is a special result It will always return the number of features that were found for the specified vision object regardless of the setting of the CurrentResult property All the other results in the Results List are specific to each individual results record and will have different values depending upon the setting of the CurrentResult property Blob results are ordered by largest found blob to smallest f
78. contains the vision object for which you want to get a result from For example assume you created a vision sequence which uses a Blob object to find how many holes are present in a specific part This means you will want to VGet the value of the Holes result for the Blob object The following SPEL program shows how VGet would be used in this instance Function test It is assumed that a sequence called FindHoles has already been created prior to running this program FindHoles contains a Blob object called Part which is configured to find how many holes are in the search window In this example we will run the sequence and then display the number of holes which were found Integer count VRun FindHoles Run the vision sequence VGet FindHoles Part Holes count Get the of holes found Print count holes found Fend See Also 182 VRun VSet Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 VRun Statement VRun Statement Applies To Vision Sequence Description VRun is a SPEL language statement used to initiate execution of vision sequences which were created in the Vision Guide development environment Usage VRun Sequence Sequence Name of a sequence or string variable containing a sequence name Remarks Once a vision sequence has been created in the Vision Guide development environment it can be executed from the development environment or from within a SPEL program The VRun SPEL
79. ct RobotX result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in millimeters Remarks The RobotX result returns an X coordinate in the robot coordinate system and can therefore be used for robot guidance applications However keep in mind that a special result called the RobotX YU result is most often used for robot guidance because it returns not only the X but also the Y and U coordinate positions as well as whether or not the part was found See RobotXYU Result for more information The RobotX Result is always returned in millimeters It should be noted that the RobotX result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then using VGet to retreive the RobotX result will cause an error to occur Statistics For the RobotX Result the following statistics are available RobotXMax RobotXMean RobotXMin RobotXStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result Blob Object CameraX YU
80. ct is created Remarks The model origin may lie anywhere within the model window Region The origin s coordinates define the model origin relative to the model s upper left corner that is relative to the location of element 0 0 of the image that defines the model When you create a new Correlation the model origin is set to the center of the model window However the user may modify this position by typing in a new X and Y positions into the ModelOrgX and ModelOrgY Properties or by simply clicking on the model origin the crosshair shown in the middle of the model window and moving it to the position desired The user can also modify the model origin automatically by setting the ModelOrgAutoCenter property to True If the ModelOrgAutoCenter property is set to True then the model origin is automatically set to the center of the model window NOTE Ifthe ModelOrgAutoCenter property is set to True the ModelOrgX property cannot be used to reposition CS the model origin See Also Anatomy of a Vision Object Correlation Object Geometric Object ModelOrgAutoCenter Property ModelOrgY Property Object Tab 80 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelOrgY Property ModelOrgY Property Applies To Vision Objects Correlation Geometric Description A model has a fixed reference point by which we describe its location in an image This point is referred to as the model s Origin The ModelOrgY property contains the Y coordina
81. current object can be based on the PixelX and PixelY positions for that object See Also Blob Object CenterX Property CenterY Property Correlation Object Geometric Object Object Tab Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 33 CenterX Property CenterX Property Applies To Vision Objects Polar Description Specifies the X Coordinate position to be used as the center point for the Polar object Usage VGet Sequence Object CenterX var VSet Sequence Object CenterX value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number from 0 video width in pixels 1 However we must take into account the value of the Radius property for the Polar object since the center of the Polar object cannot be at the edge of the Camera s field of view Therefore the actual range is 0 Radius Max Camera X Resolution Radius 1 For example an image resolution of 640x480 and a 16 pixel radius gives a range of 16 623 Default X coordinate screen position of the center of the Polar object Remarks This property is filled in automatically when the CenterPointObject property for a Polar object is set to another vision objec
82. d from left to right according to the CameraX result 5 CameraY Results are ordered from bottom to top according to the CameraY result 6 CameraXY Results are ordered diagonally from lower left to upper right according to the CameraX and CameraY results 7 RobotX Results are ordered along the Robot s X axis according to the RobotX result 8 RobotY Results are ordered along the Robot s Y axis according to the RobotY result 9 RobotXY Results are ordered diagonally according to the RobotX and RobotY results Default 0 None Remarks The Sort property allows you to sort the results of an object so that you can retrieve the results in the desired order If you want to retrieve results in descending order then reverse the order that you retrieve them For example For i numFound To 1 Step 1 VGet seql blob01 RobotXYU i found i x 1 y i u i Next i See Also Blob Object Correlation Object Geometric Object Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 161 StartPntObjResult Property StartPntObjResult Property Applies To Vision Objects Edge Line Description Specifies which result to use from the StartPointObject Usage VGet Sequence Object StartPntObjResult var VSet Sequence Object StartPntObjResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist i
83. dded to provide easy access to the ModelWinTop ModelWinLeft ModelWinWidth and ModelWinHeight Properties from the SPEL Language The ModelWin property allows the setting of all 4 Properties There are cases where the user may want to define the position and size of the model window dynamically and for that reason the ModelWin property was created The ModelWin property can be applied to the Correlation and Geometric objects Each of these object types have rectangular model windows used to define the position and size of the Model See Also Correlation Object Geometric Object Model WinHeight Property Model WinLeft Property ModelWinTop Property ModelWinWidth Property Object Tab 82 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelWinHeight Property ModelWinHeight Property Applies To Vision Objects Correlation Geometric Description Defines the height of the model window used for Correlation and Geometric object models Usage VGet Sequence Object Model WinHeight var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values Integer number in pixels from 10 255 Default 50 Remarks The model window always fits inside the Search Window The Correlation and Geometric objects have rectangular model windows
84. de 5 0 Reference Ver 5 3 Rev 1 75 MinY Result MinY Result Applies To Vision Objects Blob Description Returns the minimum Y pixel coordinate of the blob extrema Usage VGet Sequence Object MinY result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in pixels Remarks The MinX MaxX MinY and MaxY results together define a blob s smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob This rectangle is known as the Extrema The MinX MaxX MinY and MaxY results can hold fractional values For example 100 5 would be between the 100 and 101 pixels See Also Area Result Blob Object MaxX Result MaxY Result MinX Result Object Tab 76 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelObject Property ModelObject Property Applies To Vision Objects Correlation Geometric Polar Description Determines which model to use for searching Usage VGet Sequence Object ModelObject var VSet Sequence Object ModelObject value Sequence Name ofa sequence or string variable containing a sequence name
85. e Object Name of an object or string variable containing an object name The object must exist in the specified sequence Omit Object if you are retrieving a sequence or calibration property or result Property Name of the property to set or return the value of Result Name of the result to get the value of You can optionally specify a resultIndex for objects that can return more than one set of result data such as Blob and Correlation This allows you to obtain a particular result without setting the CurrentResult property var Variable s that will contain the value s returned Vision Guide 5 0 Reference Ver 5 3 Rev 1 181 VGet Statement Re marks VGet is a powerful part of the Vision Guide structure It provides the core mechanism to get the property and result values from the vision objects that are run from vision sequences VGet can be used to get property values before running a vision sequence so that you can check the value of a specific property or even check and set it by using the VGet statement and then the VSet statement VGet can also be used to get property values after running a vision sequence The most common use for VGet is to get the result values from vision objects after they have been run in a sequence This allows you to use the results to make decisions perform calculations define point positions and a whole host of other things In order to use VGet with results you must first VRun the sequence which
86. e Keep this manual in a handy location for easy access at all times A WARNING E This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly E This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists CAUTION if the associated instructions are not followed properly E The NOTE sections describe important information to be followed for operating the Robot system Vision Guide 5 0 Reference Ver 5 3 Rev 1 v vi Vision Guide 5 0 Reference Ver 5 3 Rev 1 TABLE OF CONTENTS Vision Properties and Results Reference oooooocococcccccccccconononcconncoconnnnnononnnnnonnnnannnnnnnnnnannnnannnnnnnnnnnnninnss 1 OVEIVIO EE a lis 1 Vision Properties and Results Format DescriptiON ooooncccccnnccnnccnnccnnncnnncnnncnnnnnnnnnncnnn 1 AbortSeqOnFail PropertyS cccccccccceeceeeeeeceneaeeeeeeeececeaeaeeeeeeeeeeseeaaaeeseeeeesesgeceaaneeseeeeeseeeats 2 ACCEpt Propemty tol iones 3 AcquireState ReSUlE iii 4 A O Set ed del hd est ig on toh ti Set oe etd der ees 5 Angle Result omae A 6 AngleAccuracy Prop Visca dll lali aea lic teta 7 AngleEnable Proper ui e lid 8 AngleMaxincrement Property cccccccceeceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaaeeaeeaaeeaaeeaaaeaaes 9 AngleObject Property eee 10 Angle Offset Property i cccccescrvescaashen da
87. e of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values 1 0 2 0 Default 2 0 Remarks ScaleFactorMax and ScaleFactorMin determine the scale range to search for as applied to the ScaleTarget property The maximum scale found is ScaleFactorMax ScaleTarget To use ScaleFactorMax and ScaleFactorMin you must set the ScaleEnabled property to True See Also Object Tab Scale Result ScaleEnable Property ScaleFactorMin Property ScaleTarget Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 137 ScaleFactorMin Property ScaleFactorMin Property Applies To Vision Objects Geometric Description Sets returns the minimum scale factor applied to the ScaleTarget value Usage VGet Sequence Object ScaleFactorMin var VSet Sequence Object ScaleFactorMin value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values 0 5 1 0 Default 0 5 Remarks ScaleFactorMax and ScaleFactorMin determine the scale range to search for as applied to the ScaleTarget property The minimum scale found is Scale
88. e pair defines the position of the starting point of the object Usage VGet Sequence Object X1 var VSet Sequence Object X1 value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video width 1 Remarks Line Object The X1 property is used to locate horizontal position for the starting point of a Line object This property is initially set to the starting point X position where the user drops a newly created Line object However if a Point object is associated with another object in the sequence i e the StartPointType property is set to another vision object and not set to Screen then the X1 property for the Line object is automatically modified according to the associated property When the StartPointType property is set to Screen there are 2 methods which can be used to move the Line object Click on the Line object s label and drag the object to the position you want to place it Change the X1 Y1 X2 or Y2 coordinates Edge Object The X1 property is used to locate horizontal position for the starting point of an Edge object See Also Edge Object Line Object Object Tab StartPointObject Property StartPointType Property X2
89. ea property max Var Long variable containing the maximum area to get from or set to the MaxArea property Values For details refer to MaxArea Property or MinArea Property Remarks The purpose of the MinMaxArea property is to provide a single function call from the SPEL language to allow the setting of both the MinArea and MaxArea Properties Do no set the MinMaxArea setting too large If the range is too large it may result in false detection See Also Area Result Blob Object MaxArea Property MinArea Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 73 MinPixelLength Property MinPixelLength Property Applies To Vision Objects Line Description Defines the lower length limit for the Line object For a Line to be found it must have a PixelLength result above the value set for MinPixelLength property Usage VGet Sequence Object MinPixelLength var VSet Sequence Object MinPixelLength value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values 0 or higher real number in pixels Default 0 Remarks The purpose of the MinPixelLength and MaxPixelLength Properties is to set a range for the Line object such that if a line pixellength does
90. efore running a sequence See Also ModelObject Property 78 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ModelOrgAutoCenter Property ModelOrgAutoCenter Property Applies To Vision Objects Correlation Geometric Description A model has a fixed reference point by which we describe its location in an image This point is referred to as the model s origin The ModelOrgAutoCenter property causes the model origin to be placed at the center of the model window automatically Usage VGet Sequence ObjectModelOrgAutoCenter var VSet Sequence Object ModelOrgAutoCenter value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Integer expression for the new value of the property Values False Do not cause the model origin to be automatically positioned True Automatically position the model origin at the center of the model window Default True Remarks The model origin may lie anywhere within the region defined by the model window The origin s coordinates define the model origin relative to the model window s upper left corner that is relative to the location of element 0 0 of the model window that defines the model The ModelOrgAutoCenter property causes the model origin to be positioned automatically in the center
91. el var VSet Calibration RobotAccel value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 1 to 100 Default 10 Remarks Use RobotAccel along with RobotSpeed to configure the speed of a calibration cycle For more delicate systems a slow speed and accel should be used The robot must not cause any vibration of the camera that could affect calibration accuracy See Also Accel Statement RobotSpeed Property Speed Statement 116 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotArm Property RobotArm Property Applies To Vision Calibration Description Sets returns the robot arm used when teaching points for a vision calibration Usage VGet Calibration RobotArm var VSet Calibration RobotArm value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 3 Default 0 Remarks RobotArm defines the arm definition used during the teaching process for a vision calibration See Also RobotLocal RobotTool Vision Guide 5 0 Reference Ver 5 3 Rev 1 117 RobotLocal Property RobotLocal Property Applies To Vision Calibration Description S
92. erty before running a sequence or maybe you want to use the same vision sequence with 2 different cameras Both of these scenarios can be handled in SPEL using VSet Shown below is a Vision Guide program which runs the same vision sequence for 2 different cameras to calculate the number of holes found in a board It is assumed that a Sequence called FindHoles has already been created prior to running this program FindHoles contains a Part Blob object which is configured to find the number of holes in the Search Window using Holes Result In this example we will run the sequence and then display the number of holes which were found When VSet is called from a program changes are only made in memory and are not saved After program execution stops the vision system is restored to the saved state Function test Integer count define CAMERA1 1 define CAMERA2 2 VSet FindHoles Camera CAMERAL1 Find holes for part at camera 1 VRun FindHoles Run the Vision Sequence VGet FindHoles Part Holes count Get the of holes which were found Print Cameral holes found count VSet FindHoles Camera CAMERA2 Repeat for camera 2 VRun FindHoles VGet FindHoles Part Holes count Get the of holes which were found Print Camera2 holes found count Fend See Also VGet VRun VSet Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 185 X Property X Property Applies To Vision Objects Point Description
93. es To Vision Objects Correlation Geometric Description Defines the left most position of the model window for Correlation and Geometric objects Usage VGet Sequence Object ModelWinLeft var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values Integer number in pixels from 1 video width Remarks The ModelWinLeft property is available for the Correlation and Geometric objects only since those are the only vision objects which use a Model to define a pattern to search for The model window always fits inside the Search Window The Correlation and Geometric objects have rectangular model windows which define the position and size of the model to be taught The ModelWinLeft property is set automatically when the user drags the entire model window to a new location or when the leftmost side of the model window is dragged to resize the model window The ModelWinLeft property is available from both the Vision Guide window Object Tab and from the SPEL Language The easiest way to set the ModelWinLeft position is to simply click down on one of the sides of the model window and then drag the model window to a new position You can also click on the leftmost vertical side of the model window at the center of the vertical line where
94. ession for the new value of the property Values 0 100 Default 50 Remarks The Smoothness property allows you to control the smoothing level of the edge extraction filter The smoothing operation evens out rough edges and removes noise The range of this control varies from 0 no smooth to 100 a very strong smooth The default setting is 50 The DetailLevel property also affects how edges are extracted See Also DetailLevel Property Object Tab Timeout Property 160 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Sort Property Sort Property Applies To Vision Objects Blob Correlation Geometric Description Sets or returns the sort order used for the results of an object Usage VGet Sequence Object Sort var VSet Sequence Object Sort value Sequence Name of a sequence or string variable containing a sequence name Values Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property 0 None No sorting is done 1 PixelX Results are ordered from left to right according to the PixelX result 2 PixelY Results are ordered from top to bottom according to the PixelY result 3 PixelXY Results are ordered diagonally from upper left to lower right according to the PixelX and PixelY results 4 CameraX Results are ordere
95. ets returns the local coordinate system used when teaching points for a vision calibration Usage VGet Calibration RobotLocal var VSet Calibration RobotLocal value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 15 Default 0 Remarks RobotLocal defines the local robot coordinate system used during the teaching process for a vision calibration See Also RobotArm RobotTool 118 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotSpeed Property RobotSpeed Property Applies To Vision Calibration Description Sets returns the robot point to point motion speed used during the calibration cycle Usage VGet Calibration RobotSpeed var VSet Calibration RobotSpeed value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 1 to 100 Default 10 Remarks Use RobotSpeed along with RobotAccel to configure the speed of a calibration cycle For more delicate systems a slow speed and accel should be used The robot must not cause any vibration of the camera that could affect calibration accuracy See Also Accel Statement RobotAccel Property S
96. ev 1 59 Iterations Property Iterations Property Applies To Vision Objects ImageOp Description Sets returns how many times to execute the image operation Usage VGet Sequence Object Iterations var VSet Sequence Object Iterations value Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 99 Remarks The Iterations property affects the following ImageOp operations Open Close Erode Dilate Smooth Sharpen1 Sharpen2 Thin Thicken See Also ImageOp Object Operation Property 60 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Lamp Property Lamp Property Applies To Vision Calibration Description Sets returns the output bit used for the calibration lamp Usage VGet Calibration Lamp var VSet Calibration Lamp value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value of a valid standard output bit Remarks Use the Lamp property to automatically turn on a lamp for calibration Use the LampDelay property to allow time for a lamp to turn on before calib
97. expression for the new value of the property Values The value can range from 1 to the NumberToFind value for the CenterPointObject Ifthe CenterPointObject is Screen then the value is always 1 Remarks CenterPntObjResult enables you to attach several objects to the results of one CenterPointObject For example you could create a blob object with NumberToFind set to 4 Then you could attach a polar object to each one of the results by specifying the blob for the CenterPointObject of each polar and a different CenterPntObjResult for each polar See Also CenterPointObject Property CenterX Property CenterY Property Object Tab 30 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CenterPntOffsetX Property CenterPntOffsetX Property Applies To Vision Objects Blob Correlation Geometric Polar Description Sets or returns the X offset of the center of the search window after it is positioned with the CenterPointObject Usage VGet Sequence Object CenterPntOffsetX var VSet Sequence Object CenterPntOffsetX value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer in pixels If the search window would not be positioned within the video image as a
98. fines the width of the an object s search window Usage VGet Sequence Object SearchWinWidth var VSet Sequence Object SearchWinWidth value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number in pixels from 10 to video width SearchWinLeft Default 100 Remarks The SearchWinWidth property is available for the Blob Correlation Geometric and ImageOp objects Each of these object types have similar rectangular Search Windows used to define the area to search within The SearchWinWidth property is set automatically when the user drags the left or right vertical window handles for the Search Window of each object type However the width of an object s Search Window can also be adjusted by simply entering a new value in the Search WinWidth property There are cases where the user may want to expand or position the Search Window dynamically and for that reason the Search WinWidth property can also be set from the SPEL Language Do not the set the SearchWinWidth setting too large If the value is too large the detection time gets longer and may result in false detection See Also Blob Object Correlation Object Geometric Object ImageOp Object
99. g point The PixelX1 and PixelX2 results represent the X coordinate position of the starting X1 Y1 and end points X2 Y2 of the specified Line object Since Line object starting and end points can be assigned to other vision objects the PixelX1 PixelY1 and PixelX2 Pixel Y2 coordinate pairs can actually be pixel coordinate positions which match the PixelX and Pixel Y results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the PixelX PixelY results from the Correlation object will match the PixelX1 PixelY1 results for the Line object See Also Angle Result Line Object Object Tab PixelX Result PixelX2 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotXYU Result X1 Property X2 Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 103 PixelX2 Result PixelX2 Result Applies To Vision Objects Line Description Returns the pixel X coordinate of the end point of a Line object Usage VGet Sequence Object PixelX2 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Min 0 Max Video width 1 Remarks Every line must have a starting point and ending point The PixelX1 and PixelX2 results
100. gh property and ThresholdLow property will also have an impact on the Blob object s ability to find blobs Please refer to ThresholdHigh Property and ThresholdLow Property for more information See Also Blob Object Direction Property Edge Object Object Tab ThresholdLow Property ThresholdHigh Property 112 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Radius Property Radius Property Applies To Vision Objects Polar Description Defines the radius for a Polar object See diagram below Radius Usage VGet Sequence Object Radius var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property Values The radius in pixels Default 50 Remarks It is important to remember that the Polar object is used to process images that are circular in nature The Radius property defines the size of the circle used for the Polar object This means that the Radius property along with the Thickness property defines the size of the Search Window for the Polar object The size required for a Polar object Search very much depends upon what the Polar object is being used for For example if the Polar object is being used to Inspect Gear Teeth then the Polar object should be made just a little larger than the Gear to be
101. h a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the Camera Y result an error will occur Statistics For the CameraY result the following statistics are available CameraYMax CameraYMean CameraY Min CameraYStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result Blob Object CameraX Result CameraX YU Result Correlation Object Edge Object Found Result Geometric Object Point Object Polar Object RobotX YU Result RobotY Result 26 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CameraY1 Result CameraY1 Result Applies To Vision Objects Line Description Returns the starting point position Y coordinate Y1 of a Line object in Camera coordinates Usage VGet Sequence Object CameraY 1 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in millimeters Remarks Every line must have a starting point and ending point The CameraY1 and CameraY2 results represent the Y coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the CameraX1 CameraY1 and CameraX2 CameraY
102. he ThresholdHigh and ThresholdLow properties during binarization For example when ThresholdColor Black ThresholdLow 50 and ThresholdHigh 100 then pixels whose gray values are between 50 and 100 will be set to black during binarization All other pixels will be white See Also Blob Object ImageOp Object Object Tab Polarity Property ThresholdHigh ThresholdLow Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 171 ThresholdHigh Property ThresholdHigh Property Applies To Vision Objects Blob ImageOp Description Sets or returns the ThresholdHigh value for a Blob or ImageOp object Usage VGet Sequence Object Threshold High var VSet Sequence Object ThresholdHigh value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 255 This value must be greater than the ThresholdLow value or an error will occur Remarks Blob Objects The ThresholdHigh property works with the ThresholdLow property to define the grey level regions which represent the feature or object the background and the edges of the image The ThresholdHigh property defines the upper bound for grey level values that are considered to be a blob Any part of the image which falls wit
103. he specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values EndPointObject Screen Blob Correlation Geometric Edge or Point object EndPointObject Line See remarks 0 Point Default 2 MidPoint When used with objects other than the Line object the EndPointType can only be of type Point Default 0 Point Remarks NOTE 48 As you can see in the Values Table above most of the EndPointObject s support only 1 EndPointType called Point This is because most EndPointObject s use the PixelX and PixelY position for a reference position for defining a Start or End Point for a line So when the EndPointObject is defined as Screen Blob Correlation Edge or Point the EndPointType will always be set to 0 Point The range of valid values for EndPointType depend upon the EndPointObject However when the EndPointObject is another Line object the user must decide where on the 2nd line to intersect with the Ist line The choices are as follows 1 EndPoint Use the end point of the other line as the endpoint for this line 2 MidPoint Cut the other line in half and use the center or midpoint of the other line as the endpoint for this line 3 Perpendicular Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion and use this position as the end point 4 StartPoint U
104. he specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 100 Default 50 Remarks The Score WeightContrast is a percentage value that tells the Edge object how much to weigh the contrast result in the final score ScoreWeightContrast works with Score WeighStrength Both of these property values must add up to 100 When you set one property the system will automatically set the other property to the correct value See Also Edge Object Contrast Result Score WeightStrength Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 141 ScoreWeightStrength Property ScoreWeightStrength Property Applies To Vision Objects Edge Description Sets the percentage of the score that depends on edge strength Usage VGet Sequence Object ScoreWeightStrength var VSet Sequence Object ScoreWeightStrength value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 100 Default 50 Remarks The Score WeightStrength is a percentage value that tells the Edge object how much to weigh the edge strength result in the final score Score
105. hin grey level region between ThresholdLow and ThresholdHigh will be assigned a pixel weight of 1 1 e it is a blob If the Polarity property is set to DarkOnLight then grey levels between ThesholdLow and ThresholdHigh will changed to black pixels and all other pixels will be white If the Polarity property is set to LightOnDark then grey levels between ThesholdLow and ThresholdHigh will changed to white pixels and all other pixels will be black One of the problems regarding the ThresholdLow and ThresholdHigh Properties is finding the correct values to use for each This is where the Histogram feature of Vision Guide comes in You can run a Histogram on an image to see the relationship between the pixel counts at various grey levels From the Histogram dialog you can adjust each of the threshold values and view the results See Also Blob Object ImageOp Object Object Tab Polarity Property ThresholdLow Property 172 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ThresholdLow Property ThresholdLow Property Applies To Vision Objects Blob ImageOp Description Sets or returns the ThresholdLow value for a Blob or ImageOp object Usage VGet Sequence Object ThresholdLow var VSet Sequence Object ThresholdLow value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable
106. i A eda da veePe a EEA a da 181 VRUN Statements 24 siceaiie te denser ike ee ee ee one 183 WSet Statement esis A tna 184 A PROPOMY a A A ee A A et 186 AACPRODSMY A 187 ALTO ca ca 188 AAVOEMOrReS Uco a keds a Tira ka hartas 189 E alate Bilis Ai eee le Pll ca ET 190 AmmPerPixel Result comal lili 191 MTA RESUIt a A o A rad ae dirs E ede ve 192 Yo PEOPOMY testes ftir a tradde AT irons do eile aad dette MM NT 193 x Vision Guide 5 0 Reference Ver 5 3 Rev 1 Table of Contents APTO PO Vic O oia 194 NZ AKE O H A AA S ral Sela Sher tea celda shes 195 YAxisPntObjResult Property cccccccccceeceeceeeeeeeeeeeeeeeeaeeeeeeeeeeeseceeeaeeeeeeeeseeccieaeeeeeeeeeeeeeinas 196 AXIS PONE Property inicia vas ante att Hates iy Are a ed eters 197 AVG EFOR RESUI ratta A De Oh LS 199 VY MaxErrorResult ira rai 200 mmPerPixel Result A AAA Bis a a e 201 TIE Rel E PR RO acia 202 Vision Guide 5 0 Reference Ver 5 3 Rev 1 xi Table of Contents xii Vision Guide 5 0 Reference Ver 5 3 Rev 1 Vision Properties and Results Reference Overview This reference manual explains all Vision Guide sequence object and calibration properties and results and all Vision Guide SPEL commands For more information on how to use Vision Guide refer to the Vision Guide manual Vision Properties and Results Format Description All Vision Guide properties and results are listed in the pages that follow An explanation of the headings for the property
107. ich match the PixelX and PixelY results for other vision objects In other words if a Line object s endpoint is defined by a Correlation object then the PixelX PixelY results from the Correlation object will match the PixelX2 PixelY2 results for the Line object See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelX2 Result PixelY Result PixelY1 Result RobotX YU Result RobotY Result X1 Property X2 Property Y1 Property Y2 Property 108 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PointsTaught Property Points Taught Property Applies To Vision Calibration Description Sets returns the teach state of a vision calibration s points Usage VGet Calibration PointsTaught var VSet Calibration PointsTaught value Calibration Name of a calibration or string variable containing a calibration name var Boolean variable that will contain the value of the result value Boolean expression for the new value of the property Values False Points have not been taught True Points have been taught Remarks PointsTaught must be True before you can execute a calibration If you teach the calibration points from the Vision Guide GUI Calibration tab then this property will automatically be set to True See Also CalComplete Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 109 PointType Property PointT ype Property Applies To Vision Objects Point Description Defines whether the Po
108. ick on the Line object s label and drag the object to the position you want to place it Change the X1 Y1 X2 or Y2 coordinates Edge Object The Y 1 property is used to locate veritical position for the ending point of an Edge object See Also Edge Object EndPointObject Property EndPointType Property Line Object Object Tab X1 Property X2 Property Y1 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 195 YAxisPntObjResult Property YAxisPntObjResult Property Applies To Vision Objects Frame Description Specifies which result to use from the Y AxisPointObject Usage VGet Sequence Object Y AxisPntObjResult var VSet Sequence Object Y AxisPntObjResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values The value can range from 1 to the NumberToFind value for the YAxisPointObject If the YAxisPointObject is Screen then the value is always 1 Remarks Use the YAxisPntObjResult property to specify a result number other than one for a Frame Object s Y AxisPoint See Also Frame Object Object Tab OriginPntObjResult Property OriginPoint Property YAxisPoint Property 196 Vision Guide 5 0 Reference Ver 5 3 Rev 1 YAxisPoint
109. ics are available AreaMax AreaMean AreaMin AreaStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Blob Object MaxArea Property MinArea Property MinMaxArea Property Object Tab 14 Vision Guide 5 0 Reference Ver 5 3 Rev 1 BackColor Property BackColor Property Applies To Vision Objects All Description Sets the background color for an object s label Usage VGet Sequence Object BackColor var VSet Sequence Object BackColor value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 0 None 1 Black 2 White Remarks With some images it is difficult to read the label because of the video background Use BackColor to make the label easier to read See Also FoundColor Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 15 CalComplete Result CalComplete Result Applies To Vision Calibration Description Returns the completion status of a calibration Usage VGet Calibration CalComplete var Calibration Name of a calibration or string variable containing a calibration name var Boolean variable that will contain the value of the result Values False Calibration has not been
110. ied to Screen Blob Correlation Edge or Point object then the StartPointType is automatically changed to Point See Also Edge Object EndPointType Property Line Object Object Tab StartPointObject Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 165 Strength Result Strength Result Applies To Vision Objects Edge Description Returns the strength of the found Edge Usage VGet Sequence Object Strength var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the result Values 0 100 Remarks Use the Strength result to set the StrengthTarget property See Also Edge Object StrengthTarget Property Strength Variation Property 166 Vision Guide 5 0 Reference Ver 5 3 Rev 1 StrengthTarget Property Strength Target Property Applies To Vision Objects Edge Description Sets the desired edge strength to search for Usage VGet Sequence Object StrengthTarget var VSet Sequence Object StrengthTarget value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the
111. igin with mouse or arrow keys and paint erase don t care pixels The ShowModel property is available from the Vision Guide window Object tab The user clicks on the value field of the ShowModel property which causes a button to appear in the Value field Click on the button and the model will be displayed in the Vision Guide window Changing the model orgin This allows you to set the model origin more accurately A check box is provided so that ModelOrgAutoCenter can be toggled When ModelOrgAutoCenter is set to on the model origin is centered and cannot be changed To change the model origin with the mouse make sure that the ModelOrgAutoCenter check box is off Then point to the center of the cross and click the mouse down Now drag the cross to the desired position Click OK to save the new model origin settings Polar Objects The model can be zoomed The ModelOrgAutoCenter check box and drawing toolbar are hidden since they do not apply in this case Also there is a Close button instead of OK and Cancel Vision Guide SC300 640 x 480 FindPart Zoom 100 Object 1 CorrOl Correlation Property Value Name CorrOl NumberT oFind 1 RejectOnE dge 0 False SearchWinHeight 476 SearchW inLeft 1 Searchw inTop 1 Searchwinwidth 637 ShowModel Click to show Sort 0 None Result 1 of 1 Value Angle 0 0 deg Camerax no cal CameraY no cal Found 1 True FoundOnE dge 0 False NumberF
112. ill contain the value of the property value Real expression for the new value of the property Values Real number in millimeters Default 0 Remarks The purpose of the MinLength and MaxLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found This is useful when you want to gauge the length of a line in millimeters To gauge a line in pixels see the MinPixelLength and MaxPixelLength properties See Also Line Object MaxLength Property MinPixelLength Property MaxPixelLength Property Object Tab 72 Vision Guide 5 0 Reference Ver 5 3 Rev 1 MinMaxArea Property MinMaxArea Property Runtime only Applies To Vision Objects Blob Description Defines the lower and upper Area limits for the Blob object For a Blob to be found it must have an Area result greater than the MinArea property and less than the MaxArea property MinMaxArea property was added to allow easy manipulation of both the MinArea and MaxArea Properties from one function call in the SPEL language Usage VGet Sequence Object MinMaxArea minVar maxVar VSet Sequence Object MinMaxArea minVar maxVar Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence minVar Long variable containing the minimum area to get from or set to the MinAr
113. inLeft value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number in pixels from 0 to video width Search WinWidth Remarks The SearchWinLeft property is available for the Blob Correlation Geometric and ImageOp objects Each of these object types have similar rectangular Search Windows used to define the area to search within The Search WinLeft property is set automatically when the user drags the left vertical window handle for the Search Window of each object type There are cases where the user may want to position the Search Window dynamically and for that reason the SearchWinLeft property can also be set from the SPEL Language See Also Blob Object Correlation Object Geometric Object ImageOp Object Object Tab SearchWinHeight Property Search WinTop Property Search WinWidth Property Window Property 146 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SearchWinTop Property SearchWinTop Property Applies To Vision Objects Blob Correlation Geometric ImageOp Description Defines the Y coordinate of the top of an object s search window Usage VGet Sequence Object SearchWinTop var VSet Sequence Object SearchWinTop value
114. ind Usage VGet Sequence Object SizeToFind var VSet Sequence Object SizeToFind value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 0 Any Find blobs of any size 1 Largest Find the largest blobs 2 Smallest Find the smallest blobs Default 0 Any Remarks Use the SizeToFind property to find the largest or smallest blobs in an image When a blob object searches for blobs in an image it finds several candidates sometimes many more than the desired number SizeToFind can filter the results so that you get the largest or smallest blobs See Also Sort Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 159 Smoothness Property Smoothness Property Applies To Vision Objects Geometric Description Sets returns the smoothness level for the geometric edge extraction filter Usage VGet Sequence Object Smoothness var VSet Sequence Object Smoothness value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expr
115. ing the search See Also Object Tab ScaleEnable Property ScaleFactorMax Property ScaleFactorMin Property ScaleTarget Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 135 ScaleEnable Property ScaleEnable Property Applies To Vision Objects Geometric Description Enables the Scale result Usage VGet Sequence Object ScaleEnable var VSet Sequence Object ScaleEnable value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Do not account for scale during search True Determine scale factor Remarks You must set ScaleEnable to True to account for scale differences during the search See Also Geometric Object Object Tab Scale Result ScaleFactorMax Property ScaleFactorMin Property Scale Target Property Vision Sequences 136 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ScaleFactorMax Property ScaleFactorMax Property Applies To Vision Objects Geometric Description Sets returns the maximum scale factor applied to the ScaleTarget value Usage VGet Sequence Object ScaleFactorMax var VSet Sequence Object ScaleFactorMax value Sequence Name ofa sequence or string variable containing a sequence name Object Nam
116. inning of each vision sequence However you may also use the same image for more than 1 sequence Simply acquire an image for the 1st sequence and then use the same image in the 2nd sequence making sure to set the Runtime Acquire property to None for the 2nd sequence The 3rd Acquisition method is called Strobed This acquiers an image as follows When the vision sequence is run the sequence will wait for an input trigger At the instance the trigger input goes active the vision sequence will initiate an acquisition thus capturing the image at the same time as the strobe of the light source Please see Image Acquisition in the Vision Guide 5 0 manual for more details See Also Object Tab RuntimeFreeze Property Vision Sequences 132 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RuntimeFreeze Property RuntimeFreeze Property Applies To Vision Sequence Description Defines whether or not to freeze the display of an image acquired during a vision sequence Usage VGet Sequence RuntimeFreeze var VSet Sequence RuntimeFreeze value Sequence Name of a sequence or string variable containing a sequence name var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Do not freeze the image Image display area will show live image True Freeze the image Image display area will show frozen image Default True Remarks The RuntimeFreeze property
117. inspected However ifthe Polar object is used just to find an angular position of a specific part of an image then the Polar object may be smaller in size Keep in mind that the smaller the Polar object search window the faster the execution time for the Polar search See Also CenterPoint Property CenterX Property Center Y Property Object Tab Polar Object Thickness Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 113 RejectOnEdge Property RejectOnEdge Property Applies To Vision Objects Blob Correlation Geometric Description Determines if an object is rejected if found on the edge of the search window Usage VGet Sequence Object RejectOnEdge var VSet Sequence Object RejectOnEdge value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Do not reject the object if found on edge of search window True Reject the object if found on edge of search window Default False Remarks When searching for objects that can fall outside the search window setting RejectOnEdge to True will prevent these objects from being found For example if you are trying to locate the center of a blob and it falls partially outside the search window will no
118. int object will have its position based on either the position the Point object is placed on the Screen 0 Screen the midpoint of a line 1 midpoint or the intersection of 2 lines 2 intersection Usage VGet Sequence Object PointType var VSet Sequence Object PointType value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 0 Screen Sets the Point object s position to be based upon the position on the screen 1 MidPoint Sets the Point object s position to be based upon the Midpoint of the Line object selected as LineObjectl for this Point 2 Intersection Sets the Point objects position to be based upon the point were 2 lines intersect as defined by LineObjectl and LineObject2 for this point Default O Screen Remarks Point objects are useful to define the midpoint or intersection point of a line or lines This is their primary purpose The PointType property is used to define the what the position for a Point object will be based upon As mentioned before there are 3 choices 0 Screen This is the default value for a Point object when it is first created but most of the time the PointType property is not set to this value 1 MidPoint
119. intObject If CenterPointObject property is set to None then CenterPntOffsetY has no effect See Also CenterPointObject CenterPntOffsetX Object Tab 32 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CenterPointObject Property CenterPointObject Property Applies To Vision Objects Blob Correlation Geometric Polar Description Specifies the object whose position is used as the center for the specified object Usage VGet Sequence Object CenterPointObject var VSet Sequence Object CenterPointObject value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Name of a vision object or screen Default Screen Remarks The CenterPointObject is based on the resulting coordinate position of an object which is executed prior to the specified object When teaching an object which has the CenterPointObject set to something other than Screen the vision object defined as CenterPointObject is executed first and the resulting position PixelX and PixelY is used to position the object before it is taught In order for the current object to be found in the future also requires that the vision object defined as the CenterPointObject is found so that the center of the
120. intObject is Screen then the value is always 1 Remarks Use the OriginPntObjResult property to specify a result number other than one for a Frame Object s OriginPoint See Also Frame Object Object Tab OriginPoint Property Y AxisPoint Property YAxisObjResult Property 9 Vision Guide 5 0 Reference Ver 5 3 Rev 1 OriginPoint Property OriginPoint Property Applies To Vision Objects Frame Description Defines the vision object to be used as the origin point for a Frame object Usage VGet Sequence Object OriginPoint var VSet Sequence Object OriginPoint value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Valid vision objects for the OriginPoint property are Blob Correlation Edge Line and Point objects The OriginPoint may also be based on the Screen position of the Frame Values Screen or any object that runs prior to the frame and returns PixelX and PixelY results Default Screen Remarks When a Frame object is first drag and dropped onto the Image Display area of the Vision Guide Window the default OriginPoint property is set to Screen Frame objects are normally attached to other Vision objects This is the purpose of the OriginPoin
121. is the CurrentResult Used for objects that return multiple results Values False The part was not found at the edge of the search window True The part was found at the edge of the search window Remarks The FoundOnEdge result is a special status which works only with the Blob Correlation and Geometric objects It tells the user why a specific Blob Correlation or Geometric object is not Found Sometimes the Vision System tries to report that a Blob Correlation or Geometric object was found even though part of the object may be located outside of the Field of View Rather than report these objects as Found Vision Guide returns False for the Found result when a Blob Correlation or Geometric object is found but part of the object is outside of the Search Window If you want to reject a part when FoundOnEdge is True set the RejectOnEdge property to True Nore There will be cases where you will use a Correlation object and the Found result continues to return False Ce even though the Score result for the object is well below the Accept property In these situations check the FoundOnEdge result and RejectOnEdge property This will tell you that the part was in fact found by the Vision System but that Vision Guide will not return the results because the part or object is outside of the Field of View when the picture was taken See Also Blob Object Correlation Object Found Result Geometric Object Object Tab RejectOnEdge Property Sco
122. is vision object Remarks The ShowAllResults result is a special type of results which allows the user to see all the results for a specific vision object It is the most useful when there are multiple results for a specific vision object because you can see all the results at one time The ShowAllResults result was designed to make is easier to see multiple results all together in one place Therefore it is only available for those vision objects which support multiple results Blob Correlation and Geometric objects See Also Blob Object Correlation Object Edge Object Geometric Object Object Tab 154 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ShowExtensions Property ShowExtensions Property Applies To Vision Objects Line Description By default Line objects display a line from a starting reference defined by the StartPointObject property to an ending reference defined by the EndPointObject property The ShowExtensions property causes the graphics display of the line to be extended out by using a dotted line to indicate the extensions so you can see the complete projection of the line Usage VGet Sequence Object ShowExtensions var VSet Sequence Object ShowExtensions value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the
123. ity var VSet Sequence Object Polarity value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Edge 1 LightToDark Searching for an Edge transition from light to dark 2 DarkToLight Searching for an Edge transition from dark to light Blob 1 DarkOnLight Find a dark blob on a light background 2 LightOnDark Find a light blob on a dark background ImageOp 1 DarkOnLight The operation will be performed on dark objects 2 LightOnDark The operation will be performed on light objects Default 1 Remarks The Polarity property is important for both the Edge and Blob objects because it defines one of the core parameters for each In the case of the Edge object the Polarity defines the edge transition along the direction of the edge search When using the Blob object Polarity is critical The Vision System must be told whether or not to look for light objects on a dark background or dark objects on a light background Without the proper setting for the Polarity property the Blob object will return strange results Keep in mind that if a Blob object can find a dark object on a light background it can also find a light object on a dark background The ThresholdHi
124. jects Edge Description Sets the threshold percentage for which edges with grayscale variation below this value are ignored Usage VGet Sequence Object EdgeThreshold var VSet Sequence Object EdgeThreshold value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 1 100 Default 2 Remarks Use EdgeThreshold to reject edges along the search path with smaller grayscale variations During an edge search the image in the search area is projected into one line of pixels Each pixel in the projection is a summation of all the pixels in the same column of the search area An edge value is determined for each pixel in the projection The EdgeThreshold rejects edges values below the setting See Also Edge Object Strength Result StrengthTarget Property Strength Variation Property 44 Vision Guide 5 0 Reference Ver 5 3 Rev 1 EdgeType Property EdgeType Property Applies To Vision Objects Edge Description Sets gets the type of edge to search for Usage VGet Sequence Object EdgeType var VSet Sequence Object EdgeType value Sequence Name ofa sequence or string variable containing a sequence name Object Name of an object or
125. l expression for the new value of the property Values Real value from 0 100 of model width 0 Disabled Default 10 Remarks Use SeparationMinY to specify the minimum distance along the Y axis required between found objects SeparationMinY is a percentage of model height SeparationMinY works with SeparationAngle SeparationMinX SeparationScale Note that only one separation condition needs to be satisfied for objects to be considered found See Also Object Tab SeparationAngle Property SeparationMinX Property SeparationScale Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 151 SeparationScale Property SeparationScale Property Applies To Vision Objects Geometric Description Sets returns the minimum scale difference allowed between found objects Usage VGet Sequence Object SeparationScale var VSet Sequence Object SeparationScale value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real value from 1 0 4 0 Default 1 1 Remarks Use SeparationScale to specify the minimum scale difference required between found objects SeparationScale works with SeparationMinX SeparationMinX SeparationScale Note that only one separation condition
126. ld not be found Don t expect that your Score results will always be close to 1000 Just because a Score result is returned which is relatively low as compared to a perfect score of 1000 doesn t mean that the application cannot be done or isn t reliable There are many different application types and each has its own circumstances which affect the Score results Some applications will return Score results of less than 500 while others may always return Score results over 900 Proper settings of lighting part presentation overall vision application setup and proper vision tool usage will all affect the Score results Statistics For the Score Result the following statistics are available ScoreMax ScoreMean ScoreMin ScoreStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Accept Property Confusion Property Correlation Object Edge Object Found Result Geometric Object Object Tab Polar Object 140 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ScoreWeightContrast Property ScoreWeightContrast Property Applies To Vision Objects Edge Description Sets the percentage of the score that depends on contrast Usage VGet Sequence Object ScoreWeightContrast var VSet Sequence Object ScoreWeightContrast value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in t
127. le that will contain the value of the property Values Integer number in pixels from 1 video height Remarks The ModelWinTop property is available for the Correlation and Geometric objects only since those are the only vision objects which use a model to define a pattern to search for The model window always fits inside the Search Window The Correlation and Geometric objects have rectangular model windows which define the position and size of the model to be taught The ModelWinTop property is set automatically when the user drags the entire model window to a new location or when the topmost side of the model window is dragged to resize the model window The ModelWinTop property is available from both the Vision Guide window Object tab and from the SPEL Language The easiest way to set the Model WinTop position is to simply click on the top or bottom horizontal side of the model window and then drag the model window to a new position You can also click on the uppermost horizontal side of the model window at the center of the vertical line where the uppermost side window handle is the small square on the upper horizontal side of the Model window You will see the mouse pointer change to a two direction vertical arrow Now drag the uppermost horizontal side of the model window and you will see the size of the model change Release the mouse button when you want to set the position It is also possible to set a specific value for the Model
128. lets you choose whether to show the image acquired during a sequence or show live video after the sequence runs See Also RuntimeAcquire Property Sequence Tab Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 133 Savelmage Property Savelmage Property Designtime Only Applies To Vision Sequence Description Saves the currently displayed image on disk Remarks Savelmage allows you to save images to disk that can be used by the ImageFile property The file can be saved in the following formats MIM default format for Vision Guide BMP TIF or JPG See Also Object Tab ImageFile Property ImageSource Property 134 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Scale Result Scale Result Applies To Vision Objects Geometric Description Returns the scale of the object found Usage VGet Sequence Object Scale result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Values Real number scale factor Remarks You can use the Scale result to determine the size of the object found compared to the size of the model trained The ScaleEnabled property must be set to True to allow the scale to be determined dur
129. lies To Vision Sequence Description The AcquireState result is used determine if a picture has been taken for a sequence whose RuntimeAcquire property has been set to Strobed Usage VGet Sequence AcquireState var Sequence Name of a sequence or string variable containing a sequence name var Integer variable that will contain the value of the result Values 0 Picture has not been taken strobe has not yet fired 3 Picture has been taken Remarks After calling VRun for a strobed sequence the SPEL program must wait for the AcquireState to become 3 before further vision processing can continue See Also Object Tab RunTimeAcquire Property 4 Vision Guide 5 0 Reference Ver 5 3 Rev 1 AllFound Result AllFound Result Applies To Vision Sequence Description The AllFound result returns whether or not all objects within the specified sequence were found Usage VGet Sequence AllFound var Sequence Name of a sequence or string variable containing a sequence name var Boolean variable that will contain the value of the result Values False One of the objects within the sequence was not found True All objects within the sequence were found Remarks The AllFound result is useful to determine that all objects within a specified sequence are found This result applies to sequences only and will not be found in object results See Also Found Result Sequence Tab Time Result Vision Sequences Vision Guide 5 0 Refe
130. llimeters Remarks Every line must have a starting point and ending point The RobotY1 and RobotY2 results represent the Y coordinate position starting Y1 and endpoints Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the RobotX1 RobotY1 and RobotX2 RobotY2 coordinate pairs can actually be robot coordinate positions which match the RobotX and RobotY results for other vision objects In other words if a Line object s endpoint is defined by a Correlation object then the RobotX RobotY results from the Correlation object will match the RobotX2 RobotY2 results for the Line object The RobotY2 result is always represented in millimeters with respect to the robot coordinate system It should be noted that the RobotY2 result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then using VGet to retreive the RobotY2 result will cause an error to occur See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelX2 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotX1 Result RobotX2 Result RobotXYU Result RobotY Result RobotY1 Result X1 Property X2 Property Y1 Property Y2 Property 128 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RotationAngle Property RotationAngle Property Applies To Vision Objects
131. lue which represents the level at with the runtime image matches the model for which it is searching In the case of the Edge object the Score result measures the level at which a contrast between Light to Dark or Dark to Light transition takes place In summary an object s Score result is the measure of how well the model was found Usage VGet Sequence Object Score result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Values 0 1000 Remarks The Score result is the basic value used to measure how well a feature in the search area matches a previously taught model If the Score is not greater than or equal to the Accept property value the object is considered not found Normally a low Score result means that the image doesn t contain any patterns which closely match the Model However it should be noted that a low Score result can also be obtained if the Accept property and Confusion Properties are not set high enough If these properties are set low the first pattern found that meets the Accept and Confusion property thresholds will be returned as found This could mean that other patterns in the image which may have been better matches wou
132. me of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number from 1 total pixels in image Remarks TotalArea can be used to determine all pixels in the image being searched whose blobs fall withing the MinArea and MaxArea properties By setting NumberToFind to 0 and MinArea to 1 the Blob object can be used as a pixel counter See Also Area Result Blob Object Object Tab NumberToFind Property 176 Vision Guide 5 0 Reference Ver 5 3 Rev 1 TriggerMode Property TriggerMode Property Applies To Vision Sequence Description Specifies the type of trigger signal transition used for electronic shutter release acquisition Usage VGet Sequence TriggerMode var VSet Sequence TriggerMode value Sequence Name of a sequence or string variable containing a sequence name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value 1 Leading edge trigger The electronic shutter trigger will occur when the trigger signal transitions from low to high 2 Trailing edge trigger The electronic shutter trigger will occur when the trigger signal transitions from high to low Default 1 Remarks The TriggerMode property allows you to match the camera trigger signal transition according to the circuit you are
133. n the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values The value can range from 1 to the NumberToFind value for the StartPointObject If the StartPointObject is Screen then the value is always 1 Remarks StartPntObjResult enables you to attach several objects to the results of one StartPointObject For example you could create a blob object with NumberToFind set to 4 Then you could attach a line object to each one of the results by specifying the blob for the StartPointObject of each line and a different StartPntObjResult for each line See Also Edge Object EndPntObjResult Property Line Object Object Tab StartPointObject Property 162 Vision Guide 5 0 Reference Ver 5 3 Rev 1 StartPointObject Property StartPointObject Property Applies To Vision Objects Edge Line Description Specifies the vision object to connect the starting point of the Line to i e This property defines the position of the start point of the line Usage VGet Sequence Object StartPointObject var VSet Sequence Object StartPointObject value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the ne
134. nate pairs can actually be pixel coordinate positions which match the PixelX and PixelY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the PixelX PixelY results from the Correlation object will match the PixelX1 PixelY1 results for the Line object See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelY Result PixelY1 Result PixelY2 Result RobotY Result RobotX YU Result X1 Property X2 Property Y1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 107 PixelY2 Result PixelY2 Result Applies To Vision Objects Line Description Returns the pixel Y coordinate of the end point of a Line object Usage VGet Sequence Object PixelY2 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Min 0 Max Video height 1 Remarks Every line must have a starting point and ending point The PixelY1 and PixelY2 results represent the Y coordinate position starting Y1 and endpoints Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the PixelX1 PixelY1 and PixelX2 PixelY2 coordinate pairs can actually be pixel coordinate positions wh
135. needs to be satisfied for objects to be considered found See Also Object Tab SeparationAngle Property SeparationMinX Property SeparationMinY Property 152 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SharedEdges Property SharedEdges Property Applies To Vision Objects Geometric Description Sets returns whether to allow edges to be shared between found objects Usage VGet Sequence Object SeparationScale var VSet Sequence Object SeparationScale value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Shared edges are not allowed True Shared edges are allowed Default False Remarks You can choose to allow found objects to share edges by setting SharedEdges to True Otherwise edges that can be part of more than one found object are considered part of the found object with the greatest score See Also Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 153 ShowAllResults Result ShowAllResults Result Designtime only Applies To Vision Objects Blob Correlation Edge Geometric Description A button is placed in the ShowAllResults result value field which when clicked opens a dialog which shows all the results for th
136. odels are then used when a correlation search with angle is specified It should be noted that using correlation with angle will generally cause the correlation time to increase significantly This is why correlation with angle is normally used for small angle increments only The Polar object however is normally very fast and can be used in conjunction with the Correlation object for a powerful and fast combination See the sections on Correlation or Polar Searching in the Vision Guide Manual for more information Specify a small value for the setting If the value is large the detection time gets longer and may result in false detection See Also Angle Result AngleEnable Property AngleMaxIncrement Property Correlation Object Geometric Object Object Tab 12 Vision Guide 5 0 Reference Ver 5 3 Rev 1 AngleStart Property AngleStart Property Applies To Vision Objects Correlation Geometric Description Sets returns the starting search angle Usage VGet Sequence Object AngleStart var VSet Sequence Object AngleStart value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number in degrees from 0 360 Default 0 Remarks Use Angle
137. ometric Object Line Object Object Tab Point Object Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 55 Graphics Property Graphics Property Applies To Vision Objects All Description Specifies which graphics to display at runtime and design time i e Whether to show graphics for each object just position information or nothing at all This property can help remove screen clutter from complex vision sequences Usage VGet Sequence Object Graphics var VSet Sequence Object Graphics value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 All Display object labels line references and found position 2 Position Only Display found position only 3 None Don t display any graphics at run time Remarks While graphics such as vision object Labels which show vision object names lines Search Windows and found position crosshairs are very useful they can get in the way if too many are displayed at the same time The Graphics property helps eliminate unnecessary clutter on the Vision Guide Development Run or Operator Windows by removing those graphics from objects which the designer specifies The Graphics property is used to define
138. on Objects Correlation Description Specifies the accuracy of a correlation search with rotation Usage VGet Sequence Object AngleAccuracy var VSet Sequence Object AngleAccuracy value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number in degrees from 0 1 10 Default 1 Remarks The AngleAccuracy property is used at model training time and not at run time This value specifies the desired accuracy for angle search The Correlation model must be taught after a new value for the AngleAccuracy property is set in order for the new setting to take affect If you teach a Correlation Model then later set the AngleAccuracy property CS toa new value and then try to run that Correlation object it will not search with the new angle accuracy You must re teach the Correlation Model with the AngleEnable property set to True and with the new value for the AngleAccuracy property in order for Correlation search with angle to use the new AngleAccuracy property value NOTE See Also AngleMaxIncrement Property AngleRange Property Angle Result Correlation Object Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 7 AngleEnable Property AngleEnable Pro
139. on Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 19 CameraOffset Property CameraOffset Property Applies To Vision Sequence Description Specifies the offset for the camera used in the current sequence The offset is the lower limit of the digital values that will be assigned to the video signal in the A D converter Also known as Brightness Usage VGet Sequence CameraOffset var VSet Sequence CameraOffset value Sequence Name ofa sequence or string variable containing a sequence name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 255 Default 0 Remarks The CameraOffset property is normally left at a value of 0 Change the CameraOffset property when you want to change the brightness of an acquisition Adjusting the CameraOffset property allows you to select the lower and upper limits saturation points at which differentiation of assigned digital values begins and ends Due to variations in camera components the lowest digital values that can be converted may not be precisely 0 but will be close to 0 All signal voltages that exceed the upper limit of the dynamic range are assigned the highest digital value possible See Also Camera Property CameraGain Property Sequence Tab Vision Sequences 20 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CameraOrientation Property CameraOrientation Property
140. ontain the value of the result Values Real number in millimeters Remarks YmmPerPixel is the number of millimeters per pixel along the camera Y axis See Also XmmPerPixel YAvgError YMaxError Vision Guide 5 0 Reference Ver 5 3 Rev 1 201 Y Tilt Result Y Tilt Result Applies To Vision Calibration Description Returns the calibration Y tilt result Usage VGet Calibration Y Tilt var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Remarks YTilt is a relative value that indicates camera tilt along the camera Y axis The directions are as viewed from the camera in the image coordinate system plus y is down A positive value indicates tilt down negative indicates tilt up See Also XTilt Result 202 Vision Guide 5 0 Reference Ver 5 3 Rev 1
141. ontaining an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Min 0 Max Video width 1 Remarks The PixelX result is the X coordinate of the objects position in the image coordinate system The value is a real number that has a fractional component because of the sub pixeling feature Statistics For the PixelX result the following statistics are available PixelXMax PixelXMean PixelXMin PixelXStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result CameraX Result CameraXYU Result Found Result Geometric Object Object Tab PixelX YU Result RobotX Result RobotX YU Result 102 Vision Guide 5 0 Reference Ver 5 3 Rev 1 PixelX1 Result PixelX1 Result Applies To Vision Objects Line Description Returns the pixel X coordinate of the starting point of a Line object Usage VGet Sequence Object PixelX1 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Min 0 Max Video width 1 Remarks Every line has a starting point and endin
142. oordinates Edge Object The X2 property is used to locate horizontal position for the ending point of an Edge object See Also Edge Object EndPointObject Property EndPointType Property Line Object Object Tab X1 Property Y1 Property Y2 Property 188 Vision Guide 5 0 Reference Ver 5 3 Rev 1 XAvgError Result XAvgError Result Applies To Vision Calibration Description Returns the average calibration error along the X axis Usage VGet Calibration XAvgError var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Values Real number in millimeters Remarks XAvgError is the average calibration error along the X axis detected during calibration See Also XMaxError XmmPerPixel YAvgError Vision Guide 5 0 Reference Ver 5 3 Rev 1 189 XMaxError Result XMaxError Result Applies To Vision Calibration Description Returns the maximum calibration error along the X axis Usage VGet Calibration XMaxError var Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the result Values Real number in millimeters Remarks XMaxError is the maximum calibration error along the X axis detected during calibration See Also XAvgError XmmPerPixel YMaxError 190 Vision Guide 5 0 Reference Ver 5 3 Rev 1 XmmPerPixel Result
143. operty 5 Smooth Performs a smoothing type convolution operation The number of iterations is determined by the Iterations property 6 Sharpen1 Performs a sharpen type convolution operation The number of iterations is determined by the Iterations property 7 Sharpen2 Performs a sharpen type convolution operation The number of iterations is determined by the Iterations property 8 HorizEdge Highlights horizontal edges 9 VertEdge Highlights vertical edges Highlights edges Highlights edges Highlights edges Highlights edges Thins blobs in the image Thickens blobs in the image Binarizes the image according to the ThresholdLow and ThresholdHigh settings Rotates the image according to the AngleObject or RotationAngle settings If AngleObject is Screen then the rotation angle is determined by the RotationAngle Vision Guide 5 0 Reference Ver 5 3 Rev 1 93 Operation Property property Otherwise the rotation angle is determined by the Angle result of the AngleObject The rotation is counter clockwise for positive angles 18 FlipHoriz Flips the image from left to right 19 FlipVert Flips the image from top to bottom 20 FlipBoth Flips the image horizontally and vertically Remarks The Operation settings can be grouped as follows Morphology Open Close Erode Dilate The morphological operations use grayscale morphology The Polarity property determines which shade to operate on Dark or Light For e
144. otY1 and RobotX2 RobotY2 coordinate pairs can actually be robot coordinate positions which match the RobotX and RobotY results for other vision objects In other words if a Line object s endpoint is defined by a Correlation object then the RobotX RobotY results from the Correlation object will match the RobotX2 RobotY2 results for the Line object The RobotX2 result is always in millimeters in the robot coordinate system It should be noted that the RobotX2 result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then using VGet to retreive the RobotX2 result will cause an error to occur See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotX1 Result Robot XYU Result RobotY Result RobotY1 Result RobotY2 Result X1 Property X2 Property Y1 Property Y2 Property 124 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotXYU Result RobotXYU Result Runtime only Applies To Vision Objects Blob Correlation Edge Point Polar Description Returns the RobotX RobotY and RobotU position coordinates of the found part s position with respect to the robot coordinate system Usage VGet Sequence Object RobotXYU result found xVar yVar uVar Sequence Object found xVar yVar uVar result Values found
145. ou want to position a point on the midpoint of a line then the LineObjectl property defines which Line object to use In this case the LineObjectl property must be set first and then the PointType property can be set to MidPoint A MidPoint of a line can only be specified for LineObjectl i e you cannot specify the MidPoint of the LineObject2 property LineObjectl can also be used to define the Ist of 2 lines when you want to define a Point object position as the intersection point between 2 lines LineObject2 defines the other Line to use for the intersection point NOTE It is important to note that for each specific vision sequence only those Line objects which are executed CS prior to the Point object in the vision sequence steps will be available to use as LineObjectl The order of the vision object execution can be adjusted from the Sequence Tab When using the point and click interface click on the LineObjectl1 property Value Field and a drop down list will appear showing a list of available Line objects which can be used for the LineObject1 property Click on one of the choices and the value field will be set accordingly When using the Point and Click Object tab to set the LineObject1 property it is important to note that only those objects which are defined prior to the Point object are displayed in the drop down list This helps reduce the chances of the user defining a Line object which isn t defined prior to the Point object
146. ound 1 Pixel lt 285 909 pixels Pixel 235 636 pixels Robo no cal DK Cancel 156 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ShowModel Property See Also Correlation Object Geometric Object Object Tab Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 157 ShowProcessing Property ShowProcessing Property Applies To Vision Sequence Description Determines whether image processing should be displayed with RunTimeFreeze set to True Usage VGet Sequence ShowProcessing var VSet Sequence ShowProcessing value Sequence Name ofa sequence or string variable containing a sequence name var Boolean variable that will contain the value of the property value Integer expression for the new value of the property Values False Do not show processing True Show processing Default True Remarks Sometimes when using image processing objects such as ImageOp it is desirable not to see the processing For example if you use an ImageOp to binarize an entire image before other objects execute the display will show the binarized image if ShowProcessing is True By setting it to False only the object graphics are displayed without showing the image processing See Also RunTimeFreeze Property Sequence Tab Vision Sequences 158 Vision Guide 5 0 Reference Ver 5 3 Rev 1 SizeToFind Property Size ToFind Property Applies To Vision Objects Blob Description Selects which size of blobs to f
147. ound blob i e result record 1 CurrentResult 1 contains the results for the largest blob Correlation results are ordered by highest Score result to lowest Score result i e result Record 1 CurrentResult 1 contains the results for the feature with the highest score See Also Blob Object Correlation Object CurrentResult Property Edge Object Found Result Geometric Object NumberToFind Property Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 89 NumberFound Result Example The following SPEL language example runs a vision sequence called mtest which contains a Correlation object called Corr01 Corr0l1 has been defined to find multiple features 3 The following program will run the sequence and make sure that the proper number of features 3 was found for Corr01 and then print the Score result in descending order Function main define NUM_TO_FIND 3 Boolean numfound Integer score un mtest t mtest Corr01 NumberFound numfound numfound NUM TO FIND Then Print The Proper Number of features 3 were found Print Only numfound features were found Function test Corr01l Score 1 score Ist feature score Best test Corr01 Score 2 score 2nd feature score Medium test Corr01 Score 3 score 3rd feature score Worst 90 Vision Guide 5 0 Reference Ver 5 3 Rev 1 NumberToFind Property NumberToFind Property Applies To Vision Objects Blob Correla
148. peed Statement Vision Guide 5 0 Reference Ver 5 3 Rev 1 119 RobotTool Property RobotTool Property Applies To Vision Calibration Description Sets returns the robot tool used when teaching points for a vision calibration Usage VGet Calibration RobotTool var VSet Calibration RobotTool value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer value from 0 3 Default 0 Remarks RobotTool defines the tool used during the teaching process for a vision calibration See Also RobotArm RobotLocal 120 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotU Result RobotU Result Applies To Vision Objects Blob Correlation Edge Geometric Line Polar Description Returns the U angle of the found part s position in the robot coordinate system Usage VGet Sequence Object RobotU result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real value representing in degrees 0 if no calibration
149. perty Applies To Vision Objects Correlation Geometric Description Specifies whether or not a correlation or geometric object will search for rotation of a feature Usage VGet Sequence Object AngleEnable var VSet Sequence Object AngleEnable value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the property value Boolean expression for the new value of the property Values False Do not search for rotation True Search for rotation Default False Remarks The AngleRange and AngleMaxIncrement properties will not be used with the correlation or geometric search object if the AngleEnable property is set to False It should be noted that while correlation with angle is normally able to find rotated parts the correlation search time usually increase significantly This is why correlation with angle is most useful for finding parts which rotate only slightly The Polar object however is normally very fast and can be used in conjunction with the Correlation object for a powerful and fast combination See the sections on Correlation or Polar Searching for more information The Correlation Model must be taught after the AngleEnable property is set to True If you teach a Correlation Model then set the AngleEnable property to True and
150. ppended to the time value to indicate this Statistics For the Time result the following statistics are available TimeMax TimeMean TimeMin TimeStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Blob Object Correlation Object Edge Object Geometric Object Object Tab Polar Object Sequence Tab Vision Sequences 174 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Timeout Property Timeout Property Applies To Vision Objects Geometric Description Sets returns the maximum search time for a Geometric object Usage VGet Sequence Object Timeout var VSet Sequence Object Timeout value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Long integer variable that will contain the value of the property value Long integer expression for the new value of the property Values 0 1000000 Default 2000 Remarks Use the Timeout property to limit the amount of search time for a Geometric object See Also Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 175 TotalArea Result TotalArea Result Applies To Vision Objects Blob Description Returns the sum of areas of all results Usage VGet Sequence Object TotalArea var Sequence Name of a sequence or string variable containing a sequence name Object Na
151. ption An angle value which is used as an offset to line up the Polar Search direction indicator graphic line on the image display with the part since it is virtually impossible and normally impractical to teach a polar object with the proper rotation of a part so that the direction lines up with the part Usage VGet Sequence Object AngleOffset var VSet Sequence Object AngleOffset value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number in degrees from 0 360 Default 0 Remarks The AngleOffset is provided to allow the Polar object s graphic direction indicator to line up with a specific area on a part The graphic direction indicator is normally set at the default position for the polar object which is O degrees at 3 O clock The rotation for the AngleOffset property is then defined in a counter clockwise direction See Also Object Tab Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 11 AngleRange Property AngleRange Property Applies To Vision Objects Correlation Geometric Description Specifies the range within which to train a series of rotated models Usage VGet Sequence Object AngleRange var VSet Sequence Object AngleR
152. r Long variable that will contain the value of the property value Long expression for the new value of the property Values Long value in microseconds Default 0 microsecond Remarks When RuntimeAcquire is Stationary and ExposureTime 0 the camera acquires images in Next Frame mode When the sequence runs the camera waits for the next valid frame then acquires the image CameraGain and CameraOffset settings are used Typical image acquire time is from 33 to 66 ms for SC300 series When RuntimeAcquire is Stationary and ExposureTime is gt 0 the camera acquires images in async reset mode When the sequence runs the camera sensor is exposed for the ExposureTime then the image is acquired CameraGain and CameraOffset settings are not used Typical image acquire time is 33 ms Exposure time When RuntimeAcquire is Strobed ExposureTime must be gt 0 and the camera acquires images in async reset mode After the hardware trigger input is received the camera sensor is exposed for the ExposureTime then the image is acquired CameraGain and CameraOffset settings are not used Typical image acquire time is 33 ms Exposure time See Also RuntimeAcquire Property CameraGain Property CameraOffset Property Sequence Tab 50 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Extrema Result Extrema Result Runtime only Applies To Vision Objects Blob Description Returns the blob extrema coordinates Usage VGet Sequence Object
153. r Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in pixels Remarks The MinX MaxX MinY and MaxY results together define a blob s smallest enclosing rectangle that is aligned with the coordinate axes and completely encloses the blob This rectangle is known as the Extrema The MinX MaxX MinY and MaxY results can hold fractional values For example 100 5 would be between the 100 and 101 pixels See Also Area Result Blob Object MaxX Result MinX Result MinY Result Object Tab 70 Vision Guide 5 0 Reference Ver 5 3 Rev 1 MinArea Property MinArea Property Applies To Vision Objects Blob Description Defines the lower Area limit for the Blob object For a Blob to be found it must have an Area result above the value set for MinArea property Usage VGet Sequence Object MinArea var VSet Sequence Object MinArea value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Long variable that will contain the value of the property value Long expression for the new value of the property Values 1 MaxArea in pixels Default 25 Remarks The purpose of the MinArea and MaxArea Properties is to set a range
154. r expression for the new value of the property Values Integer value of a valid output bit Remarks Use the UpwardLamp property to automatically turn on a lamp for a calibration using an upward camera to find the reference point See Also Lamp Property LampDelay Vision Guide 5 0 Reference Ver 5 3 Rev 1 179 UpwardSequence Property UpwardSequence Property Applies To Vision Calibration Description UpwardSequence specifies the sequence used by an upward looking camera for a mobile calibration target reference Usage VGet Calibration UpwardSequence var VSet Calibration UpwardSequence value Calibration Name of a calibration or string variable containing a calibration name var String variable that will contain the value of the property value String expression for the new value of the property See Also ReferenceType Property TargetSequence Property 180 Vision Guide 5 0 Reference Ver 5 3 Rev 1 VGet Statement VGet Statement Applies To Vision Sequence Vision Calibration Vision Objects All Description VGet is used to get the values of properties and results in SPEL and VB Guide Usage VGet Sequence Property var VGet Calibration Property var VGet Sequence Object Property var VGet Sequence Object Result resultIndex var Sequence Name of a sequence or string variable containing a sequence name Calibration Name of a calibration or string variable containing a calibration nam
155. r unauthorized repair attempts 4 Damage caused by natural disasters such as earthquake flood etc Warnings Cautions Usage 1 If the robot or associated equipment is used outside of the usage conditions and product specifications described in the manuals this warranty is void 2 If you do not follow the WARNINGS and CAUTIONS in this manual we cannot be responsible for any malfunction or accident even if the result is injury or death 3 We cannot foresee all possible dangers and consequences Therefore this manual cannot warn the user of all possible hazards Vision Guide 5 0 Reference Ver 5 3 Rev 1 TRADEMARKS Microsoft Windows Windows logo Visual Basic and Visual C are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Other brand and product names are trademarks or registered trademarks of the respective holders TRADEMARK NOTIFICATION IN THIS MANUAL Microsoft Windows XP Operating system Microsoft Windows Vista Operating system Throughout this manual Windows XP and Windows Vista refer to above respective operating systems In some cases Windows refers generically to Windows XP and Windows Vista NOTICE No part of this manual may be copied or reproduced without authorization The contents of this manual are subject to change without notice Please notify us if you should find any errors in this manual or if you have any comments rega
156. rames Frame objects cannot be used to define an end point for a Line object However this does not cause a limitation because Frames are defined by other vision objects In those cases where you want to define a line end point with a Frame object use a Point object in the frame to define the end point of the Line object It is important to note that for each specific vision sequence only those vision objects which are executed prior to the Line object in the vision sequence steps will be available to use as an EndPointObject See Also Edge Object EndPointType Property Line Object Object Tab StartPointObject Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 47 EndPointType Property EndPointType Property Applies To Vision Objects Edge Line Description Specifies the type of end point to use for the line object In most cases the end point type will be a point which usually means the PixelX and PixelY position of the EndPointObject However when the EndPointObject for the current line is a 2nd Line object the EndPointType property is used to define an intersection point on the 2nd line such as the lines midpoint endpoint startpoint or perpendicular position Usage VGet Sequence Object EndPointType var VSet Sequence Object EndPointType value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in t
157. ration continues See Also LampDelay Property UpwardLamp Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 61 LampDelay Property LampDelay Property Applies To Vision Calibration Description Sets returns the amount of time to wait for a calibration lamp to turn on Usage VGet Calibration LampDelay var VSet Calibration LampDelay value Calibration Name of a calibration or string variable containing a calibration name var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number in seconds Remarks Use the LampDelay property to allow time for a lamp to turn on before calibration continues This is especially useful for flourescent lamps See Also Lamp Property UpwardLamp Property 62 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Length Result Length Result Applies To Vision Objects Line Description Returns a length in millimeters of the distance between the starting and ending point of the line Usage VGet Sequence Object Length var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the result Values The value returned is always in millimeters and may be from 0 on up This real number represents the length of the line
158. rding its contents INQUIRIES Contact the following service center for robot repairs inspections or adjustments If service center information is not indicated below please contact the supplier office for your region Please prepare the following items before you contact us Your controller model and its serial number Your manipulator model and its serial number Software and its version in your robot system A description of the problem SERVICE CENTER Vision Guide 5 0 Reference Ver 5 3 Rev 1 iii MANUFACTURER amp SUPPLIER Japan amp Others SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept 1010 Fujimi Fujimi machi Suwa gun Nagano 399 0295 JAPAN TEL 81 0 266 61 1802 FAX 81 0 266 61 1846 SUPPLIERS North amp South America EPSON AMERICA INC Factory Automation Robotics 18300 Central Avenue Carson CA 90746 USA TEL 1 562 290 5900 FAX 1 562 290 5999 E MAIL info robots epson com Europe EPSON DEUTSCHLAND GmbH Factory Automation Division Otto Hahn Str 4 D 40670 Meerbusch Germany TEL 49 0 2159 538 1391 FAX 49 0 2159 538 3170 E MAIL robot infos epson de iv Vision Guide 5 0 Reference Ver 5 3 Rev 1 SAFETY PRECAUTIONS Installation of robots and robotic equipment should only be performed by qualified personnel in accordance with national and local codes Please carefully read this manual and other related manuals when using this softwar
159. rding to the Sort property setting See Also Blob Object Correlation Object Edge Object Found Result Geometric Object NumberFound Result NumberToFind Property Object Tab Sort Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 41 CurrentResult Property Example The following SPEL language example runs a vision sequence called mtest which contains a Blob object called Blob01 Blob01 has been defined to find multiple blobs 3 from within a single Search Window i e mtest Blob01 NumberToFind 3 The following program will run the sequence and make sure that the proper number of features 3 was found for Blob01 and then print the Area for each result Function main define NUM_TO_ FIND 3 Integer foundCount area VRun mtest VGet mtest Blob01 NumberFound foundCount If foundCount NUM _TO FIND Then Print The correct number of blobs were found Else Print Only found blobs were found EndIf VSet mtes VGet mtes Print ls Blob01 CurrentResult 1 BLOB01 Area area blob area area pixels Ad vSet mtest Blob01 CurrentResult 2 VGet mtest Blob01 Area area Print 2nd blob area area pixels vSet mtest Blob01 CurrentResult 3 VGet mtest Blob01 Area area Print 3rd blob area area pixels Fend 42 Vision Guide 5 0 Reference Ver 5 3 Rev 1 DetailLevel Property DetailLevel Property Applies To Geometric Description Selects the level at
160. re Result 54 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Frame Property Frame Property Applies To Vision Objects Blob Correlation Edge Geometric ImageOp Line Point Polar Description Defines the current object searching position with respect to the specified frame Usage VGet Sequence Object Frame var VSet Sequence Object Frame value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values Any Frame object which is located prior to the current vision object in the Object Execution Step List can be specified as the Frame property value Default None Remarks The Frame property is very useful for aligning objects to specific positions which respect to other objects found positions For more details see the Frame object explanation in Vision Objects Vision objects can use any Frame objects which have been defined as long as the associated Frame object is located before the vision object in the Object Execution Step List NOTE The Object Execution Step List is the list shown on the Sequence Tab which shows the execution order for SF al objects in the current sequence See Also Blob Object Correlation Object Edge Object Frame Object Ge
161. rence Ver 5 3 Rev 1 5 Angle Result Angle Result Applies To Vision Objects Blob Correlation Frame Geometric Line Polar Description Returns the angle of the found object Usage VGet Sequence Object Angle result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in degrees Blob 90 to 90 degree Others 0 to 360 degree Remarks The Angle result returns the found part s angle in the image coordinate system In some cases you may want to use a Polar object to determine angle because it can be faster and more accurate Statistics For the Angle result the following statistics are available AngleMax AngleMean AngleMin AngleRange AngleStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also AngleEnable Property AngleMaxIncrement Property AngleOffset Property AngleTolerance Property Blob Object Correlation Object Geometric Object Line Object Object Tab Polar Object RobotU Result 6 Vision Guide 5 0 Reference Ver 5 3 Rev 1 AngleAccuracy Property AngleAccuracy Property Applies To Visi
162. result of the value then the search window will not be re positioned and the object will be marked as not found Default 0 Remarks The CenterPntOffsetX property can be used to shift a search window that has been positioned by a CenterPointObject If CenterPointObject property is set to None then CenterPntOffsetX has no effect See Also CenterPointObject CenterPntOffsetY Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 31 CenterPntOffsetY Property CenterPntOffsetY Property Applies To Vision Objects Blob Correlation Geometric Polar Description Sets or returns the Y offset of the center of the search window after it is positioned with the CenterPointObject Usage VGet Sequence Object CenterPntOffsetY var VSet Sequence Object CenterPntOffsetY value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer in pixels If the search window would not be positioned within the video image as a result of the value then the search window will not be re positioned and the object will be marked as not found Default 0 Remarks The CenterPntOffsetY property can be used to shift a search window that has been positioned by a CenterPo
163. riginPoint and YAxisPoint properties are used together to define a vision frame which has an origin at the OriginPoint and a Y axis direction defined by the Y AxisPoint property It is important to note that for each specific vision sequence only those vision objects which are executed prior to the Frame object in the vision sequence steps will be available to use as an OriginPoint The order of the vision object execution can be adjusted from the Sequence Tab When using the point and click interface click on the YAxisPoint property Value Field Then click on the arrow and a drop down list will appear showing a list of available vision objects along with the default value Screen which can be used to define the Y Axis direction of the Frame Click on one of the choices and the value field will be set accordingly When using the Object tab to set the Y AxisPoint property 1t is important to note that only those objects which are defined prior to the Frame object are displayed in the drop down list This helps reduce the chances of the user defining an OriginPoint which isn t defined prior to the Frame object NOTE Vision Guide automatically checks which vision objects can be used as the YAxisPoint and displays only E those object names in the drop down list See Also Vision Guide 5 0 Reference Ver 5 3 Rev 1 197 YAxisPoint Property Frame Object Frame Property Object Tab OriginPoint Property 198 Vision Guide 5 0 Reference Ver 5 3
164. roperty Vision Guide 5 0 Reference Ver 5 3 Rev 1 173 Time Result Time Result Applies To Vision Sequence Vision Objects Blob Correlation Edge Geometric Polar Description Returns the amount of time in milliseconds required to process the associated vision object or vision sequence Usage VGet Sequence Object Time var VGet Sequence Time var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the result Values 0 2147483647 milliseconds positive long integer Remarks The Time result is used to store how quickly a vision object or vision sequence is able to execute i e how quickly an object is found The Time result is shown for each vision object Blob Correlation Geometric Edge and Polar as well as for an entire vision sequence For the sequence time result if the RuntimeAcquire property is set to 1 Stationary default then the total time includes the acquisition time plus the total time for all steps in the sequence The acquisition time can vary and depends on the time it takes for the vision system to synchronize with the camera For objects that return multiple results the time returned is the total time to find all results When viewed on the Vision Guide window Results list all results is a
165. s Real number in millimeters Remarks The CameraX result is always in millimeters in the camera coordinate system It should be noted that the CameraX result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the CameraX result an error will occur Statistics For the CameraX result the following statistics are available CameraXMax CameraXMean CameraXMin CameraXStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle result Blob Object CameraY result CameraX YU result Correlation Object Edge Object Found result Geometric Object Object Tab Point Object Polar Object RobotX result 22 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CameraX1 Result CameraX1 Result Applies To Vision Objects Line Description Returns the starting point position X1 of a Line object in Camera coordinates Usage VGet Sequence Object CameraXl var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values The value returned for the CameraX1 result depends upon the calibration used for the camera Values are always returned in millimeters Remarks
166. s the score that a feature must equal or exceed to be considered found Usage VGet Sequence Object Accept var VSet Sequence Object Accept value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 1 999 Default 700 Correlation Geometric Polar 100 Edge Remarks The Accept property can also affect the searching speed by providing a hint as to when to pursue the search in a given area of the Region of Interest When the Accept property is high features must be very similar to the model so many regions can be ruled out by a cursory examination and not pursued further However if the Accept property is low features that are only slightly similar to the model may exceed the Accept property so that a detailed examination of more regions in the scene is needed Thus raising the Accept property tends to reduce the time required for searches If the specified value is small it may result in false detection See Also Confusion Property Correlation Object Edge Object Geometric Object Object Tab Polar Object Score Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 3 AcquireState Result AcquireState Result Runtime only App
167. se the starting point of the other line as the end point for this line 5 PerpToStartPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the start point of the first line and use this position as the end point Vision Guide 5 0 Reference Ver 5 3 Rev 1 EndPointType Property 6 PerpToMidPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the mid point of the first line and use this position as the end point 7 PerpToEndPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the end point of the first line and use this position as the end point If the EndPointObject is modified to a Line object then the EndPointType is automatically changed to MidPoint If the EndPointObject is modified to Screen or Blob Correlation Edge or Point object then the EndPointType is automatically changed to 0 Point See Also Edge Object EndPointObject Property Line Object Object Tab StartPointType Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 49 ExposureTime Property ExposureTime Property Applies To Vision Sequences Description Sets the electronic shutter time for a camera that is running in asynchronous reset mode Usage VGet Sequence ExposureTime var VSet Sequence ExposureTime value Sequence Name of a sequence or string variable containing a sequence name va
168. search for and record the Contrast result value You may have to temoparily change the Edge object position to find it Next set the ContrastTarget property to this value Then set the ScoreWeightContrast to a higher value then ScoreWeightStrength This tells the Edge object to look for an edge with the desired contrast and base the score on it See Also Contrast Result ContrastVariation Property Edge Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 39 ContrastVariation Property ContrastVariation Property Applies To Vision Objects Edge Description ContrastVariation is the tolerance for the ContrastTarget property Usage VGet Sequence Object ContrastVariation var VSet Sequence Object ContrastVariation value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 0 255 Default 0 any variation Remarks Use ContrastVariation to tighten the search for the edge with contrast of ContrastTarget See Also Contrast Result ContrastTarget Property Edge Object 40 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CurrentResult Property CurrentResult Property Applies To Vision Objects Blob Correlation Edge Geometric Descrip
169. sed as the OriginPoint and displays only CS those object Names in the drop down list Vision Guide 5 0 Reference Ver 5 3 Rev 1 97 OriginPoint Property See Also Frame Object Object Tab Y AxisPoint Property 98 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Perimeter Result Perimeter Result Applies To Vision Objects Blob Description Returns the perimeter of a blob Usage VGet Sequence Object Perimeter result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values Real number in pixels Remarks The perimeter is the total number of pixels along the blob edges including the edges of holes See Also Compactness Result Holes Result Object Tab Roughness Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 99 PixelLength Result PixelLength Result Applies To Vision Objects Line Description Returns the length in pixels of the distance between the starting and ending point of the line Usage VGet Sequence Object PixelLength var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable cont
170. sion Guide 5 0 Reference Ver 5 3 Rev 1 Y2 Property Y2 Property Applies To Vision Objects Edge Line Description Defines the Y2 coordinate of an object where the X2 Y2 coordinate pair defines the position of the starting point of the object Usage VGet Sequence Object Y 2 var VSet Sequence Object Y2 value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video height 1 Remarks There are cases where the user may want to position a Point object dynamically and for that reason the Y2 property can also be set from the SPEL Language Line Object The Y2 property is used to locate vertical position for the ending point of a Line object This property is initially set to the ending point Y position where the user drops a newly created Line object However ifa Point object is associated with another object in the sequence i e the EndPointType property is set to another vision object and not set to Screen then the Y2 property for the Line object is automatically modified according to the associated property When the EndPointType property is set to Screen there are two methods which can be used to move the Line object Cl
171. sion property allows the system to quit the Correlation Search or Polar Search before exploring all possible regions of the image thus speeding up the process Set the Confusion property based on the highest value you expect the wrong part to get plus a margin for error The Confusion property should be greater than or equal to the Accept property Setting the Confusion property to a high value may increase the time of the search but may be necessary to insure that the correct features are found The Confusion property becomes very important when there are multiple features within an image which are very similar In these cases the proper setting of the Confusion property i e at a high enough level helps eliminate the wrong features from the Correlation Search or Polar Search However when an image has few features which look the same then the Confusion property can be set a little lower This can help reduce processing time See Also Accept Property Correlation Object Geometric Object Object Tab Polar Object Score Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 37 Contrast Result Contrast Result Applies To Vision Objects Edge Description Returns the contrast of the found Edge Usage VGet Sequence Object Contrast var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence
172. st exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number in pixels from 10 to video height SearchWinTop Default 100 Remarks The SearchWinHeight property is available for the Blob Correlation Geometric and ImageOp objects Each of these object types have similar rectangular Search Windows used to define the area to search within The SearchWinHeight property is set automatically when the user drags the upper or lower horizontal window handles for the Search Window of each object type There are cases where the user may want to expand or position the Search Window dynamically and for that reason the SearchWinHeight property can also be set from the SPEL Language Do not the set the SearchWinHeight setting too large If the value is too large the detection time gets longer and may result in false detection See Also Blob Object Correlation Object Geometric Object ImageOp Object Object Tab SearchWinLeft Property SearchWinTop Property SearchWinWidth Property Window Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 145 SearchWinLeft Property SearchWinLeft Property Applies To Vision Objects Blob Correlation Geometric ImageOp Description Defines the X coordinate of the left side of an object s search window Usage VGet Sequence Object SearchWinLeft var VSet Sequence Object SearchW
173. string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Single 2 Pair Default 1 Remarks Use EdgeType to choose whether to search for a single edge or an edge pair An edge pair is two opposing edges The coordinate of the pair is the midpoint of the line between the two edge coordinates See Also Edge Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 45 EndPntObjResult Property EndPntObjResult Property Applies To Vision Objects Edge Line Description Specifies which result to use from the EndPointObject Usage VGet Sequence Object EndPntObjResult var VSet Sequence Object EndPntObjResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values The value can range from 1 to the NumberToFind value for the EndPointObject If the EndPointObject is Screen then the value is always 1 Remarks EndPntObjResult enables you to attach several objects to the results of one EndPointObject For example you could create a blob object with NumberToFind set to 4 Then you could
174. t However if the CenterPointObject property for a Polar object is set to Screen then the user may set the CenterX property to position the Polar object The user may also set the CenterPointObject property for a Polar object automatically by physically dragging the Polar object to a new position on the screen When this drag operation is done the CenterX property is automatically updated with the new CenterX position of the Polar object See Also CenterY Property CenterPoint Property Object Tab Polar Object 34 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CenterY Property CenterY Property Applies To Vision Objects Polar Description Specifies the Y Coordinate position to be used as the center point for the Polar object Usage VGet Sequence Object CenterY var VSet Sequence Object CenterY value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the property value Real expression for the new value of the property Values Real number from 1 video width in pixels 1 However we must take into account the value of the Radius property for the Polar object since the center of the Polar object cannot be at the edge of the Camera s field of view Therefore the actual range is 0 Radius Max Camera Y Resolution Radius
175. t and YAxisPoint Through these 2 properties the user can define a frame of reference for other objects to have their position based upon This capability is useful when specific features can be used to find reference points on a part and then other vision objects can be located on the image with respect to the frame position defined The OriginPoint and YAxisPoint properties are used together to define a vision frame which has an origin at the OriginPoint and a Y Axis direction defined by the Y AxisPoint property It is important to note that for each specific vision sequence only those vision objects which are executed prior to the Frame object in the vision sequence steps will be available to use as an OriginPoint The order of the vsion object execution can be adjusted from the Sequence Tab When using the GUI to change the OriginPoint property Value a drop down list will appear showing a list of available vision objects along with the default value Screen which can be used to define the Origin of the Frame Click on one of the choices and the value field will be set accordingly When using the Object tab to set the OriginPoint property it is important to note that only those objects which are defined prior to the Frame object are displayed in the drop down list This helps reduce the chances of the user defining an OriginPoint which isn t defined prior to the Frame object NOTE Vision Guide automatically checks which vision objects can be u
176. t coordinate system It should be noted that the RobotX1 result can only be calculated for vision sequences which have been calibrated with the robot coordinate system If no calibration has been assigned to the vision sequence then using VGet to retreive the RobotX1 result will cause an error to occur See Also Angle Result Line Object Object Tab PixelX Result PixelX1 Result PixelX2 Result PixelY Result PixelY1 Result PixelY2 Result RobotX Result RobotX2 Result RobotXYU Result RobotY Result RobotY1 Result X1 Property X2 Property Y 1 Property Y2 Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 123 RobotX2 Result RobotX2 Result Applies To Vision Objects Line Description Returns the X coordinate of the ending point position X2 of a Line object in the robot coordinate system Usage VGet Sequence Object RobotX2 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in millimeters Remarks Every line has a starting point and ending point The RobotX1 and RobotX2 results represent the X coordinates of the line starting point X1 Y1 and end point X2 Y2 of the specified Line object Since Line object starting and end points can be assigned to other vision objects the RobotX1 Rob
177. t mtest Corr01 Score 2 score Print 2nd feature score Medium VGet mtest Corr01 Score 3 score Print 3rd feature score Worst Fend Vision Guide 5 0 Reference Ver 5 3 Rev 1 Operation Property Operation Property Applies To Vision Objects ImageOp Description Sets which image operation to perform Usage VGet Sequence Object Operation var VSet Sequence Object Operation value 10 EdgeDetectl 11 EdgeDetect2 12 LaPlaceEdgel 13 LaPlaceEdge2 14 Thin 15 Thicken 16 Binarize 17 Rotate Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Open Performs an opening type morphological operation This is an erosion followed by a dilation The number of iterations is determined by the Iterations property 2 Close Performs a closing type morphological operation This is a dilation followed by an erosion The number of iterations is determined by the Iterations property 3 Erode Performs an erosion type morphological operation The number of iterations is determined by the Iterations property 4 Dilate Performs a dilation type morphological operation The number of iterations is determined by the Iterations pr
178. t properties If NumberToFind is set to 0 then all possible results are found up to the maximum allowed One use is when the Blob object is used as a pixel counter With NumberToFind set to 0 then the TotalArea result will equal the total number of pixels found in the search window Correlation and Geometric results are ordered by highest Score result to lowest Score result when Sort is None i e result Record 1 CurrentResult 1 contains the results for the feature with the highest score See Also Blob Object Correlation Object CurrentResult property Edge Object Found Result Geometric Object NumberFound Result Object Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 91 NumberToFind Property Example 92 The following SPEL language example runs a vision sequence called mtest which contains a Correlation object called Corr01 The NumberToFind value for Corr0 is set using VSet The following program will run the sequence and make sure that the proper number of features 3 was found for Corr0 and then print the Score result in descending order Function main define NUM TO FIND 3 Boolean numfound Integer score VSet mtest Corr01 NumberToFind NUM _TO FIND un mtes t mtest Corr01 NumberFound numfound numfound NUM TO FIND Then Print The Proper Number of features 3 were found Print Only numfound features were found Function test Corr01 Score 1 score Ist feature score Best
179. t rely on the default settings Do no set the range between MinArea and MaxArea too large If the range is too large it may result in false detection See Also Area Result Blob Object MinArea Property MinMaxArea Property Object Tab 66 Vision Guide 5 0 Reference Ver 5 3 Rev 1 MaxLength Property MaxLength Property Applies To Vision Objects Line Description Defines the upper length limit for the Line object For a Line to be found it must have a Length result below the value set for MaxLength property Usage VGet Sequence Object MaxLength var VSet Sequence Object MaxLength value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Long variable that will contain the value of the property value Long expression for the new value of the property Values 0 or higher Default 1000 Remarks The purpose of the MinLength and MaxLength Properties is to set a range for the Line object such that if a line length does not fit within the range then it is considered not found i e the Found result is returned as False This is useful when you want to gauge the length of a line in millimeters To gauge a line in pixels see the MinPixelLength and MaxPixelLength properties See Also Line Object MinLength Property MinPixelLength Property MaxPixelLength Property Object T
180. t report the correct center of mass Therefore you should use RejectOnEdge to reject the result See Also FoundOnEdge Result Object Tab 114 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ReferenceType Property ReferenceType Property Applies To Vision Calibration Description Sets returns the reference type for a calibration Usage VGet Calibration ReferenceType var VSet Calibration ReferenceType value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 1 Taught points 2 Upward camera Default 1 Taught points Remarks The calibration reference is a point defined in the robot coordinate system When taught points are specified one or two points are taught using a tool on the robot end effector during the teaching process for calibration points When upward camera is specified an upward camera that has already been calibrated is used to find the reference target This method is the most accurate See Also CameraOrientation Property PointsTaught Result TwoPointReference Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 115 RobotAccel Property RobotAccel Property Applies To Vision Calibration Description Sets returns the robot point to point motion acceleration used during the calibration cycle Usage VGet Calibration RobotAcc
181. t the StartPointType will always be set to Point The range of valid values for StartPointType depend on the StartPointObject However when the StartPointObject is another Line object the user must decide where on the 2nd line to intersect with the 1st line The choices are as follows 1 EndPoint Use the end point of the other line as the endpoint for this line 2 MidPoint Cut the other line in half and use the center or midpoint of the other line as the endpoint for this line 3 Perpendicular Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion and use this position as the end point 4 StartPoint Use the starting point of the other line as the end point for this line 5 PerpToStartPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the start point of the first line and use this position as the start point 6 PerpToMidPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the mid point of the first line and use this position as the start point 7 PerpToEndPnt Calculate the position on the 2nd line where the 2 lines intersect in a perpendicular fashion through the end point of the first line and use this position as the start point If the StartPointObject is modified to a Line object then the StartPointType is automatically changed to MidPoint If the StartPointObject is modif
182. taining a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Min 0 Max Video height 1 Remarks There are cases where the user may want to position a Point object dynamically and for that reason the Y 1 property can also be set from the SPEL Language Line Object The Y1 property is used to locate vertical position for the starting point of a Line object This property is initially set to the Y position where the user drops a newly created Line object However if a Point object is associated with another object in the sequence i e the StartPointType property is set to another vision object and not set to Screen then the Y1 property for the Line object is automatically modified according to the associated property When the StartPointType property is set to Screen there are 2 methods which can be used to move the Line object Click on the Line object s label and drag the object to the position you want to place it Change the X1 Y1 X2 or Y2 coordinates Edge Object The Y1 property is used to locate veritical position for the starting point of an Edge object See Also Edge Object Line Object Object Tab StartPointObject property StartPointType property X1 property X2 property Y2 property 194 Vi
183. te value of the model s origin Usage VGet Sequence Object ModelOrgY var VSet Sequence Object ModelOrgY value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Basically the ModelOrgY property can be set between 1 255 However it should be noted that the ModelOrgY defines the Y coordinate of the model origin with respect to the model s upper left corner Default The model origin is placed in the center of the model window when a new object is created Remarks The model origin may lie anywhere within the model s bounds The origin s coordinates define the model origin relative to the model s upper left corner that is relative to the location of element 0 0 of the image that defines the model When you create a new Correlation object the model origin is set to the center of the model window However the user may modify this position by typing in a new X and Y positions into the ModelOrgX and ModelOrgY Properties or by simply clicking on the model origin the crosshair shown in the middle of the model window and moving it to the position desired The user can also modify the model origin automatically by setting the ModelOrgAutoCenter property to True
184. that will contain the value of the property value Integer expression for the new value of the property Values 0 254 This value must be less than the ThresholdHigh value or an error will occur Remarks Blob Objects The ThresholdLow property works with the ThresholdHigh property to define the grey level regions which represent the feature or object the background and the edges of the image The ThresholdLow property defines the lower bound for grey level values that are considered to be a blob Any part of the image which falls within grey level region between ThresholdLow and ThresholdHigh will be assigned a pixel weight of 1 i e it is a blob If the Polarity property is set to DarkOnLight then grey levels between ThesholdLow and ThresholdHigh will changed to black pixels and all other pixels will be white If the Polarity property is set to LightOnDark then grey levels between ThesholdLow and ThresholdHigh will changed to white pixels and all other pixels will be black One of the problems regarding the ThresholdLow and ThresholdHigh Properties is finding the correct values to use for each This is where the Histogram feature of Vision Guide comes in You can run a Histogram on an image to see the relationship between the pixel counts at various grey levels From the Histogram dialog you can adjust each of the threshold values and view the results See Also Blob Object ImageOp Object Object Tab Polarity Property ThresholdHigh P
185. the X pixel coordinate position of the part yVar Real variable representing the Y pixel coordinate position of the part uVar Real variable representing the angular position rotation of the part with respect to the image coordinate system result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values found Boolean value which is either True or False xVar Real number in pixels yVar Real number in pixels uVar Real number in degrees Remarks The PixelXYU result returns coordinates in the image coordinate system See Also Angle Result CameraX Result CameraY Result CameraXYU Result Found Result RobotX Result RobotY Result RobotU Result RobotXYU Result Vision Guide 5 0 Reference Ver 5 3 Rev 1 105 Pixel Y Result Pixel Y Result Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the Y position coordinate of the found part s position in pixel coordinates Usage VGet Sequence Object PixelY result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values
186. tion Defines which result to display in the Results list on the Object tab or which result to return data for when an object searches for multiple results Usage VGet Sequence Object CurrentResult var VSet Sequence Object CurrentResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Integer number from 1 NumberToFind property value Default 1 Remarks Blob Correlation Edge and Geometric objects support finding multiple results The CurrentResult property defines which result to work with When you are only trying to find 1 result as defined by the NumberToFind property the CurrentResult property is automatically set to 1 since there is only 1 possible result to return When working with the Vision Guide window you will also notice that the Results list on the Object tab will display a heading like Result 1 of 15 This means that the system tried to find 15 features as defined by the NumberToFind property and the Results list will display the results for item 1 If you want to see the results for one of the other results just change the CurrentResult property value to indicate which result you want to examine Results are ordered acco
187. tion Edge Geometric Description Defines the number of features to search for within a single Search Window for a Blob Correlation Edge or Geometric object Usage VGet Sequence Object NumberToFind var VSet Sequence Object NumberToFind value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values Valid entries are 0 100 Default 1 Remarks The Blob Correlation Edge and Geometric objects support finding multiple features within a single Search Window The NumberToFind property defines how many Since many applications require that only 1 feature be found within a Search Window the default value of the NumberToFind property is set to 1 When working in the Vision Guide Development Environment you will notice that the Results List on the Object tab will display a heading like Result 1 of 15 This means that the system tried to find 15 features as defined by the NumberToFind property and the Result List will display the results for item 1 If you want to see the results for one of the other results just change the CurrentResult property value to indicate which result you want to examine Blob results are ordered according to the SizeToFind and Sor
188. ty X2 Property Y1 Property Y2 Property 24 Vision Guide 5 0 Reference Ver 5 3 Rev 1 CameraXYU Result CameraXYU Result Runtime Only Applies To Vision Objects Blob Correlation Edge Geometric Point Polar Description Returns the CameraX CameraY and Angle position coordinates of the found part s position in the camera coordinate frame Usage VGet Sequence Object CameraXYU result found xVar yVar uVar Sequence Object found xVar yVar uVar result Values found xVar yVar uVar Remarks Name of a sequence or string variable containing a sequence name Name of an object or string variable containing an object name The object must exist in the specified sequence Boolean variable representing whether or not the part you are looking for was found Real variable that will contain the X coordinate position of the part Real variable that will contain the Y coordinate position of the part Real variable that will contain the angular position rotation of the part with respect to the camera coordinate system Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Boolean value which is either True or False Real number in millimeters Real number in millimeters Real number in degrees The xVar and yVar values are returned in millimeters since the Camera Coordinate Frame is calibrated in millimeters The wVar value is
189. ually means the PixelX and PixelY position of the StartPointObject However when the StartPointObject for the current line is a 2nd Line object the StartPointType property is used to define an intersection point on the 2nd line such as the lines midpoint endpoint startpoint or perpendicular position Usage VGet Sequence Object StartPointType var VSet Sequence Object StartPointType value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values StartPointObject Line StartPointObject Screen Blob Correlation Geometric Edge or Point object See remarks 0 Point Default 2 MidPoint When used with objects other than the Line object the StartPointType can only be of type 0 Point Default 0 Point 164 Vision Guide 5 0 Reference Ver 5 3 Rev 1 StartPointType Property Remarks NOTE As you can see in the Values Table above most of the StartPointObject s support only 1 StartPointType called Point This is because most StartPointObject s use the PixelX and PixelY position for a reference position for defining a Start or End Point for a line So when the StartPointObject is defined as Screen Blob Correlation Edge or Point objec
190. uence Name ofa sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var String variable that will contain the value of the property value String expression for the new value of the property Values String of 16 characters or less Any alphanumeric or the following punctuation characters are allowed lt O amp lt gt Default Empty string Remarks The Caption property allows you to assign a meaningful label to the vision object By default the Caption property is an empty string and the name of the object will be used as its label See Also Blob Object Correlation Object Edge Object Frame Object Geometric Object ImageOp Object Line Object Object Tab Point Object Polar Object Vision Guide 5 0 Reference Ver 5 3 Rev 1 29 CenterPntObjResult Property CenterPntObjResult Property Applies To Vision Objects Blob Correlation Geometric Polar Description Specifies which result to use from the CenterPointObject Usage VGet Sequence Object CenterPntObjResult var VSet Sequence Object CenterPntObjResult value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer
191. using See Also RuntimeAcquire Property Sequence Tab Vision Guide 5 0 Reference Ver 5 3 Rev 1 177 TwoRefPoints Property TwoRefPoints Property Applies To Vision Calibration Description Sets returns whether a calibration should use two reference points instead of one Usage VGet Calibration TwoRefPoints var VSet Calibration TwoRefPoints value Calibration Name of a calibration or string variable containing a calibration name var Boolean variable that will contain the value of the property value Integer expression for the new value of the property Values False Use one reference point True Use two reference points Remarks Set TwoRefPoints to True to use two reference points for a calibration During calibration when CameraOrientation is set to Fixed upward the system will search for the target rotate 180 degrees and search for the target again to calculate the midpoint of the two searches See Also CameraOrientation Property ReferenceType Property 178 Vision Guide 5 0 Reference Ver 5 3 Rev 1 UpwardLamp Property UpwardLamp Property Applies To Vision Calibration Description Sets returns the I O output bit used for the calibration upward camera lamp Usage VGet Calibration UpwardLamp var VSet Calibration UpwardLamp value Calibration Name of a calibration or string variable containing a calibration name var Integer variable that will contain the value of the property value Intege
192. using VGet to retreive the RobotY result will cause an error to occur Statistics For the RobotY Result the following statistics are available RobotYMax RobotYMean RobotYMin RobotYStdDev Please see Statistics in the Vision Guide manual for details about using statistics See Also Angle Result Blob Object CameraX YU Result Correlation Object Edge Object Found Result Geometric Pixel XYU Result Point Object Polar Object RobotX Result RobotU Result RobotX YU Result 126 Vision Guide 5 0 Reference Ver 5 3 Rev 1 RobotY1 Result RobotY1 Result Applies To Vision Objects Line Description Returns the Y coordinate of the starting point position Y1 of a Line object in the robot coordinate system Usage VGet Sequence Object RobotY1 var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Real variable that will contain the value of the result Values Real number in millimeters Remarks Every line must have a starting point and ending point The RobotY1 and RobotY2 results represent the Y coordinate position starting Y1 and endpoints Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the RobotX1 RobotY1 and RobotX2 RobotY2 coordinate pairs can actually be Robot coordinate positions which match the
193. value of the property value Integer expression for the new value of the property Values False Do not show line extensions True Show line extensions Default False Remarks When a Line object is created the default graphic display of the Line object is simply a line with a starting and ending point The StartPointObject and EndPointObject Properties can be used to modify the direction and length of the line but in some cases you may want to see where the line extends to This is the purpose of the ShowExtensions property Extensions are useful when you need to see more than just a line between 2 points For example assume you create a Line object perpendicular to another line and the point at which the 2 lines meet is not actually on the physical line but at some location extended from the line You can see this point of intersection by running your application with the ShowExtensions property set to True See Also EndPointObject Property Line Object Object Tab StartPointObject Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 155 ShowModel Property ShowModel Property Designtime only Applies To Vision Objects Correlation Geometric Polar Description The ShowModel property allows a previously taught model to be displayed at various zoom settings You can also change the model orgin and don t care pixels for some models Remarks Correlation and Geometric Objects You can zoom the model and also change the model or
194. var Real variable that will contain the value of the result Values Real number from 0 255 Remarks Contrast is the difference in grayscale values between an edge and its background Contrast can help find weaker edges First find the edge you want to search for and record the contrast value Next set the ContrastTarget property to this value Then set the ScoreWeightContrast to a higher value that Score WeightStrength This tells the Edge object to look for an edge with the desired contrast and base the score on it See Also ContrastTarget Property ContrastVariation Property Edge Object 38 Vision Guide 5 0 Reference Ver 5 3 Rev 1 ContrastTarget Property ContrastTarget Property Applies To Vision Objects Edge Description Sets the desired contrast for the edge search Usage VGet Sequence Object ContrastTarget var VSet Sequence Object ContrastTarget value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Integer variable that will contain the value of the property value Integer expression for the new value of the property Values 0 255 Default 0 any contrast Remarks ContrastTarget is the desired difference in grayscale values between an edge and its background Use ContrastTarget to find weaker edges or edges at an angle First find the edge you want to
195. w value of the property Valid vision objects for the StartPointObject property are Blob Correlation Edge Geometric Line and Point objects Values Screen or any object that runs prior to the Line object Remarks When a Line object is first created the StartPointObject property is set to Screen However Line objects are normally attached to other vision objects This is the purpose of the StartPointObject and EndPointObject properties Through these two properties the user can define a line between any two vision objects except Frames Frame objects cannot be used to define an start point for a Line object However this does not cause a limitation because Frames are defined by other vision objects In those cases where you want to define a line start point with a Frame object use a Point object in the frame to define the start point of the Line object It is important to note that for each specific vision sequence only those vision objects which are executed prior to the Line object in the vision sequence steps will be available to use as an StartPointObject See Also Edge Object EndPointObject Property Line Object Object Tab StartPointType Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 163 StartPointType Property StartPointType Property Applies To Vision Objects Edge Line Description Specifies the type of start point to use for the line object In most cases the start point type will be a point which us
196. was found Usage VGet Sequence Object Found result var Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Boolean variable that will contain the value of the result result Optional result number If omitted the result number is the CurrentResult Used for objects that return multiple results Values False The part was not found True The part was found Remarks The Found result simply returns whether or not the part or the current object is looking for was found For example and Edge Object returns whether or not an Edge was found and a Correlation object returns whether or not an image was found which matches the taught model The Found result is also included with the RobotX YU and CameraXYU results to reduce the number of function calls required to move the robot to pick up parts when they are found See Also Blob Object CameraX YU Result Correlation Object CurrentResult Property Edge Object FoundOnEdge Result Frame Object Geometric Object Line Object NumberFound Result NumberToFind Property Object Tab Point Object Polar Object RobotX YU Result Score Result 52 Vision Guide 5 0 Reference Ver 5 3 Rev 1 FoundColor Property FoundColor Property Applies To Vision Objects All Description Selects the color for an object when it is found Usage VGet
197. ways returned in millimeters Remarks Every line must have a starting point and ending point The CameraY1 and CameraY2 results represent the Y coordinate position starting X1 Y1 and endpoints X2 Y2 of the specified Line object Since Line object starting and endpoints can be assigned to other vision objects the CameraX1 CameraY1 and CameraX2 CameraY2 coordinate pairs can actually be Camera coordinate positions which match the CameraX and CameraY results for other vision objects In other words if a Line object s starting point is defined by a Correlation object then the CameraX CameraY results from the Correlation object will match the CameraX1 CameraY 1 results for the Line object It should be noted that the Camera Y2 result can only be calculated for vision sequences which have been associated with a calibration If no calibration has been assigned to the vision sequence then if VGet is used to retrieve the Camera Y2 result an error will occur See Also Angle Result CameraX1 Result CameraX2 Result CameraY1 Result Line Object Object Tab PixelX Result PixelY2 Result RobotY Result RobotX YU Result X1 Property X2 Property Y1 Property Y2 Property 28 Vision Guide 5 0 Reference Ver 5 3 Rev 1 Caption Property Caption Property Applies To Vision Objects All Description Sets or returns the caption of the object Usage VGet Sequence Object Caption var VSet Sequence Object Caption value Seq
198. which were found Integer count VRun FindHoles Run the vision sequence VGet FindHoles Part Holes count Get the of holes found Print count holes found Fend See Also VGet VSet Vision Sequences Vision Guide 5 0 Reference Ver 5 3 Rev 1 183 VSet Statement VSet Statement Applies To Vision Sequence Vision Calibration Vision Objects All Description VSet is used to set the values of properties from the SPEL Language Usage VSet Sequence Property value VSet Calibration Property value VSet Sequence Object Property value Sequence Name of a sequence or string variable containing a sequence name Calibration Name of the Calibration to set the property value for Object Name of the Object set the property value for Omit if setting property for sequence or calibration Property Name of the property to set a new value for value Expression for the new value The data type depends on the property type 184 Vision Guide 5 0 Reference Ver 5 3 Rev 1 VSet Statement Remarks NOTE VSet is used to set property values for vision sequences calibrations and objects from the SPEL language For many vision sequences all the proper property settings will be set from within the Vision Guide development environment However there are also times when you will want to set property values in a SPEL program prior to running a vision sequence For example you may want to set the NumberToFind prop
199. xArea Property Maximum Area Applies To Vision Objects Blob Description Defines the upper Area limit for the Blob Object For a Blob to be found it must have an Area result below the value set for MaxArea property Usage VGet Sequence Object MaxArea var VSet Sequence Object MaxArea value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string variable containing an object name The object must exist in the specified sequence var Long variable that will contain the value of the property value Long expression for the new value of the property Values 1 video width x video height Default 100000 Remarks The purpose of the MinArea and MaxArea Properties is to set a range for the Blob object such that if a blob area does not fit within the range then it is considered not found i e the Found result is returned as False When a new Blob object is created the range between the MinArea property and MaxArea property is quite large because the default values are set at 25 and 100 000 respectively This means that in most situations the Blob object will return a Found result as true since the range for Blobs is so wide In most applications it is useful to set a tighter range between the MinArea and MaxArea Properties but of course there values will vary from application to application The point here is to remember to set the MinArea and MaxArea Properties and don t jus
200. xample if you have dark objects on a light background then you should set the Polarity property to DarkOnLight If you were to set Polarity to LightOnDark for the same image then executing Erode will look like a Dilate because the light objects will be eroded making the dark objects dilated The Iterations property determines how many times to execute the operation Convolution Smooth Sharpenl Sharpen2 HorizEdge VertEdge EdgeDetectl EdgeDetect2 LaPlaceEdgel LaPlaceEdge2 Thin Thicken The Polarity property determines which shade to operate on for the Thin and Thicken operations The Iterations property determines how many times to execute the operation Image Manipulation Rotate FlipHoriz FlipVert FlipBoth Binarize ThresholdLow and ThresholdHigh are the boundaries for determining which gray values will be black and which values will be white All gray values in between the thresholds will be black and all others will be white See Also 94 ImageOp Object Iterations Property Vision Guide 5 0 Reference Ver 5 3 Rev 1 OriginAngleEnabled Property OriginAngleEnabled Property Applies To Vision Objects Frame Description Enables a single point frame to rotate with the angle of the origin object Usage VGet Sequence Object OriginAngleEnabled var VSet Sequence Object OriginAngleEnabled value Sequence Name of a sequence or string variable containing a sequence name Object Name of an object or string vari
201. y iii a A A A eee 162 StartPointObject Property ccecceccecceceeeeeeeeeee eee eeeeeeeececeeaeaeeeeeeeeseecensaeeeeeeeeesecsnseieeseeeerees 163 StartPointType Property cccccccccccceeeeeeeeeee eee cee eeeeeeeeceeaeeeeeeeeeeeceeeaeeeeeeeeeeseeeseaeaeeeeeeeetes 164 Strength RESU lies cca ei eed hee cht ee tees eee et 166 StrengthTarget Property ccccecceceecceeeeeeceee eee eee eeeeeeeeceaeaeeeeeeeeseeceneaeeaeeeeeeeesecceneaeeeeeeeetes 167 StrengthVariation Property sa iien a e eei aen aE EE EE EEEN a SEEE LA ee E a ea Se 168 TargetSequence Property oooooccccccccncononnccconcnconcononnnnncncnnnnnnn anno ra ra iraa nnnnnnnnnninnnnnnnnnncncnninnas 169 THICKNESS akeo Y E TTE 170 Thr sholdColor Property oiie tai AAA ds 171 ThresholdHigh Property cccccccccecececeeeceeeeeeeceeeeeeeeeeeeeeeeeeceeeeeeeeeeeeeeaeeeseesaeeeseeeneeeeeeeeeeeeneas 172 Thresholdlow Propeny ssiccencccsacececuhecuctte teateetvans iia 173 A A O ante eblau se steel tet bates 174 Timeout Properties 175 TotalArea Resulta ito co ida Aen Gaede hii nore Seiten ee nae 176 TRIQGErMode P Ope cahseatiecec seca E E caste AKE EEE EEANN Aa ee 177 TwoRefPoints Property c ccccccceeseececeeceeeeeeeeeeeeeaeeeeeeeeceecneaaeeceeeeeeesseecieaeeeeeeeeseeeeeneeaeeess 178 UpwardLamip Propecia A Ba ve A a a e 179 UpwardSequence Property c ccccccccccceseceeceeeeeeeceneneeceeeeesesacaeeceeeeeeeseccceeeaeeeeeeesesenneaeeess 180 V Get SAME du

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