VisionWare User`s Guide - Adept Technology, Inc.

Transcription

VisionWare
User’s Guide
Version 3.0
VisionWare
User’s Guide
Version 3.0
Part Number 00713-00230, Rev. A
October 1995
®
150 Rose Orchard Way • San Jose, CA 95134 • USA • Phone (408) 432-0888 • Fax (408) 432-8707
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone 0231/75 89 40 • Fax 0231/75 89 450
adept
technology, inc.
11, Voie la Cardon • 91126 • Palaiseau • France • Phone (1) 69.19.16.16 • Fax (1) 69.32.04.62
1-2, Aza Nakahara Mitsuya-Cho • Toyohashi, Aichi-Ken • 441-31 • Japan • (0532) 65-2391 • Fax (0532) 65-2390
The information contained herein is the property of Adept Technology, Inc. and shall not
be reproduced in whole or in part without prior written approval of Adept Technology,
Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This manual is periodically reviewed
and revised.
Adept Technology, Inc. assumes no responsibility for any errors or omissions in this document. Critical evaluation of this manual by the user is welcomed. Your comments assist
us in preparation of future documentation. A form is provided at the back of the book for
submitting your comments.
Copyright  1992, 1995 by Adept Technology, Inc. All rights reserved.
The Adept logo is a registered trademark of Adept Technology, Inc.
Adept, AdeptOne, AdeptOne-MV, AdeptThree, AdeptThree-MV, PackOne, PackOne-MV,
HyperDrive, Adept 550, Adept 550 CleanRoom, Adept 1850, Adept 1850XP,
A-Series, S-Series, Adept MC, Adept CC, Adept IC, Adept OC, Adept MV,
AdeptVision, AIM, VisionWare, AdeptMotion, MotionWare, PalletWare,
AdeptNet, AdeptFTP, AdeptNFS, AdeptTCP/IP, AdeptForce, AdeptModules,
and V+ are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Printed in the United States of America
Table Of Contents
Read Me First! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
What Is VisionWare? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
How Does VisionWare Make Inspections? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
What Is Not Included in This Guide? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Do I Have to Read All the Manuals? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Are You Using VisionWare With a Motion Device? . . . . . . . . . . . . . . 3
Are You Customizing VisionWare? . . . . . . . . . . . . . . . . . . . . . . . . . . 3
What Is the Fastest Way to Get Started? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Within the Continental United States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Service Calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Application Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Applications Internet E-Mail Address . . . . . . . . . . . . . . . . . . . . . . . . . 5
Training Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Within Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
France . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1
Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.1 Loading and Executing VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Using the Basic Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Working With the Pointing Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Working in Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Clicking and Dragging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Opening a Window (Making a Menu Selection) . . . . . . . . . . . . . . . . . . . . 9
Selecting a Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Moving a Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Scrolling Within a Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Sizing a Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Closing a Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Main Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Window Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Using VisionWare Menu Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Standard Menu Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Menu Selection Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Keyboard Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Selecting, Choosing, Pressing, and Performing . . . . . . . . . . . . . . . . . . . 13
VisionWare User’s Guide, Rev. A
iii
Table of Contents
Selecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Choosing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Pressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Performing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 What Is a Resource Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Loading and Selecting Resource Modules . . . . . . . . . . . . . . . . . . . . . . . 15
Resource Module Directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5 Managing Resource Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.6 Resource Module Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Module Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Global Databases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Dual-Vision Systems and AIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.7 Editing Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Selecting (Highlighting). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Active/Inactive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
The Typing Cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Creating New Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Copying and Deleting Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Selecting Different Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Exiting Record Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Record-Editing Menu Bars and Quick Keys . . . . . . . . . . . . . . . . . . . . . . 24
1.8 Creating a New Vision Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.9 Additional Record-Creation Aids. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.10 The Vision Record Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.11 Building and Executing Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.12 Access Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Assigning Access Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Creating User Accounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Editing User Accounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Logging On the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Logging Off the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2
Sequence Creation and Execution . . . . . . . . . . . . . . . . . . . . . . . . .33
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.2 Sequences and Resource Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Control Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Creating a Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
The Sequence Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.3 Editing a Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Selecting a Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Statement Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Completing a Statement Argument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Adding a Sequence Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Completing Optional Statement Arguments . . . . . . . . . . . . . . . . . . . . . . 38
Optional Clauses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Completing Constant Arguments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
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Adding Comments to a Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Removing Sequence Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Cutting, Copying, and Pasting Statement Lines . . . . . . . . . . . . . . . . . . . 39
Copying Statement Lines Between Sequences . . . . . . . . . . . . . . . . . . . 40
Sequence Editor Special Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Finding and Finding/Changing Statement Arguments . . . . . . . . . . . . . . 43
2.4 What Are the Sources for Statement Arguments? . . . . . . . . . . . . . . . . . . . . 43
Avoiding Trouble With Statement Arguments. . . . . . . . . . . . . . . . . . . . . 45
2.5 The Statement Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Statement Tree Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Source Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.6 Task Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.7 Debugging Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Task Control Debug Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Activating Single-Step Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.8 Using AIM Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
How Do I Start A Task? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.9 Master Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.10 Editing Sequence Records During Execution . . . . . . . . . . . . . . . . . . . . . . . 56
3
VisionWare Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.2 General VisionWare Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
INSPECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
INSPECT_LIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
OCR_OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
AUTO_BRIGHTNESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
PICTURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
MESSAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
SET_RESPONSE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.3 Control Structure Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Using Expressions in Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Conditional and Looping Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
CALL Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
RETURN Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
IF Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
END Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
ELSE Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
FOR Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
REPEAT Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
WHILE Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
EXIT_LOOP Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
NEXT_LOOP Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CASE Structure (Includes VALUE and ANY Statements) . . . . . . . . . . . 67
GOTO Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
SET Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
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3.4 Sequence Control Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
LOAD Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
PAUSE_TASK Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
RESUME_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SELECT_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
START_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
STOP_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
UNLOAD Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.5 The Variable Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4
Building Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.2 Inspection Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.3 Inspection Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Pass/Fail Criteria for Numeric Values. . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Pass/Fail Criteria for Boolean Values . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.4 Picture Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.5 Picture Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.6 Camera Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.7 Camera Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.8 Calibrating a Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.9 Camera Calibration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Method 1: Adept Calibration Sheet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Method 2: Square of Know Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . 86
Method 3: Circle of Known Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Method 4: Solid Bar of Known Width . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Method 5: Specify mm/pixel Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Calibration Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5
Record Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
5.1
5.2
5.3
5.4
6
Why Are Record Classes Important? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
What are the Record Classes? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Records That Return Cartesian Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Records in the Test-a-Value Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
6.1 What Types of Measurements Can Be Made? . . . . . . . . . . . . . . . . . . . . . . . 96
6.2 Measuring the Distance Between Two Points . . . . . . . . . . . . . . . . . . . . . . . 97
Tutorial: Measuring a Point-to-Point Distance . . . . . . . . . . . . . . . . . . . . 98
Create the Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Add an Inspect Statement to a Sequence . . . . . . . . . . . . . . . . . . . . . . 100
6.3 Measuring the Distance From a Point to a Line . . . . . . . . . . . . . . . . . . . . . 101
Tutorial: Editing an Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . 102
Modify the Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.4 Measuring the Angle Between Two Lines . . . . . . . . . . . . . . . . . . . . . . . . . 103
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6.5 Measuring Circle’s Radius or Diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7
Testing a Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
7.1 Which Values Can Be Tested? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.2 Creating a Test-a-Value Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.3 Testing Results From Rulers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Create a Ruler Record:. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.4 Testing Results From Finder Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Tutorial: Testing the Orientation of a Blob . . . . . . . . . . . . . . . . . . . . . . 112
Create an Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Create a Blob Finder Record: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Complete the Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.5 Testing Window Stats: Graylevel Statistics. . . . . . . . . . . . . . . . . . . . . . . . . 113
Picture Records and Graylevel Statistics . . . . . . . . . . . . . . . . . . . . . . . 114
Tutorial: Calculating an Average Graylevel . . . . . . . . . . . . . . . . . . . . . 115
Edit the Sample Window Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Edit the Picture Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.6 Testing Window Stats: Pixel Counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
How Does VisionWare Know Which Pixels to Count? . . . . . . . . . . . . . 117
Picture Records and Pixel Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Window Records and Pixel Count Inspections . . . . . . . . . . . . . . . . . . . 118
Pixel Count Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8
Vision Model Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
8.1 Prototype Model Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
8.2 Creating Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Editing Prototypes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Prototype Training Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Prototype Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.3 Prototype Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.4 Prototype Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.5 Image Correlation Template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.6 Correlation Template Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.7 Correlation Windows. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.8 Correlation Window Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.9 OCR Font Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.10 Creating a Font . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.11 OCR Field Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.12 OCR Field Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
OCR Field Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
9
Frame Relative Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
9.1 Why Use Frame Relative Records? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
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9.2
9.3
9.4
9.5
What Is a Vision Frame? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Vision Frame Class Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Vision Frames Generated by Vision Tools . . . . . . . . . . . . . . . . . . . . . . . . . 140
Computed Vision Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Fixed Frame and Null Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Frame Origin, a Point on the X axis, and a Point in the Positive Y Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Frame Origin and a Point on the Positive X Axis . . . . . . . . . . . . . . . . . 145
Line and a Point in the Positive Y Direction . . . . . . . . . . . . . . . . . . . . . 146
A Line for the X Axis, and a Line Through the Origin . . . . . . . . . . . . . . 147
9.6 Making Vision Tools Relative to a Vision Frame. . . . . . . . . . . . . . . . . . . . . 147
Tutorial: Creating a Vision Frame Relative Arc Finder . . . . . . . . . . . . . 148
A. Create an Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
B. Create an Arc Finder Record . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
C. Create a Computed Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
D. Complete the Arc Finder Record . . . . . . . . . . . . . . . . . . . . . . . . 150
E. Complete the Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . 150
Vision Frame Relative Inspection Tree. . . . . . . . . . . . . . . . . . . . . . . . . 151
10
Repeating and Combining Operations. . . . . . . . . . . . . . . . . . .153
10.1 Looping in VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Repeat Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Value Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
10.2 Examples Using Combination-Repeat Pairs. . . . . . . . . . . . . . . . . . . . . . . 155
Example 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Example 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Example 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Additional Observations of Interest . . . . . . . . . . . . . . . . . . . . . . . . 161
Restrictions on Combination-Repeat Loops . . . . . . . . . . . . . . . . . . . . . 163
11
Viewing and Recording Vision Results . . . . . . . . . . . . . . . . . .165
11.1 Viewing Vision Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Displaying Tool Graphics During Sequence Execution . . . . . . . . . . . . 166
11.2 Displaying Vision Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Recent History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
11.3 Inspection Results Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
11.4 Inspection Results Page Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
11.5 Charts of Inspection Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
11.6 inspection Chart Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Inspection Charts for Boolean Inspections . . . . . . . . . . . . . . . . . . . . . . 171
11.7 Logging Vision Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
The Form of the Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
The Output File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
The Shifted Process Capability Index. . . . . . . . . . . . . . . . . . . . . . . . . . 173
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12
Using Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
12.2 Installing Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Displaying the State of Digital I/O Signals . . . . . . . . . . . . . . . . . . . . . . 176
12.3 Digital I/O Signal Numbering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Soft Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Special Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Negative Signal Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
12.4 Using Digital I/O With Vision Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
12.5 Using Digital I/O Statements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
WAIT_FOR Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
WAIT_UNTIL Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
IO Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
IO_LIST Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
13
Vision Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181
13.1 Pixel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Computer Image Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.2 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.3 Grayscale vs. Binary Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
13.4 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.5 Blobs and Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Holes in Blobs or Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.6 Lighting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
13.7 Lighting Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Diffuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Directional. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Structured . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Strobe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
13.8 Filtering and Special Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Polarizing Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Color Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Infrared Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
A
Installing VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
A.1 Installing the Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
A.2 Initialization Databases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.3 Autostarting VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
B
Menu Bars and Quick Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
B.1 Main Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
B.2 Record Editing Menu Bar and Quick Keys . . . . . . . . . . . . . . . . . . . . . . . . . 203
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B.3 Vision Window Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
B.4 Sequence Editing Menu Bar and Quick Keys . . . . . . . . . . . . . . . . . . . . . . 208
C
VisionWare Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211
C.1 The File Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
File Manager Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
C.2 The Backup and Restore Utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
The Backup Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Backup Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Creating a Backup Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Restoring Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Restore Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
D
Basic, OCR, and Special Purpose Records . . . . . . . . . . . . . . . .221
D.1 Inspection Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
D.2 Inspection Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
D.3 Inspection Record Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
D.4 Picture Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
D.5 Picture Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
D.6 Value Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
D.7 Value Combination Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
D.8 Prototype Model Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
D.9 Prototype Model Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
D.10 Prototype Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
D.11 Prototype Finder Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
D.12 OCR Font Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
D.13 OCR Font Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
D.14 OCR Field Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
D.15 OCR Field Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
D.16 Correlation Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
D.17 Correlation Template Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
D.18 Correlation Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
D.19 Correlation Window Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
D.20 Frame Pattern Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
D.21 Frame Pattern Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
D.22 Conditional Frame Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
D.23 Conditional Frame Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
E
Finder Tool Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .249
E.1 Line Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
E.2 Line Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
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E.3 Point Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
E.4 Point Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
E.5 Arc Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
E.6 Arc Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
F
Computed Feature Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259
F.1 Computed Line Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
F.2 Computed Line Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
F.3 Computed Point Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
F.4 Computed Point Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
F.5 Computed Circle Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
F.6 Computed Circle Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
F.7 Computed Frame Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
F.8 Computed Frame Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
G
General Tool Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .269
G.1 Linear Ruler Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
G.2 Linear Ruler Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
G.3 Arc Ruler Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
G.4 Arc Ruler Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
G.5 Ruler Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
G.6 Ruler Profile Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
G.7 Window Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
G.8 Window Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
G.9 Image Processing Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
G.10 Image Processing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Add Two Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Subtract Images (A - B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Convolve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Morphological Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Edge Detection Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Threshold Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Copy Image to New Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
G.11 Blob Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
G.12 Blob Finder Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .289
xi
Table of Contents
List of Figures
Figure 1
Steps to Complete a Vision Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 1-1
Start-up Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 1-2
Monitor Window Feature Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 1-3
VisionWare Menu Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 1-4
Example Resource Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 1-5
New Module Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 1-6
Edit Module Components Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 1-7
Select New Module Component Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 1-8
Edit Module Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 1-9
Searching for a Database Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 1-10
Creating a New Vision Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 1-11
Vision Record Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 2-1
New Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 2-2
Sequence Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 2-3
Sequence Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 2-4
Find and Change Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 2-5
Sample Statement Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Figure 2-7
Task Control Panel With Debug Options . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Figure 2-8
Master Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 3-1
Variable Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Figure 4-1
Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Figure 4-2
Inspection Limits and Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Figure 4-3
Pass/Fail Criteria for Boolean Inspections . . . . . . . . . . . . . . . . . . . . . . . . . 79
Figure 4-4
Picture Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Figure 4-5
Camera Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 4-6
Camera Calibration Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Figure 4-7
Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Figure 6-1
POINT-POINT Distance Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Figure 6-2
POINT-LINE Distance Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Figure 7-1
Test a Value Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Figure 7-2
Sample Vision Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Figure 7-3
Window Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Figure 8-1
Prototype Model Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Figure 8-2
Prototype Editing Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Figure 8-3
Prototype Finder Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
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Table of Contents
Figure 8-4
Correlation Template Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Figure 8-5
Correlation Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Figure 8-6
OCR Font Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Figure 8-7
OCR Field Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Figure 9-1
Vision Frame Relative Arc Ruler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Figure 9-2
Vision Frame Relative Linear Rulers . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Figure 9-3
Computed Frame, Three Point Method . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Figure 9-4
Computed Frame, Two Point Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Figure 9-5
Computed Frame, Point and Line Method . . . . . . . . . . . . . . . . . . . . . . . . 146
Figure 9-6
Computed Frame, Two Line Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Figure 9-7
Vision Frame Relative Inspection Tree . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Figure 10-1
Combination Inspection Tree (Example 1). . . . . . . . . . . . . . . . . . . . . . . . 157
Figure 10-2
Combination Inspection (Example 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Figure 10-3
Combination Record Tree (Example 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Figure 10-4
Combination Record (Example 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Figure 10-5
Combination Record Tree (Example 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Figure 10-6
Repeat Tree With Multiple Inspection Records . . . . . . . . . . . . . . . . . . . . 162
Figure 10-7
Valid and Invalid Combination-Repeat Trees . . . . . . . . . . . . . . . . . . . . . 163
Figure 11-1
Inspection Results Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Figure 11-2
Charts of Inspection Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Figure 12-1
Digital I/O Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Figure 13-1
A Grayscale Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Figure 13-2
A Binary Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Figure 13-3
Resolution Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Figure 13-4
Sample Vision Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Figure 13-5
Binary Representation of Sample Matrix . . . . . . . . . . . . . . . . . . . . . . . . . 185
Figure 13-6
Setting Both Binary Thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Figure 13-7
Grayscale Representation of Sample Matrix . . . . . . . . . . . . . . . . . . . . . . 186
Figure C-1
File Manager Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Figure C-2
Backup Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Figure C-3
List of Backup Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Figure C-4
Backup Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Figure C-5
List of Backup Savesets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Figure C-6
Restore Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Figure D-1
Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Figure D-2
Picture Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Figure D-3
Value Combination Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Figure D-4
Prototype Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Figure D-5
Prototype Finder Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Figure D-6
OCR Font Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
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Table of Contents
Figure D-7
OCR Field Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Figure D-8
Correlation Template Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Figure D-9
Correlation Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Figure D-10
Frame Pattern Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Figure D-11
Conditional Frame Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Figure E-1
Line Finder Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Figure E-2
Point Finder Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Figure E-3
Circle Finder Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Figure F-1
Computed Line Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Figure F-2
Computed Point Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Figure F-3
Computed Circle Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Figure F-4
Computed Frame Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Figure G-1
Linear Ruler Tool Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Figure G-2
Arc Ruler Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
Figure G-3
Ruler Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Figure G-4
Window Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Figure G-5
Image Processing Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Figure G-6
Blob Finder Tool Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
List of Tables
Table 1
Manuals Used for Custom Programming. . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Table 2
Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Table 1-1
Conventions Used in This Manual for Menu Instruction Lines. . . . . . . . . . 11
Table 1-2
Typographic Conventions Used in This Manual. . . . . . . . . . . . . . . . . . . . . 13
Table 2-1
Statement Argument Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 5-1
Records Returning Point Values (Point-Class Records) . . . . . . . . . . . . . . 91
Table 5-2
Records Returning Line Values (Line-Class Records) . . . . . . . . . . . . . . . 91
Table 5-3
Records Returning Circle Values (Circle-Class Records) . . . . . . . . . . . . . 92
Table 5-4
Records Returning Vision Frame Values (Vision-Frame Class Records) . 92
Table 5-5
Test-a-Value Class Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Table 7-1
List of Values That Can Be Tested . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Table 10-1
Repeat Class Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Table 13-1
Types of Lighting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Table A-1
Options in the Baseline File (BASEINI.DB) . . . . . . . . . . . . . . . . . . . . . . . 195
Table A-2
Options in the Vision (VISWINI.DB) File . . . . . . . . . . . . . . . . . . . . . . . . . 196
xiv
Table of Contents
Table A-3
Options in the VisionWare (VWINI.DB) File. . . . . . . . . . . . . . . . . . . . . . . 197
Table A-4
Options in the User File (USERINI.DB) . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Table B-1
Record Editing Quick Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Table B-2
Sequence Editing Quick Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Table D-1
Inspection Record Type: Measure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Table D-2
Inspection Record Type: Test a Value. . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Table D-3
Inspection Record Type: Combine Inspections . . . . . . . . . . . . . . . . . . . . 226
Table D-4
Blob Statistics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Table D-5
Inspection Record Type: Window Statistics . . . . . . . . . . . . . . . . . . . . . . 227
xv
Read Me First!
Compatibility
This manual is for use with VisionWare version 3.0 operating in conjunction with V+
version 11.2 or later.
What Is VisionWare?
VisionWare is an application module for the Adept AIM system. VisionWare allows you to
produce machine-vision inspection applications in a “point and click” environment.
VisionWare has programmed all the tools necessary to perform inspections– you simply
use the VisionWare mouse and menu system to tell VisionWare where to put the tools and
how to interpret the results.
How Does VisionWare Make Inspections?
vision tools
Vision inspections are made by the vision tools provided
with VisionWare. These tools include rulers for measuring
distances; windows for calculating the intensity ranges in
an image; finder tools for locating lines, circles, and other
features of objects that you place in the field of view of the
camera; and prototype and optical character recognition
(OCR) tools. Each of these tools requires several items of
information to know what data to collect, how to interpret
the data, and where in the camera field of view to look for
that data. VisionWare allows you to specify all these items
of information either by making menu selections or by
using the mouse to manipulate the tools directly.
records
Once you have created a vision tool, VisionWare saves all
the information about that tool in a vision record that can be
recalled for future use. Vision records are a key ingredient
in VisionWare. They automatically store all the
characteristics you specify when creating a vision tool or
vision operation (in addition to tools, VisionWare has
operations, which coordinate and support the work of the
various vision tools). A single inspection requires several
records to specify what you want done with the data
returned from a vision tool, the characteristics of the tool
itself, and the camera settings to use when a picture is taken.
The creation, storing, and connecting of records is done
automatically by VisionWare; you simply make menu
selections to tell VisionWare what you want the different
records to do.
1
top-level record
Every individual inspection you create will have a master,
or top- level, record that specifies what type of inspection is
going to be made, what other records are needed to make
the inspection, and what the requirements are for the
inspection to be successful.
sequence
If you are inspecting multiple features of an object, you will
create sev eral different individual inspections to look at the
different features. To make a complete inspection of an
object, you will combine the individual inspections into a
sequence of inspections that examines all the critical
features of the object.
sequence
execution
Once you have created the individual inspections and
combined them into a complete sequence of inspections,
you actually run the sequence. VisionWare provides a
control panel from which you can control execution of
sequences of inspections, debug the sequence of
inspections, and make any adjustments necessary to finetune the performance of the tools being used to make the
individual inspections.
The steps required to perform a vision inspection are shown in Figure 1.
1. Create the top-level
inspection record.
2. Create the additional
records needed to
accomplish the inspection
specified by the top-level
inspection record.
3. Combine the individual
inspections into a
complete sequence of
inspections.
4. Run the sequence of
inspections.
Record:
Record:
Record:
Record:
Record:
Record:
Record:
Record:
Record:
Record:
+
Record:
Record:
Record:
+
+
Record:
Record:
Record:
Record:
Record:
Record:
+
Record:
Record:
Record:
Figure 1
Steps to Complete a Vision Inspection
What Is Not Included in This Guide?
1. The physical installation and configuration of the computer hardware (including
digital I/O equipment). These procedures are covered in the controller user’s guide
that came with your controller. Before you can begin building inspections, you must
have completed the installation of your controller as described in the controller
user’s guide.
2. Instructions for use and installation of any additional hardware that is used along
with VisionWare.
2
Do I Have to Read All the Manuals?
Do I Have to Read All the Manuals?
In addition to the manual you are reading, you should also read the Adept MV Controller
User’s Guide, which describes the physical controller VisionWare runs on.
Are You Using VisionWare With a Motion Device?
If you are using VisionWare with an Adept robot or a motion device connected to an
AdeptMotion Servo system, you receive additional manuals that detail the special
capabilities of VisionWare with a motion device. The MotionWare User’s Guide provides
basic details about Adept motion applications including the Path, Tool, and Frame
databases. These databases are included with your system in addition to the other
databases detailed in this manual. The MotionWare User’s Guide also details calibrating
cameras associated with a motion device.
Are You Customizing VisionWare?
The following set of optional reference material that allows you to not only use
VisionWare but also to customize VisionWare at the programming (V +) level and write
your own vision applications. These manuals are:
Table 1
Manuals Used for Custom Programming
Manual
Material Covered
AIM Customizer’s
Reference Guide
The AIM database structures and the routines used
to drive the AIM system. If you are going to use
VisionWare as delivered, you can ignore this
material. It outlines the basic strategies for
customizing the AIM system that VisionWare is
based on. It also provides information on creating
and modifying statements, databases, and menu
pages.
AIM Vision/VisionWare
Module Reference Guide
Information specific to customizing the vision
module.
V+ Operating System
Reference Guide and V+
Language Reference Guide
The operating system and language in which all
V+ and AIM programs are written. Unless you are
writing custom V+ code, you can ignore this
material.
AdeptVision Reference
Guide
Details of the vision enhancements to the V+
language. This reference manual is a companion to
the V+ reference guides.
AdeptVision VME User’s
Guide
The “how-to” material for Adept’s vision system.
Unless you are programming custom vision
applications, you can ignore this manual although a
quick review of the manual might help you better
understand the vision process.
What Is the Fastest Way to Get Started?
This manual assumes you have completed the following steps:
• Installed the controller (see the controller user’s guide).
3
• Installed the input/output (I/O) modules. (If you are using digital I/O. See your
controller user’s guide.)
• Installed the VisionWare software onto the hard disk.
• Installed the cameras (and strobes) that you will be using (see your controller user’s
guide).
• Installed any additional hardware and lighting that will be used in conjunction with
the vision system.
Once these steps have been completed, refer to Table 2 for the minimum steps to getting
started.
Table 2
Quick Start
Step
Section
Activate VisionWare.
1.1
If you are new to menu-driven, window-based software, learn
how to use the VisionWare menus, icons, and window system.
1.2
If you are new to machine vision systems, learn the basic
principles and vocabulary of computer-aided inspection
systems.
Chapter 13
Learn the basics of running an inspection sequence.
Chapter 4
Edit the default picture record for your working environment.
4.4
You can use VisionWare with the default calibration, but the
absolute measurements returned by VisionWare (distances,
angles, etc.) will not be accurate. To obtain accurate
measurements, you must calibrate your cameras.
4.8
Learn how to use the top-level inspection record.
4.2
Learn to use the different tools needed for the inspections you
want to make.
Chapters 3-9
How Can I Get Help?
Within the Continental United States
Adept Technology maintains a Customer Service Center at its headquarters in San Jose,
CA. The phone numbers are:
Service Calls
(800) 232-3378 (24 hours-a-day, 7 days-a-week)
(408) 433-9462 FAX
NOTE: When calling with a controller related question, please have the
serial number of the controller. If your system includes an Adept robot,
also have the serial number of the robot. The serial numbers can be
determined by using the ID command (see the V+ Operating System User’s
Guide) .
4
How Can I Get Help?
Application Questions
(800) 232-3378 (Monday to Friday, 8:00 A.M. to 5:00 P.M., Pacific time)
(408) 434-6248 FAX
Applications Internet E-Mail Address
If you have access to the Internet, you can send applications questions by e-mail to:
[email protected]
This method also enables you to attach a file, such as a portion of V+ program code, to
your message.
Training Information
For information regarding Adept Training Courses in the USA, please call (408) 434-5024.
Within Europe
Adept Technology maintains a Customer Service Center in Dortmund, Germany. The
phone numbers are:
(49) 231 /75 89 40 from within Europe (Monday to Friday, 8:00 A.M. to 5:00 P.M)
(49) 231/75 89 450 FAX
France
For customers in France, Adept Technology maintains a Customer Service Center in Paris,
France. The phone numbers are:
(33) 1 69 19 16 16 (Monday to Friday, 8:30 A.M. to 5:30 P.M, CET)
(33) 1 69 32 04 62 FAX
5
Getting Started
1
1.1 Loading and Executing VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Using the Basic Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Using VisionWare Menu Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 What Is a Resource Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Managing Resource Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.6 Resource Module Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.7 Editing Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.8 Creating a New Vision Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.9 Additional Record-Creation Aids. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.10 The Vision Record Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.11 Building and Executing Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.12 Access Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7
Chapter 1 - Getting Started
1.1
Loading and Executing VisionWare
If VisionWare has not already been copied to the hard disk drive, see Appendix A. Once
VisionWare has been copied to the hard disk drive, the steps to load the vision program
into system memory and start up VisionWare are:1
1. Turn on the controller and monitor. The system starts up and displays a series of
messages on the monitor window. When the screen looks similar to Figure 1-1, you
are ready to start VisionWare.
Copyright (c) 1984-1995 by Adept Technology, Inc. All rights reserved.
Software:
11.2 83-1C0 (Edit P4, 03-Aug-1995)
Controller: 3302-773 0
Processor 1: 0.0 2-7 8Mb
100-0 0-0 8
Robot 1:
100-0 0-0 8
Robot 2:
Vision 1:
11.2 500 1 1.25Mb
11-Oct-95 15:11:22
Figure 1-1
Start-up Message
2. Make the AIM subdirectory (or whichever subdirectory you copied VisionWare to)
the default directory:
Type default = c:\aim\ and press the ENTER key.
3. Load and execute the software:
Type load lvw and press the ENTER key.
Type comm lvw and press the ENTER key.
1
8
If you are using MotionWare with the vision option, you must follow the startup instructions from
the MotionWare User’s Guide. In this case, VisionWare becomes a server task for MotionWare. In
order to use MotionWare with the vision option, you need to be familiar with all the material in this
manual.
Using the Basic Interface
1.2
Using the Basic Interface
Working With the Pointing Device
The pointing device controls the position of the cursor arrow on the monitor screen. The
pointing device can be used for selecting windows, moving windows on the screen, and
opening applications. A standard Microsoft compatible mouse uses the center mouse
button. The track ball on the standard Adept keyboard uses only the left button.
Working in Windows
Figure 1-2 shows the features of a standard Adept window. The callouts shown in the
figure are described in the rest of this section.
adept
Execute
Main
Menu Bar
Edit
I/O
Show Set-Up
Close Icon
Title Bar
Utilities
Special
Help
Scroll Bar Icon
Zoom Icon
Accounts
Go
Seek
Edit
Help
Scroll Handle
Window
Menu Bar
Vertical
Scroll Bar
Scroll
Arrows
Cursor
Arrow
Horizontal Scroll Bar
Size Icon
Figure 1-2
Monitor Window Feature Identification
Clicking and Dragging
To click an item, position the cursor arrow (using the mouse or trackball) over the item;
press and release the button.
To drag an item, position the cursor arrow over the item, press and hold down the button,
then drag the item to a new location and release the button.
Opening a Window (Making a Menu Selection)
1. Position the pointer on the adept logo at the top left corner of the screen.
2. Press and hold down the button to display a pull-down menu. Drag the pointer until
the command that you want to open is selected.
3. Release the button to open, or choose, the window.
9
Multiple windows can be open at one time, and windows can overlap each other. When
windows overlap, the active (selected) window appears on top of any other open
windows.
Selecting a Window
You can only work in the currently selected window. To select a window, click anywhere
inside the window. The title bar will change from white to dark blue when the window is
selected. You can also make a window the currently selected window by choosing the
window from the pull-down menu under the adept logo.
Moving a Window
Click the window title bar and drag the window to a new location.
Scrolling Within a Window
The scroll bars can be turned on and off by clicking the scroll-bar icon. The arrows at the
end of the scroll bar allow you to scroll through a window one line at-a-time. Drag the
scroll handles or click anywhere in the scroll bar to scroll quickly to any part of the
window. (Scroll handles are not displayed when the window has been expanded to its full
size.)
Sizing a Window
You can change the size of a window by clicking the size icon and dragging it to a new
size. Another way to change the size of a window is to click the zoom icon to toggle the
window between its maximum size and its current reduced size.
Closing a Window
To close a window, click the close icon in the upper left corner. Closing the vision or
monitor window does not terminate the process that is running in that window. The
process will continue to run in the background. For example, if you are formatting a disk,
closing the monitor window will not stop the format process.
Main Menu Bar
This menu bar will be displayed whenever VisionWare is being run. The use of all the
main menu bar options is summarized in Appendix B.
Window Menu Bar
Each open window has its own menu bar with pull-down options. Menu bars are specific
to the window in which they appear. Menu bars for VisionWare windows are summarized
in Appendix B.
1.3
Using VisionWare Menu Pages
Standard Menu Features
Screens (windows) displayed by VisionWare are called menu pages. Inspections are built
by making selections from the VisionWare menu pages. Menu page features are common
10
to many menu pages. The appearance of each menu page feature tells you what will
happen when you select a given feature. Figure 1-3 describes the menu page features.
Information box. A gray grooved box presents an item of
information. You cannot edit data in this type of box.
Data Box. A light blue recessed box accepts data entry. When this
box is ready for entry, it turns a darker shade of blue.
Radio Buttons. These buttons allow you to select a single option from
among the group of buttons displayed. A green center indicates
the button has been selected.
Check Boxes. These boxes allow you to turn a given option on or off.
Push Buttons. These buttons initiate some type of action by the system or indicate
system status. A green center indicates the button is on or active; a gray center
indicates the action is off or unavailable.
Standard Buttons. When the button appears as a gray box, the option is not
available. When the button appears as a light blue raised box, clicking the
button initiates the indicated action. After being clicked, the button
momentarily turns a darker blue to indicate it has been chosen.
Scroll Bars. Clicking the scroll arrows increments
or decrements the value by one “unit.” Dragging the
scroll handle moves through the range of values.The
size of a “unit” and range of values vary.
Menu features surrounded by this type of box are
referred to as a group. Menu features are often
grouped according to the overall operation they
influence.
Figure 1-3
VisionWare Menu Features
About This Manual
To facilitate understanding and use of menu bars and menu page selections, this manual
uses the following conventions:
Table 1-1
Conventions Used in This Manual for Menu Instruction Lines
Symbol or
Appearance
Action
Edit
Select (click and hold down mouse button) the menubar item with the same title.
Part
Choose this option from the pull-down options
presented after a menu-bar item has been selected.
11
Table 1-1
Conventions Used in This Manual for Menu Instruction Lines (Continued)
Symbol or
Appearance
Action
➡
Move to the next action in the instruction sequence.
Goto
Choose (click) the button with the same name.
Arc
Select the radio button with the same name.
✔ Relative
Select the check box with the same name.
enter “hi”
Actions such as entering data, text, or double clicking
an item are shown in italics.
✼
This symbol calls your attention to an important
point.
Menu Selection Example
The instruction line
Edit ➡ Part Type ➡ Edit ➡ New Record
box ➡ ✔ Search enabled ➡ Done
➡ Enter “my.rec” in the name data
indicates that you should perform the following actions:
1. Select Edit from the main menu bar.
2. Choose Part Type from the resulting pull-down.
3. Select Edit from the newly displayed window menu bar.
4. Choose New Record from the resulting pull-down menu.
5. Type my.rec into the name data box and press ENTER.
6. Select the Search enabled check box.
7. Choose the Done button.
12
Table 1-2
Typographic Conventions Used in This Manual.
Appearance
Representation
italics
Indicates new terms and other emphasized words.
SMALL CAPS
Indicates a physical key or button than you must
press, such as the ENTER key.
bold
In a typing instruction, type anything that you see in
this font exactly as it appears. What you type is
shown in lowercase letters unless it must be typed in
uppercase letters to work properly.
For the V+ system to process your typing, you must
conclude your entry by pressing the ENTER or RETURN
key.
regular
monospace
Used for monitor displays, code examples, nonplaceholder terms in formal syntax definitions, and
case-sensitive words required for a UNIX-like setting
associated with AdeptNet.
Menu bold
In text discussion of menu pages, this type style is
used for menu items that you choose and window
items that do not have initial capital letters in all
principal words.
Keyboard Conventions
Key combinations appear in the following format:
Notation
Meaning
KEY1+KEY2
A plus sign (+) between keys means that you must
press the keys at the same time. For example, “Press
CTRL+Z” means that you press CTRL and hold it down
while you press Z.
Selecting, Choosing, Pressing, and Performing
The terms select, choose, press, and perform (as used in this manual) have different and
specific meanings.
Selecting
This implies either marking a window item or highlighting it. For example, you may mark
a check box with a check. Selecting alone does not initiate an action.
You can use a combination of keyboard and pointer device techniques for selecting.
Choosing
This implies carrying out an action. For example, choosing a menu item may open a
window or execute a command. You can also initiate an action by choosing a command
button (a push button or a standard button). Often, you select an item and then choose a
button to initiate the desired action.
13
You can use a combination of keyboard and pointer device techniques for choosing.
Pressing
This refers to physical keys or buttons such as those found on a controller’s keyboard or
manual control pendant. For example, you press the SAVE key on a keyboard or the
PROGSET button on a Manual Control Pendant. By contrast, you select or choose a button
appearing in a displayed VisionWare window.
Performing
This refers to carrying out a sequence of steps that are defined in an AIM menu instruction
line.
1.4
What Is a Resource Module
VisionWare is designed to efficiently manage the information required to complete the
jobs for which your automation workcell was installed. In VisionWare there are two
primary types of information required to perform workcell tasks:
Data
This includes the vision tools that make inspections, camera definitions
for the cameras being used, and other information needed for inspections.
Data is stored in VisionWare databases.
Logic
This tells VisionWare the proper order to perform each of the individual
operations required to complete a task. This also includes any required
synchronization (such as waiting for a digital signal), starting other
sequences at the required time, and other options that control the “when”
of a job rather than the “what or how”. In VisionWare, logic is stored in
sequences.
For example, suppose you have a vision task that requires inspection of a hole diameter,
inspection of a slot width, and then a measure of the distance between the hole and slot if
the first two inspections pass. The data resources (vision and camera databases) tell
VisionWare how to make the inspections. These data resources do not indicate what order
the inspection are to be made in–a logic resource is required to specify the order of events.
In the above example, you need the following resources:
• A vision data base to store the vision tools
• A camera database to store the camera calibration and definition for cameras used by
the vision tools
• A sequence to define the order of events
You can design as many Resource Modules as you need, but you can select only one
Resource Module at a time. Only the sequences associated with the currently selected
module can be edited.
Suppose you have designed a workcell that performs quality control on three different
assemblies. The Resource Modules for the three different assemblies look like Figure 1-4.
The modules use databases as follows:
• Module 1 has all its own databases and does not use any global databases.
• Module 2 uses the global camera and variable databases.
• Module 3 uses the global vision, camera, and variable databases.
14
What Is a Resource Module
Module 1
Module 2
Sequence #1
Sequence #2
Variable DB #1
Camera #1
Vision DB #1
Vision DB #2
Sequence #3
Module 3
Sequence #4
Sequence #5
Figure 1-4
Example Resource Modules
Loading and Selecting Resource Modules
Resource modules can have three states: unloaded, loaded-not selected, and loadedselected. The state of a module determines which operations can be performed as shown
in the following table:
Not Loaded
Add or delete resources
Loaded,
not selected
Loaded,
selected
X
Edit sequences
X
Select records for a sequence
X
X
A resource module can be either unloaded or loaded. An unloaded module resides
entirely on disk and uses no V+ memory. It can be edited with the module utility, but the
data in the module databases cannot be accessed by AIM.
A loaded module is read from disk into V + memory. The amount of memory in your
system limits the number of modules that can be loaded. Once loaded, the databases into
the module can be accessed by the operator interface or the various runtime tasks.
Once a module is loaded, it must be “selected” or assigned to specific AIM tasks. Each
task may have at most, one module assigned to it. A module can be assigned to more than
one task. Once a module is assigned to a task, any references to a database of a given type
refer to the module database member of that type. If the module does not contain such a
database, the corresponding global database is referenced.
A module is assigned to a runtime task by pressing the SELECT button on the operator’s
control panel or by executing the SELECT_TASK control-sequence statement. To edit a
15
database within a module, you must first assign it to the operator interface by using the
Module ➡ Select/Edit pull-down. When a runtime task is displayed by an operator
control panel, the module assigned to that runtime task also becomes assigned to the
operator interface.
The name of the module currently assigned to the operator interface is shown in the top
line of the window, near the right side. If no module is assigned to the operator interface,
the name *Global* is shown. As for a runtime task, any reference to a database accesses the
components of this module. These references include the database editing pages found
under the Edit pull-down, the sequence editor, and various set up utilities.
If a module is assigned to an active runtime task, it cannot be unloaded or edited with the
module utility.
Resource Module Directory
When you first create a module, you are prompted to enter a directory name for storing
the module resources.
The path to this directory can be absolute, such as:
c:\data\test.data
or
\data\proj1\
Or, the path can be relative to the AIM programs directory:
data\vis_proj\
16
Managing Resource Modules
1.5
Managing Resource Modules
Resources are created, copied, edited, loaded, and selected in the module resource utility.
To access a Resource Module, perform:
Module
➡ Select/Edit
➊
➋
➌
➍
➎
➏
➑
➐
➒
Figure 1-5
New Module Menu Page
1.6
Resource Module Options
Refer to Figure 1-5
➊
Shows all the defined modules components (if
All is selected from item ➍) or the
loaded modules (if
Loaded is selected from item ➍).
Double click a module name to select that module (and load the module if not already
loaded). The currently selected module is shown at the top of the window (if no
module is selected, *Global* is displayed).
The currently selected modules is shown in blue. Loaded modules are shown in black
and unloaded modules are shown in gray.
➋
➌
Choose Select to make the highlighted module the currently selected module. A
module must be selected in order to access its associated sequences from the sequence
editor.
Choose Global to de-select the current module. This allows you to access all of the
global databases. (If, for example, you have a module selected that has a path database
in its resources, you cannot access the global-path database.)
17
NOTE: There is no global-vision or global-location database.
➍
➎
These radio buttons determine which module are displayed in item ➊.
Choose Load to load the selected module.
Choose Unload to unload the selected module.
➏
➐
➑
➒
➓
Choose Create to display a window requesting the new module name and the
directory path to the module. All module components will be stored in this directory.
If the directory path is left blank, the module and its components will be stored in the
current directory. See the following sections (in this chapter) for details on adding
components to the module.
Choose Copy to create a copy of the selected module.
Choose Edit to add, delete, or change characteristics of module components.
Choose Delete to delete the selected module and all of its resources.
Choose Done to exit the Resource Module utilities.
When either a module has been first created or the Edit button is chosen, the following
window will be displayed. From this window you can add the required components. This
module already has one sequence.
➊
➋
➌
➍
➎
➏
➐
➑
Figure 1-6
Edit Module Components Menu Page
➊
➋
18
Select ✔ Auto to enable the auto-load feature. Modules with this option enabled load
automatically when VisionWare is started.
Shows all the module components, component type, disk file name, editing mode,
and control flag (when appropriate). The selected component is the current
component.
Resource Module Options
➌
➍
➎
➏
➐
➑
Choose to add a new component to the module (the component resource options are
shown in “Module Resources” on page 19).
Choose to import a component resource that is stored in AIM database format.
(Generally, you would import resources that have previously been exported – see item
➏).You may also import a file from a different module.
Choose to delete the selected component.
Choose to export a component to an AIM database file.
Choose to edit the current component characteristics.
Choose when you are done editing components.
Module Resources
To request a new module resource, choose Add from the Edit Module Components
window to display the following window, from which you can select module resources:
Figure 1-7
Select New Module Component Type
The resource types are:
Resource Type
Definition
Camera
Defines the camera parameters and
calibration for any cameras you will use
with vision processes (see section 4.8 on
page 84).
Variable
Defines variables names for use in
statement arguments that can accept a
numeric value. Refer to Section 3.5 on
page 69 for more information.
Vision
Defines the vision processes used in
inspections and robot guidance.
19
Selecting a module component brings up the following window:
➊
➋
➎
➌
➍
➏
➐
Figure 1-8
Edit Module Component
➊
➋
➌
➍
➎
➏
Shows the name of the module to which this database will be assigned.
Shows the name of the disk file into which this database will be stored.
Shows the name of the resource type for this database.
Enter a name for this new database.
If this is a sequence, indicate whether or not to make this a control sequence. Refer to
page 34 for more information about control sequences.
Indicate the editing options for this database:
• Disk and memory read-write means that the database can be edited and changes
saved to disk. You must select this option to permanently add data to your
database.
• Memory read-write, disk read-only means that the database can be edited for the
current session, but the changes will not be saved to disk.
• Disk and memory read-only means that the database cannot be edited.
Once a database has been created, the read-write options can be changed by
performing:
Module ➡ Select/Edit ➡ highlight module database is assigned to ➡
Edit ➡ highlight database ➡ Edit ➡ select edit option ➡ Done
➐
Choose when you have selected the desired options.
Global Databases
In all cases, except Location and Vision databases, there is a global database that can be
used by a sequence when the sequence’s associated module does not specifically include
its own copy of a database. For example, Module 2 from Figure 1-4 does not include a
variable database. If a statement in the sequence associated with Module 2 requires a
variable record, it comes from the global Variable database.
20
Editing Records
If a sequence needs location or vision records, that associated resource module must have
a location or vision database among its resources. If the database is not in the resource
module, you get a Required database not loaded error when attempting to
complete statements that require location or vision records.
Dual-Vision Systems and AIM
Adept controllers are available with a dual-vision system option. If the second vision
system is installed you can select a vision system to associate with a vision database. This
selection is made when you add a vision resource to a module.
If your module also includes a camera database, the vision system selected for all camera
records must match the one selected for the vision database. You cannot access different
vision systems from a single-vision database. You specify the vision system to access
when you create the resource module component.
If you want to share a global camera database from two (or more) different vision
databases (which may each use a different vision system), specify the vision system on
each record of the camera database and then ensure that the camera record references a
particular vision database and has a matching vision system. If you make a mistake, you
see warning signs and get linking errors.
1.7
Editing Records
Selecting (Highlighting)
MotionWare operations require you to select a menu item or a name in a scrolling list. To
select a data box or an entry in a scrolling list, click once on the data box or the list item.
The background of the selected item will turn a dark blue. After a data box is selected, text
entered at the keyboard will be stored in the data box; existing text in the data box will be
deleted.
Use this procedure to use your mouse to select standard buttons, push buttons, radio
buttons, and check boxes:
• Press the TAB key to select successive items on a menu page.
•
SHIFT-TAB
moves backward through the menu items.
• Holding down the SHIFT key and pressing one of the cursor movement keys (key
marked by ←, →, ↑, or ↓ arrows) moves through the menu items in an up/down or
left/right manner.
• When a standard button, radio button, push button, or check box is selected, pressing
the ENTER key is the same as clicking that button.
• When a standard button is selected, it turns dark blue.
• A selected radio button is recessed and the outer ring is light blue.
• A selected and chosen push button is recessed and the outer square is light blue.
• A selected check box has a blue background.
21
Active/Inactive
In many cases, menu items or menu page options are not active for the operation that you
are currently performing. When this situation occurs, the item is inactive and appears
dimmed (displayed as a light shade of gray).
The Typing Cursor
The typing cursor (a solid black square) indicates where keystrokes appear when entered.
Characters typed at the keyboard are always entered to the left of the typing cursor. The
BACKSPACE key deletes the character to the left of the cursor. The DELETE key deletes the
character under the cursor.
To set the typing cursor in a data box:
• Click the data box once to select the data box. (Characters entered from the keyboard
replace characters in the data box.)
• Select a data box and click where you want to anchor the typing cursor. Characters
entered from the keyboard are inserted to the right of the cursor. (Since many data
boxes respond to being double clicked, this second click must be made after a short
pause.)
• The cursor can be moved within the data box by pressing the cursor-arrow keys.
Existing text is not affected.
Creating New Records
To create a new record, pull down the Edit menu and choose a database such as Frame or
Location. The database menu page is displayed.
Press the NEW key (F2), or perform:
Edit
➡ New Record
Copying and Deleting Records
To remove a record from the database, press the CUT key (SHIFT+F9) or perform:
Edit
➡ Cut Record
The currently displayed record will be cut from the database and placed in the copy
buffer.
To copy a record, press the COPY key (F9) or perform:
Edit
➡ Copy Record
Only one record is held in the copy buffer at-a-time. If a second record is cut or copied, the
first record is lost.
To paste or cut a record, press the PASTE key (F10) or perform:
Edit
➡ Paste Record
NOTE: When a copied record is pasted to a database, two records exist
with the same name in the database. The new record should immediately
be renamed to prevent duplicate record names.
22
Editing Records
When a sequence is run, record names are used in the linking process; duplicate record
names may create problems. (An error message will be generated whenever a database
has two records with the same name. One of the records should be deleted or renamed.)
Selecting Different Records
MotionWare provides several methods for moving between records in a database. The
Seek menu item allows the following options:
Option
Definition
Index
A scrolling list of all records in the database
is displayed. Select the desired record and
either choose Goto or double click the
desired record to go to that record.
First (Home)
Go to the first record in the database.
Previous (Page
Up)
Go to the record immediately preceding
the current one.
Next (Page
Down)
Go to the next record in the database.
Last (End)
Go to the last record in the database.
Find (Find-F7)
The String window (see Figure 1-4) is
displayed (a data box must be selected or
an information box must be selected):
When searching for a string, selecting ✔
Match any substring will cause
MotionWare to find the specified text in
any position (“and” would be found in
“sandy”). To only find the word “and”, do
not select the check box.
When searching for a numeric value, enter
a tolerance; any value that is within the
tolerance will be found. For example, if 5 is
the search string and the tolerance is 0.1,
any values between 4.9 and 5.1 will be
found.
Choosing First searches all records in the
database.
Choosing Next searches from the next
record to the last record in the database.
The search is performed only on the
selected field.
23
Option
Definition
Repeat Find
(Repeat-F8)
The last completed find operation is
repeated (useful for locating duplicate
record names).
Figure 1-9
Searching for a Database Value
Exiting Record Editing
To exit the database editor, perform any of the following options:
• Select a different item from the main menu bar.
• Click the close icon in the upper left corner of the window.
• Press the EXIT key.(F4)
• Perform: Go
➡ Exit.
Record-Editing Menu Bars and Quick Keys
The record-editing menu bar is summarized in Appendix B. Quick keys can be used in
lieu of menu selections; they are also summarized in Appendix B.
24
Creating a New Vision Record
1.8
Before you can create vision records, there must be a selected resource module that
contains a vision database. To create a new vision record:
Edit
➡ Vision ➡ Edit ➡ New Record or
Edit
➡ Vision ➡ F2
VisionWare has six types of records: Basic, Feature Finders, OCR, Computed Feature,
General Tools, and Special Purpose records. The creation and use of the different records
types is described in the following chapters and appendices.
Figure 1-10
Only one record type can be selected (you cannot select one from each group). After you
have entered a name for the new record and selected a record type, choose OK to create
a new vision tool record and go to that record. To edit an existing record:
Edit ➡ Vision
➡ Seek ➡ Index ➡ dbl clk record
Remember, there may be several vision databases created for the various resource
modules you have defined. However, you can edit only the vision records in the currently
selected resource module.
1.9
Additional Record-Creation Aids
In addition to the menus, VisionWare provides several other aids to creating vision
records. The following table discusses additional record-creation aids.
25
Aid
Description
Double clicking
Double clicking any empty data box that
requires a VisionWare record displays a list
of records that can be placed in the field.
When the list is displayed, double click a
record name to go to that record.
Either choose Retrieve to place the record
name in the data box or choose New to
create a new record.
A record name entered into a field on a
menu page is referred to as a source record.
The field in which the record is placed is
referred to as a source field.
Double clicking a data box that already
contains a record name for its value takes
you to that record.
!
26
This symbol (yellow on the screen)
indicates that the record name you have
entered does not exist, is the wrong type, or
is not complete; it must be created or
changed before the operation is usable.
The Vision Record Tree
1.10 The Vision Record Tree
A complete vision inspection consists of several records. This strategy allows you to use
the same tools in multiple inspections and to combine easily the results of several different
inspections. To help you keep track of where you are in the inspection creation process,
VisionWare provides a graphical tree that shows the interconnection between the records
in an inspection. To display the record tree for an inspection:
Module ➡ Select/Edit ➡ highlight resource
module ➡ Select➡ Show ➡ Statement Tree
Figure 1-11 shows an example of a vision record tree.
Figure 1-11
Vision Record Tree
Using the Vision Record Tree
Each of the icons represents a different type of inspection record. Notice that at the top of
the tree (like family trees, VisionWare trees grow upside down) is an Inspection record
(represented by a magnifying glass). The other icons represent the different types of
records required to accomplish the inspection specified by this inspection record.
The following chapters will detail creation of inspection, camera, and picture records. The
other record types will be introduced as the different types of inspections are detailed. All
the different records are summarized in Appendixes D – G.
27
If a required record has not been defined, a question mark icon will be displayed. An
inspection will not be executable if any required records are missing.
Double clicking any of the icons in the tree takes you to the editing screen for that record,
and you can make any desired changes. Clicking an icon once highlights that icon. Choose
Snap to Top to move the highlighted record to the top of the tree. Choose Goto Root
to display the top record in the tree at the top of the display. When a sub-tree is displayed
(either because the tree is too large or you have moved a record other than the root to the
top of the display), an arrow icon appears indicating that there are additional records in
the tree. Clicking the arrow icon once displays the next higher or lower record in the tree.
Choose Top Level to display the names of all the top-level records that have been
defined. From this pick list: double click a record name or choose Goto to open that
record; choose Goto to display the selected record as the top record in the tree display.
✼ Choose Exit to exit the record tree routine. You are not able to reselect database records
until you have chosen the exit button, double clicked an icon, clicked the close icon, or
made a top-level menu bar selection.
Returning Values
✼ An important principle to remember about the tree structure is that each record in a tree
passes information to the record above it. A camera record provides a picture record with
a camera setup to use, a picture record provides a vision tool record with an image to use,
a vision tool record provides the next record with some specific information about what it
has found in the field of view, and so on. In this manual, we refer to this upward passing
of information as returning a value.
1.11 Building and Executing Inspections
There are several steps to building and running an inspection. This section summarizes
the different steps and indicates the chapter sections that deal with each step. The steps
are:
1. Build the Individual Inspections
An individual inspection is composed of several records that tell the system which vision
tools to use, where to put the tools, and how to evaluate the results. A basic inspection
starts with a top-level inspection record that specifies one of several types of inspections
that can be made. Chapter 4 describes building an inspection. The following chapters
describe the different types of inspections that can be specified by an inspection record,
and which additional records are required to implement the inspection operation.
Appendixes D – G summarize the additional records used with the different types of
inspections.
2. Build a Sequence of Inspections
In most cases, a complete inspection of an object will involve several different inspections
of the object. A complete inspection of a machined part might look at the diameters of several different holes, the alignment of the holes, the position of the holes in relation to the
body of the part, etc. To perform these multiple inspections with VisionWare, you first
build the individual inspections and then combine the individual inspections into an
inspection sequence. Chapter 2 describes the use of the Sequence Editor to create a
sequence of individual inspections.
28
Access Levels
3. Specify the Input/Output Operations for the Sequence
Chapter 12 details the input/output capabilities of VisionWare that allow you to interface
VisionWare with the part delivery systems in your workcell.
4. Execute the Inspection Sequence
Once the individual inspections have been built and combined into a sequence, you use
the control panels to control execution of the sequence of inspections. Chapter 2 covers the
Task and Master Control panels in detail.
1.12 Access Levels
There are five access levels in VisionWare:
Level 0 (Minimum Access) allows a user to log on to the system.
Level 1 (System Operator) allows a user to run existing sequences.
Level 2 (Hardware Maintenance) allows access for equipment repair.
Level 3 (Manufacturing Engineer) allows creation of new sequences and vision
records.
Level 4 (System Customizer) allows complete access to the system, including the
creation of new user accounts.
The menu and menu page options that are not available to the currently logged-on level
are dimmed (shown in a lighter shade of gray).
When VisionWare starts, default access is level 4, which provides complete access to the
system. If you are going to use the system security option, set it up before any further
operations are undertaken.
To change the start-up access level, perform:
Setup
Seek
➡ Initialization Database ➡ double click BASEINI
➡ Index ➡ double click ‘access level, initial’
In the Value data box, set the desired start-up access level.
!
CAUTION: After changing this value, ensure that at least one user
account with access level 3, or higher, remains in the accounts database.
Otherwise, you will lock yourself out of level 3 and 4 menu items.
Assigning Access Levels
Your system administrator should set up initial access levels using the following
procedure:
1. Create a new user account for the system administrator, and set the access level to 4.
2. Create user accounts for other system users.
29
Creating User Accounts
Only persons with access level 4 can set up or edit user accounts.
To add a user:
1. Perform Special
➡ Edit User Accounts ➡ Edit ➡ New Record.
2. Enter the user’s name in the User data box.
3. Enter the user’s password in the Password data box.1
4. Click the radio button corresponding to the access level for the user.
5. Exit by performing Go
(F4).
➡ Exit, by clicking the close icon, or by pressing the EXIT key
Editing User Accounts
To edit a user account, perform:
Special
➡ Edit User Accounts
To change a user’s access level, perform:
Seek
➡ Index ➡ select the user name ➡ Goto
Click the new access level the user is to have.
To delete a user account, perform:
Seek
Edit
➡ Index ➡ select the user name ➡ Goto
➡ Cut Record
Logging On the System
To log on as the current user:
1. Perform Utilities
➡ Set Access Level.
2. Enter your user name in the user name data box.
3. After a user name has been entered, the password data box is displayed. Enter your
password in the password data box.
4. If log on is successful, the radio buttons next to the access levels you are authorized
for will be selected and you can select a level to work at.
➡ Exit or by pressing the EXIT key (F4).
Logging Off the System
To log off the system:
1. Perform Utilities
2. Select
➡ Set Access Level.
Minimum access.
1
➡ Exit or by pressing the EXIT key (F4).
Passwords can be up to six characters. They must begin with an alpha character and can include
numeric characters, underscores, and periods.
30
Access Levels
NOTE: After a user has logged off, another login must be successfully
completed before any further VisionWare operations can be completed.
31
Sequence Creation
and Execution
2
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.2 Sequences and Resource Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.3 Editing a Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 What Are the Sources for Statement Arguments? . . . . . . . . . . . . . . . . . . . . 43
2.5 The Statement Tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.6 Task Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.7 Debugging Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.8 Using AIM Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.9 Master Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
2.10 Editing Sequence Records During Execution . . . . . . . . . . . . . . . . . . . . . . . 56
33
Chapter 2 - Sequence Creation and Execution
2.1
Introduction
There are four primary steps to building a VisionWare workcell implementation:
1. Create a Resource Module that identifies the resources associated with a particular
job. This process is described in Chapter 3.
2. Create records for all the items that are needed for the particular job. Creating these
records is detailed in Chapters 4-6.
3. Create a sequence and add the statements that actually use these records to generate
actions in the workcell. Creating a sequence is described in the next several sections.
4. Execute the sequence of statements. The control panels that are used to initiate,
control, and debug sequences are described in sections 2.7 and 2.10.
2.2
Sequences and Resource Modules
All sequences must belong to a Resource Module. The Resource Module determines
which databases will be available to a sequence. Sequences will be available for editing
only if they belong to the currently selected Resource Module. See Chapter 3 for details on
creating and managing Resource Modules.
Control Sequences
One of the options available when adding a sequence to a module is to make it a control
sequence. Control sequences manage other sequences and perform tasks such as loading,
selecting, starting, and stopping operation sequences in the workcell. Control sequences
lock out all operator input while they are being executed; and they cannot move the robot
or access vision data. Consequently, you should set up control sequences so that they
execute quickly. See Section 3.4 on page 67 for additional details.
Creating a Sequence
Sequences are created from the Module Utilities (see Chapter 3) or the sequence editor
(see below). A sequence created from the Module Utilities will be assigned to the module
you are currently editing. A sequence created from the sequence editor will be assigned to
the currently selected module.
34
Sequences and Resource Modules
When you request a new sequence, the following window is displayed:
➋
➊
➍
➌
➎
➏
Figure 2-1
New Sequence
➊
➋
➌
➍
➎
Shows the name of the module to which this sequence will be assigned.
Shows the name of the disk file into which this sequence will be stored.
Enter a name for this new sequence.
Indicate whether this should be a control sequence (see page 34).
Indicate the editing options for this sequence:
• Disk and memory read-write means that the sequence can be edited and changes
saved to disk. You must select this option when first creating a sequence.
• Memory read-write, disk read-only means that the sequence can be edited for the
current session but the changes will not be saved to disk.
• Disk and memory read-only means that the sequence cannot be edited. Once a
sequence has been created, the read-write options can be changed by performing:
Module ➡ Select/Edit ➡ select module sequence is assigned to
sequence ➡ Edit ➡ select edit option ➡ Done
➏
➡ Edit ➡ select
Choose when desired options have been selected.
The Sequence Index
Sequences can be created, deleted, or selected for editing from the Sequence Index. New
sequences created from the Sequence Index will be assigned to the currently selected
module.
To display the Sequence Index from the main menu, perform:
Edit
➡ Sequence
To display the Sequence Index from the Sequence Editor menu, perform:
Go
➡ Sequence Index
35
➊
➋
➌
➍
➏
➎
Figure 2-2
Sequence Index
➊
➋
➌
➍
➎
➏
36
Shows all the currently defined sequences and the module they are assigned to. A
sequence is automatically loaded when its assigned module is loaded. Double-click a
sequence to open the sequence editor. Loaded sequences are shown in black,
unloaded sequences are dimmed, and the sequences in the selected module are blue.
Choose to open the Sequence Editor and begin editing the selected sequence.
Choose to create a new sequence. The window shown in Figure 2-1 is displayed.
Choose to delete the selected sequence.
Indicate which types of sequences should be displayed.
Choose to exit the Sequence Index window.
Editing a Sequence
2.3
Editing a Sequence
Before a sequence can be edited it must be created and loaded.When a new sequence is
first opened in the Sequence Editor it appears as:
Figure 2-3
Sequence Editor
The bottom of the Sequence editor shows the module that is associated with this
sequence, the name of the sequence, and the editing mode.
Selecting a Statement
Double click --statement-- (or perform Go ➡ Display Field Index), to display a list
of available statements. Select the desired statement and choose Retrieve (or double
click the desired statement).
For example, if the statement MOVE had been selected, the sequence editor would look like
the following:
Statement Components
In the above example:
MOVE is the statement name.
TO --location-- is a clause.
--location-- is an argument.
Completing a Statement Argument
Double click the statement argument to display a list of available records that can be used
to fulfill the statement argument. Select the desired record and either choose Retrieve or
double click the argument to use that record as an argument to the statement.
37
For example, if place.loc had been selected, the sequence editor would look like:
Adding a Sequence Line
Sequence lines can be added either to the bottom of the sequence or above the current
sequence line. (The current sequence line is the one with any argument or statement name
selected.)
To append a sequence line to the end of the sequence, press the
Edit
NEW
key (F2) or perform:
➡ Append line
To add a sequence line above the current statement line, press SHIFT + INSERT or perform:
Edit
➡ Insert line
If Insert line had been chosen, the Sequence Editor would look like:
Completing Optional Statement Arguments
Most statements will have both optional and required arguments. Optional arguments are
not displayed until the statement line is expanded.
To expand a statement, select the statement line and perform:
Edit
➡ Expand (or double click the statement name)
If a WAIT_FOR statement had been added to the above sequence, and then expanded, the
sequence would look like the following:
Optional Clauses
Optional clauses are surrounded by brackets ({}). In the above example, PULSE is a nested
clause (its brackets are enclosed within another set of brackets). In this case, the OUTPUT
clause must be completed before the value in the PULSE clause will have any effect.
Completing Constant Arguments
In many cases, the argument requires a value or variable name rather than a record name.
To complete this argument, select the argument and enter a value. Or double click the
argument to display a list of keywords or variable records. See “What Are the Sources for
Statement Arguments?” on page 43 for details on the sources for statement arguments.
Double click the argument to display a list of keywords.
38
Editing a Sequence
Adding Comments to a Sequence
Descriptive comment lines can be added to a sequence by first typing a semi-colon
followed by a TAB. You can then enter up to 80 characters of descriptive text.
A well documented sequence will be extremely helpful in debugging and updating your
sequences.
Removing Sequence Lines
Sequence lines can be permanently removed from a sequence by selecting the line to be
removed and then pressing CTRL + DELETE or performing:
Edit
➡ Delete line
Sequence lines can be made temporarily non-executable by disabling them. When a
sequence line has been disabled, an asterisk will appear in front of the line, and the line
will be ignored when the sequence is run.
To disable a sequence line, select the line and then perform:
Edit
➡ Disable (or double click the number next to the statement)
If line 1 of the above sequence had been disabled, the sequence would look like the
following:
To remove the disable marker and make the statement line executable, select the disabled
line and perform:
Edit
➡ Disable (or double click the number next to the statement)
Cutting, Copying, and Pasting Statement Lines
To cut a sequence line and move it to another location in the sequence, select the line and
press the CUT key (SHIFT+F9), or perform:
Edit
➡ Cut Line
The selected line will be removed from the sequence and the number 1 will be displayed
in the lower right corner of the Sequence Editor.
To paste the line to its new location, select the line below the paste location and press the
PASTE key (F10), or perform:
Edit
➡ Paste Line
To copy a sequence line to another location in the sequence, select the line to be copied
and press the COPY key (F9), or perform:
Edit
➡ Copy Line
The selected line is copied and the number 1 is displayed in the lower right corner of the
Sequence Editor.
39
To paste the copied line, select the line below the paste location and press the PASTE key
(F10), or perform:
Edit
➡ Paste Line
More than one line can be cut or copied at a time. Each time a line is cut or copied, it is
placed in a copy buffer. The number of lines copied is shown in the lower right corner of
the Sequence Editor.
When
Edit
➡ Paste Line
is performed, the least recently copied or cut line is pasted above the current statement
line.
When
Edit
➡ Paste All
is performed, all the lines in the copy buffer are pasted above the current line.
Copying Statement Lines Between Sequences
Lines can also be pasted to different sequences. If you exit the sequence editor while there
are still lines in the copy buffer, they will still be available for pasting the next time the
editor is accessed. The lines will be available regardless of which sequence is selected for
editing.
Sequence Editor Special Keys
The following special key assignments apply when the sequence editor is open:
Special Key
Purpose/Use
NEW (F2)
Add a new line to the end of the sequence.
SAVE (SHIFT + F2)
Display the Save All Modified Databases
window.
GOTO (F3)
If --statement-- is selected, display the
list of statements.
If a statement argument that requires a
keyword or variable is selected, display the
list of keywords or variables.
If an argument that requires a record name
is selected and the argument has not been
defined, display a list of record names; if
the argument has been defined, goto the
specified record.
40
Editing a Sequence
Special Key
Purpose/Use
RETRIEVE (SHIFT +
F3)
If you have opened a database editing page
by double clicking a record argument (or
by pressing F3), pressing RETRIEVE will
return you to the sequence editor and
complete the statement argument with the
record you were editing.
EXIT (F4)
Close the sequence editor.
DISPLAY (F5)
If a statement argument is selected, display
a list of keywords, variables, or record
names.
If --statement-- or a statement name is
selected, display a list of available
statements.
UNDO (F6)
Undo any editing changes made to the
current field.
FIND (F7)
Open the find window.
CHANGE (SHIFT +
F7)
Open the change window.
REPEAT (F8)
Repeat the most recent Find or Change
operation.
COPY (F9)
Place a copy of the current statement in the
copy buffer.
CUT (SHIFT
+ F9)
Remove the current statement and place it
in the copy buffer.
PASTE (F10)
Paste the last line in the copy buffer above
the current statement.
PASTE ALL
(SHIFT+F10)
Paste all lines in the copy buffer above the
current statement.
EDIT (F11)
Expand/contract the current statement.
HOME
Go to the first statement line.
END
Go to the last statement line.
41
Special Key
Purpose/Use
PG UP
Go to the top line displayed in the sequence
editor.
PG DN
Go to the last line displayed in the
sequence editor.
TAB
Move to the next editable item in the
statement.
SHIFT
+ TAB
Move to the previous editable item in
statement.
CTRL
+ DELETE
Delete the current statement line.
ESC
Toggle the disabled statement marker.
DELETE
Delete the character under the typing
cursor.
CTRL
+ INS
(On the numeric keypad) insert a statement
line above the current line.
←
Move the typing cursor left.
→
Move the typing cursor right.
↑
Move to the previous statement line.
↓
Move to the next statement line.
Double clicking
A statement name: expands/contracts the
statement.
A statement number: toggles the disabled
marker.
An undefined argument: displays the list.
A defined keyword or variable: displays
the list.
A defined record name: opens record
editing.
A--statement--: displays the list of
statements.
42
What Are the Sources for Statement Arguments?
Finding and Finding/Changing Statement Arguments
The Find and Change options are useful for editing long sequences.
To find a statement or argument name, press the FIND key (F7) or perform:
Find
➡ Find setup
and the first window shown in Figure 2-4 is displayed:
Figure 2-4
Find and Change Windows
Fill in the Enter name to find data box with the text you want to find. Click the up arrow
to search from the current location to the top of the sequence. Click the down arrow to
search from the current location to the bottom of the sequence.
To repeat the last find operation, press the REPEAT key (F8) or perform:
Find
➡ Repeat Find
You can also search for statement or argument names and replace them with other
key (SHIFT + F7) or perform:
CHANGE
Find
➡ Change Setup
and the second window shown in Figure 2-4 is displayed.
Fill in the Enter name to find data box with the text you want to find. Fill in the Enter
replacement data box with the text to replace the found text with. Click the up arrow to
search from the current location to the top of the sequence. Click the down arrow to search
from the current location to the bottom of the sequence.
To repeat the last find operation, press the REPEAT key (F8) or perform:
Find
2.4
➡ Repeat Change
What Are the Sources for Statement Arguments?
When you first bring a new statement into the sequence editor, each statement argument
has a place holder identified by pairs of dashes (--argument--). These place holders let you
know the legal sources for arguments to replace the place holder. The source may be a
43
database, special keywords, or values you enter directly. The following table describes the
legal sources for the various placeholders.
Table 2-1
Statement Argument Sources
Place Holder
Source
--constant--
Record from the variable database specifying an integer
constant.
A integer value entered from the keyboard.
--device--
Keyword from the list of devices.
--event--
Keyword from list of pause-after keywords.
--input--
Record from the variable database specifying an Input
signal.
Valid signal number entered from the keyboard (can be
preceded by an optional “@”).
--module--
Module name from list of defined modules.
Module name entered from the keyboard.
--opr--
Keyword from the list of arithmetic and relational
operators.
Legal operator entered from the keyboard.
--output--
Record from the variable database specifying an Output
signal.
Valid output signal number entered from the keyboard (can
be preceded by an optional “@”).
--o_variable--
Record from the variable database that specifies an Output
signal, V+ variable, or ai.ctl[] value.
Valid output signal number entered from the keyboard (can
be preceded by an optional “@”).
--response--
Keyword from list of operator responses to paused
sequence.
--sequence--
Sequence from the list of sequences in the currently selected
module.
Sequence name entered from the keyboard.
--string--
Character data entered from the keyboard.
--task--
Keyword from list of task keywords.
--uopr--
Keyword from the list of unary operators.
Valid unary operator entered from the keyboard.
--variable--
Record from the variable database.
Numeric value (integer or real) entered from the keyboard.
Digital signal (preceded by “@”).
--vision--
Record from the vision database.
--yes/no--
Keyword from “yes/no” keywords, default is “no” if
omitted.
44
The Statement Tree
Avoiding Trouble With Statement Arguments
When you enter a record name or value into a statement, the sequence editor checks the
argument type and range, then it issues a warning if there is a problem. However, once the
argument has been accepted, there are several possible changes you can make that result
in error messages that show up at run time or when a sequence is linked.
Some of the changes you might make that create errors are:
• Changing the type of a variable record.
• Deleting records used in a sequence.
• Deleting or unloading databases or sequences that are referenced by a statement.
• Removing digital I/O hardware that changes the valid range of I/O signal numbers.
• If you want to explicitly enter a digital signal number in a --variable-- field, it
must be preceded by the “@”, otherwise it is interpreted as a numeric value. For
example, “IF 1001 THEN” is always true because 1001 is interpreted as a non-zero
value. If you really want to refer to a digital signal, use “IF @1001 THEN”.
2.5
The Statement Tree
The statement tree allows you to see the interconnection of various records that an
executing statement will access. As you build VisionWare records you will notice that each
record has an icon associated with it. The statement tree makes use of these icons to show
the relationships among the records used by a statement.
The statement tree is activated by performing:
Show
➡ Statement Tree
This menu option can be chosen at any time. The most recently selected sequence is
shown on the statement-tree menu page. When the statement tree is first displayed, a
yellow box surrounds the current record.
45
➊
➍
➋
➎
➐
➌
➏
➒
➑
Figure 2-5
Sample Statement Tree
Statement Tree Options
➊
➋
➌
➍
➎
➏
➐
Shows the currently selected statement and its step number in the sequence.
The selected argument indicates which argument tree is currently displayed. To
display the tree for a different argument click the desired argument.
Scroll through the statements in the sequence.
Choose to edit the sequence.
Shows the name of the sequence being displayed and the associated resource module.
Choose this button to display the record tree for other sequences.
Choose Exit to exit the statement tree display.
Choose Go to Root to display the top argument record. (This option is meaningful
only if there are more source records than are displayed at one time. Arrow buttons
will indicate that there are records above or below the ones being displayed.)
➑
Choose Snap to Top to move the currently selected record to the top of the display.
Choose Edit Record to open the menu editing page for the selected record. You can
also edit a record by double clicking the record icon.
46
The Statement Tree
➒
The first record shown is the actual argument to the statement. Records below the first
record are source records which are records specified in the record for the next higher
record in the argument tree.
If a question mark appears below the icon, it means one of the following:
• The statement requires another record, which was not specified.
• A specified record name was not created.
• A specified item was not loaded on startup.
Double click any icon in the argument tree to go to the editing page for that record.
Source Records
Records are used either directly or indirectly by an executing sequence. The records used
directly are specified as statement arguments. Records used indirectly are specified in a
data box a record referenced by a statement. These records are referred to as source
records.
For example, a location record might have an associated reference frame. The frame
record is never entered directly into a statement, but its data is accessed by a sequence
based on the frame record that is directly referenced by the statement.
The argument tree shows all the directly and indirectly referenced records in an argument.
In Figure 2-5, the place.frame record is a source record for the sample record.
47
2.6
Task Control Panel
Once a sequence has been created, it can be selected for execution and its execution status
monitored from the Task Control Panel. To display the Task Control Panel, perform:
Execute
➡ Task Control Panel
➊
➋
➌
➍
➏
➎
➐
➑
➒
➓
Figure 2-6
Task Control Panel
48
Task Control Panel
Task Control Panel Options
The task control panel allows you to control the VisionWare tasks independently. See
section 2.9 for details on using the Master Control Panel.
➊
➋
➌
➍
➎
This window shows the available VisionWare tasks. The selected sequence will be
associated with the highlighted task. See Section 2.8 on page 54 for details on selecting
tasks and associated sequences. The Task item indicates the V+ task number that the
sequence will run in. Note: the options on the Task Control Panel apply only to the
selected task. To view the status of other tasks, you must select that task.
This area shows the current sequence, the module it is associated with and the step
that is currently executing.
Choose Stack to see the current status of CALL statements executed in the current
task.
Select ✔ Repeat to cause the currently selected sequence to loop repeatedly (the
repeat option must be set for each sequence, you can have some sequences that repeat
and some that do not). The Completed data box shows the number of cycles that have
been completed.
The Pause After options refer to places that a sequence pauses while performing
debug operations:
✔ Immediate will cause an immediate pause in the sequence.
✔ Operation and ✔ Action are finer division in the execution of a statement and
depend on exactly how the statement is defined.
If ✔ Statement is selected, the sequence will pause after completion of each
statement.
If ✔ Repeat is selected and ✔ Cycle is selected, the sequence will pause after each
completed cycle of the sequence.
➏
Choose Select to display a pick list of available sequences. Choose Start to begin
execution of the sequence shown in item ➋ or to start a selected server task (see
“Using AIM Tasks” on page 54).
✔ Walk Thru allows you to debug your sequences. It is described in section “Task
Control Debug Options” on page 51.
➐
➑
➒
➓
Displays messages that are generated during the debug modes (see section “Task
Control Debug Options” on page 51). Click to display help for the current message.
Shows the status of the currently selected sequence. Choose Edit to edit the record
associated with the current error message (during debug operations). Choose Help to
display help for the current error.
Shows the last error that was generated by VisionWare. Click to display help for the
current error.
These buttons are used during debug operations and are described in “Task Control
Debug Options” on page 51. Click the button label to display help for a button.
49
2.7
Debugging Sequences
Sequences may be run in debug mode from the Task Control Panel. There are two primary
debug modes: walk-thru training and Pause After. Walk-thru training is primarily used to
debug a single inspection; Pause After options are used to debug a sequence.
When Walk-Thru training is enabled, Aim performs additional error checking and
generates trace messages that describe the actions begin taken. It is useful in diagnosing
problems because it may report error conditions that are normally ignored. Because
Walk-Thru training mode is not as efficient as normal mode, it should be disabled for nondebugging situations when cycle time is important.
When ✔ Edit All is selected, VisionWare pauses before each vision operation and allows
the corresponding vision record to be edited.
50
Debugging Sequences
When a debug mode is selected, the Task Control Panel data appears similar to the
following:
➊
✔
➋✔
➌
➍
➎
➏
➐
Figure 2-7
Task Control Panel With Debug Options
Task Control Debug Options
➊
Pause After enables you to determine when execution pauses.
51
The following table shows the status of the currently executing sequence:
Selection
Causes execution to pause after
Immediate
This option is selected
Operation
Each individual vision operation
Action
Each group of vision operations
Statement
The currently executing statement completes
Cycle
The currently executing cycle of the sequence
completes (cycle refers to cycles of the main sequence
and not to cycles of any sequences started with a
CALL statement)
A Pause-After option can be selected at any time prior to or during execution of a
sequence; more than one pause point can be selected.
Pauses-After Operation and Action depend on the design of each statement and,
thus, do not have a rigid definition like pauses after Statement and Cycle.
➋
When ✔ Walk Thru is selected, the sequence displays if a vision operation fails.
When ✔ Edit all is selected, the sequence pauses before every vision operation.
✔ Walk Thru must be selected before ✔ Edit All can be selected.
➌
➍
➎
This area displays information on the current statement activity. Clicking the Message
panel displays the help page for any current message.
This area shows the execution status of the task. The most common states are idle,
running, and attention. Attention indicates that the sequence has paused for some
reason.
When a sequence has paused because of debug operation or error, choose Edit to
open the record currently being evaluated in the sequence. You will be able to edit
most (but not all) of the fields in the record. There are certain fields which must have
legal values before the sequence can start, and they cannot be changed during
sequence execution. If you attempt to edit one of these fields, an error message will be
displayed advising you that the field cannot be edited.
Choose Help to display help information associated with the current error, if any.
➏
52
Displays the last error message generated by VisionWare. This might be an execution
error or a message indicating why the sequence stopped during a debug operation.
Clicking the Current Error panel displays the help page for any current message.
Debugging Sequences
➐
After a sequence has been paused, choose:
Option
Result
Proceed
Resume execution
Retry Action
Re-execute the action completed
immediately before execution was paused
Skip Action
Skip the next action in the sequence
Retry Statement
Retry the entire statement being executed
when the sequence paused
Skip Statement
Skip the statement being executed when
the sequence paused
Skip Cycle
Skip the currently executing cycle of the
sequence (aborts execution at the last cycle)
Abort Execution
Abort execution completely.
NOTE: Only the appropriate options are displayed after a pause. Clicking
the name of any option in this area displays help information on that
option.
NOTE: Fields in a vision record can be edited during run time only when
the contents of the field is not needed for VisionWare’s pre-runtime
operations. Thus, you may get a message indicating that you cannot edit
some fields during debug operations.
Activating Single-Step Execution
It is often useful to execute an application one step at-a-time to discover where problems
are occurring. To single step through a VisionWare sequence, select ✔ Statement in the
Pause After group, to stop execution at the selected point. To resume execution or abort
execution, choose one of the push buttons at the bottom of the Task Control Panel.
To resume normal execution, deactivate any options selected from the Pause-After group.
53
2.8
Using AIM Tasks
AIM makes use of the V+ multitasking capability. It allows multiple programs to run
concurrently to help your tasks run in the most efficient manner. AIM uses V+ tasks in
three primary ways:
V+ Tasks
Use
Front-end Tasks
These tasks control the AIM environment;
opening and closing windows, responding
to menu choices, and managing the data
bases and other operations required to run
AIM. These tasks run automatically
without any intervention on your part.
User Tasks
These tasks run sequences, and they are
further divided into tasks that control a
robot and tasks that do not control a robot.
Server Tasks
These tasks perform work required if
certain Adept options are employed by
your user tasks.
How Do I Start A Task?
Tasks are individually started and controlled. Start I/O Control tasks first, and start the
vision tasks last.
To start a task:
1. Select the task you want to start from the list box at the top of the Task Control Panel
window.
2. Choose Select to display a list of available sequences.
3. Select the desired sequence.
4. Select ✔ Repeat if you want to execute multiple cycles of the sequence.
5. Choose Start to begin execution of the sequence.
6. Repeat the procedure for any other tasks you want to start.
2.9
Master Control Panel
The Master Control Panel controls sequence execution. Each of the large buttons on the
Master Control Panel will run a control sequence. You can edit these control sequences to
perform whatever actions you desire.
To display the Master Control Panel, perform:
Execute
54
➡ Master Control Panel
➊
➋
➑
➌
➍
➎
➏
➐
Figure 2-8
➊
➋
This area shows the current state of the entire AIM system such as idle, attention, and
running.
These buttons will execute the correspondingly named control sequence. You can
create and edit these control sequences to perform whatever actions are desired. For
example, choosing Start will execute the sequence “start”. This sequence could be
edited to either start a sequence that has already been selected and loaded or load,
select, and start a sequence.
To use these buttons, there must be a loaded module named vwctl and a sequence in
this module with the same name as the button. When a button is chosen, it will
attempt to execute a sequence with the same name as the button. It expects the
sequence to be in the vwctl module.1 See “Sequence Control Statements” on page 67
55
for details on statements that can be used in control sequences.
➌
➍
➎
This area shows which runtime task is reporting an error (displayed in item ➏).
Double clicking in this area will display the Task Control Panel.
These buttons scroll through the various tasks that have paused and need attention.
If the sequence has paused at an editable record, choose Edit to edit the record.
Choose Help to get information on the current error message.
➏
➐
➑
This area shows the current error message, if any. Clicking this panel displays the help
page for any current error.
These buttons have the same options as when debugging a sequence, see “Debugging
Sequences” on page 50.
This area shows the current state of the runtime task indicated by ➌.
2.10 Editing Sequence Records During Execution
The debug options can be activated or deactivated at any time prior to or during
execution of a sequence. To activate the editing function for vision operations, select
✔ Walk thru and ✔ Edit all.
The sequence stops at the first editable record. A message similar to:
Proceed or edit: vision: sample.inspect
is displayed. To edit the record, choose Edit ; VisionWare enters record editing mode
with the proper record displayed. (Note: Not all fields in a record are editable during
debug execution.) After you have completed editing of the record, perform Go ➡ Back
from the record editing menu (or press SHIFT + F3) to return to the Task Control Panel.
To execute the statement containing the edited record, choose the Proceed push button
to execute the statement. To re-execute the statement, choose the Retry statement push
button. These operations can be repeated until the record is properly edited.
When you have completed editing of a given record, choose the Proceed push button to
move to the next record in the sequence. If the sequence stops at a record you do not want
to edit, choose the Proceed push button to continue execution.
To return to normal sequence execution, deactivate the ✔ Walk thru and ✔ Edit All
options.
An executing sequence can be viewed in the sequence editor by performing:
Edit
➡ Sequence
The sequence displayed will be in read-only mode (read only will be indicated on the
status line at the bottom of the sequence editor). You will not be able to add, delete, or
change statements or statement arguments.
1
See the description of the vwini initialization databases (Table A-3 ) for details on how to change
the module name associated with the Master Control Panel.
56
VisionWare Statements
3
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.2 General VisionWare Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
INSPECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
INSPECT_LIST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
OCR_OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
AUTO_BRIGHTNESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
PICTURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
MESSAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
SET_RESPONSE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.3 Control Structure Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Using Expressions in Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Conditional and Looping Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
CALL Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
RETURN Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
IF Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
END Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
ELSE Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
FOR Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
REPEAT Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
WHILE Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
EXIT_LOOP Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
NEXT_LOOP Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CASE Structure (Includes VALUE and ANY Statements) . . . . . . . . . . . 67
GOTO Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
SET Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.4 Sequence Control Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
LOAD Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
PAUSE_TASK Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
RESUME_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
SELECT_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
START_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
STOP_TASK Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
UNLOAD Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.5 The Variable Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
57
Chapter 3 - VisionWare Statements
3.1
Introduction
There are several classes of VisionWare statements:
•
General VisionWare statements (detailed in this chapter):
INSPECT
INSPECT_LIST
OCR_OUTPUT
AUTO_BRIGHTNESS
PICTURE
MESSAGE
SET_RESPONSE
•
VisionWare control structures (detailed in this chapter):
CALL
IF
RETURN
END
ELSE
REPEAT
FOR
WHILE
NEXT_LOOP
EXIT_LOOP
SET
•
Digital I/O statements (detailed in Chapter 12):
IO
IO_LIST
WAIT
WAIT_FOR
WAIT_UNTIL
•
Sequence Control Statements (detailed in this chapter):
LOAD
PAUSE_TASK
RESUME_TASK
SELECT_TASK
START_TASK
STOP_TASK
UNLOAD
3.2
General VisionWare Statements
See Chapter 2 for a description of how sequences are created and edited. See Section 2.5
for details on the source of statement arguments.
INSPECT
The INSPECT statement causes evaluation of up to eight inspection records. Records are
evaluated until the first inspection fails, at which time execution stops and the
58
General VisionWare Statements
OK_SIGNAL is set to FALSE. If all inspections pass, then the OK_SIGNAL is set to TRUE.
The syntax is:
INSPECT OPERATION --vision-- {& --vision--}
{& --vision--} {& --vision--} {& --vision--}
{& --vision--} {& --vision--} {& --vision--}}}}}}}
{OK_SIGNAL --output--}
The --vision-- argument can be completed only with an Inspection record. An
inspection record appears in the pick-list of available records only if ✔ TopLevel is
selected in that record.
The one required argument for the INSPECT statement is the first --vision-- argument
(no brackets around the argument indicate it is a required argument). When this statement
is executed, VisionWare will take all the necessary pictures and evaluate all the necessary
records to generate the value that the inspection record is to evaluate. The success of the
inspection is evaluated and (if defined) a digital output signal is set based on the success
of the inspection. If ✔ Gather stats was selected in the inspection record, the values
generated by the inspection are reported to the Inspection Results pages (see Chapter 11).
The optional arguments ({--vision--}) also require a top level inspection record. Each of
these records will be evaluated in the same manner as the required inspection record, with
two exceptions. First, inspection records are evaluated left-to-right until an inspection
fails. After an inspection fails, no more inspection records will be evaluated. Second, if an
inspection fails, the entire statement will be considered to have failed and the digital I/O
signal specified in {OK_SIGNAL--output--} will be set accordingly.
INSPECT_LIST
The syntax and operation of INSPECT_LIST is identical to INSPECT except that all
specified inspection records are evaluated regardless of whether any inspection fails.
OCR_OUTPUT
The OCR_OPUTPUT statement is used in conjunction with an OCR Field record. See
“OCR Field Records” on page 136 for details on creating an OCR Field record. The format
for the OCR_OUTPUT statement is:
OCR_OUTPUT FROM --vision-- {& --vision-- {& --vision-- {&
--vision-- {& --vision-- {& --vision-- {& --vision-- {&
--vision--}}}}}}}
The statement will evaluate each specified vision argument and output the recognized
text to a disk file or serial line. See “Logging Vision Results” on page 171 for details on
opening a disk file or serial line. Unlike the INSPECT statement, the record selected to
complete the --vision-- arguments for OCR_OUTPUT must be an OCR Field type
record rather than an Inspection type record. ✔ TopLevel must be selected in the OCR
Field record. If
Full text recognition is selected, the recognized text will be output to
the disk or serial line. If a verification option is selected, the expected text will be output to
the serial line.
AUTO_BRIGHTNESS
This statement requires an inspection record that uses a window record. The specific
operation in the inspection record should be average graylevel. The statement will
attempt to maintain the average graylevel specified in the nominal data box by adjusting
59
the OFFSET parameter in the picture record associated with the window record. The
limits in the picture record will be used to set the OK_SIGNAL to FALSE if the average
graylevel exceeds the limits. The --frequency-- argument specifies the number of
cycles to wait before resetting the OFFSET. The syntax is:
AUTO_BRIGHTNESS WITH --vision-- {AT_FREQUENCY --constant--}
{OK_SIGNAL --OUTPUT--}
PICTURE
This statement simply calls for the evaluation of a picture record. This is useful and
sometime necessary to force the ordering of pictures so as to allow the scheduler to set up
things for overlapping picture taking. If pictures appear in a conditional situation in the
sequence, then picture pre-taking is not possible. The order of the pictures in the sequence
must be fixed and guaranteed. This statement simply calls for the evaluation of a picture
record. This is useful and sometime necessary to force the ordering of pictures so as to
allow the scheduler to set up things for overlapping picture taking. If pictures appear in a
conditional situation in the sequence, then picture pre-taking is not possible. The order of
the pictures in the sequence must be fixed and guaranteed. The syntax is:
PICTURE --vision-✔ TopLevel must be selected in the picture record in order to appear in the pick lists of
available records.
MESSAGE
This statement displays a message on the operator control panel.
MESSAGE --variable-- {TEXT --string--} {0: --constant--}
{1: --constant--} {2: --constant--} {3: --constant--}
{4: --constant--} {5: --constant--} {6: --constant--}
{RESPONSE --o_variable--}
The MESSAGE --variable-- is a standard AIM error number (or variable record that
specifies an error number), which is in the error database. The text specified in TEXT
--string-- will be appended to this message and displayed on the task control panel.
The --constant-- arguments correspond to the seven standard operator response
buttons on the Task Control Panel. A value of 0 indicates that the corresponding button is
not valid, a value of –1 indicates that the standard AIM labels should be applied to the
button, and a value greater than 0 indicates the button label should be taken from the
corresponding standard AIM message number in the error database. If any non-zero
values are specified for these seven arguments, the sequence pauses until an operator
response button is pressed and the number of the button pressed is returned in the
RESPONSE variable.
If all arguments are blank or 0, AIM handles errors in the normal fashion and does not
wait for an operator response.
SET_RESPONSE
This statement allows an executing sequence to behave as if one of the operator response
buttons had been pressed. The --variable-- should have a value of 0 to 6,
60
Control Structure Statements
corresponding to the 7 standard operator response buttons. If an invalid response code is
received, an error is issued.
The syntax is:
SET_RESPONSE --variable--
3.3
The statements in this section allow you to conditionally execute blocks of statements,
loop repeatedly through blocks of statements, and start execution of other sequences.
Using Expressions in Statements
Several AIM statements allow expressions to be entered in their argument lists. For
example, the SET statement, the IF statement, and the WHILE statement all accept
expressions.
AIM expressions are combinations of operators, variables, and constants. No parentheses
are allowed, so the precedence of the operators determines the value of the expressions.
The unary operators (“-”, “COM”, “NOT”) always have the highest precedence.
Therefore, expressions like:
NOT a AND b
are evaluated as (NOT a) AND b.
The binary operators each have their own precedence. Higher precedence means that the
operations occur first. If operators have the same precedence, they are evaluated from left
to right.
Operators
Precedence
*
/
10
+
-
9
<>
=< >=
8
==
<>
7
BAND BAND_COM
6
BXOR
5
BOR
BOR_COM
4
AND
AND_NOT
3
XOR
2
61
Operators
OR
Precedence
OR_NOT
1
For example, the expression:
a > b AND c > d OR a+b < c
is evaluated as:
((a > b) AND (c > d)) OR ((a+b) < c)
Conditional and Looping Structures
Conditional and looping structures allow you to specify under what conditions and how
many times blocks of statements will execute. Conditional and looping structures may be
very simple and straightforward or they can use complex arithmetic expressions and
relational logic. The examples in the following sections present the most common uses of
the various structures. A complete understanding of the complex ways that the structures
can be used requires that you understand relational logic. (The V+ Language User’s Guide
describes the basics of relational logic.)
All the structures share the following common attributes:
The block of statements that will be executed begins immediately after the structure
statement and ends with an END statement. There must be an END statement for
each control structure statement; multiple control structures cannot be ended with a
single END statement.
Structures may be nested within each other.
The variables used in a looping statement (FOR, REPEAT) should never be changed
by any statements within the loop. Also, during execution of the loop, any other
programs that might have access to global variables used in the looping statement
should not change those variables.
In all computer systems, numbers are internally represented in binary format. This
internal format may involve some rounding of the actual number since the internal
representation may not exactly represent base 10 numbers. This internal
representation can lead to unexpected behavior when comparing real values (such as
3.1467) since the displayed value of two numbers may be identical but their internal
representation may be different. When using variables in statements that test for
equality, use integer values to avoid this potential problem.
CALL Statement
The CALL statement allows you to call one sequence from within another sequence.
When a CALL statement is encountered, the currently executing sequence (calling
sequence) will suspend operation and the new sequence (called sequence) will begin.
When the called sequence completes, the calling sequence will resume execution at the
next statement line.
Sequence calls can be nested; and a called sequence, itself, can call another sequence. The
Stack button on the Task Control Panel will show you how many calls have been made
and the point in the sequence that the calls were made. Only sequences in the assigned
module can be executed using the CALL statement.
62
RETURN Statement
The RETURN statement causes the current sequence to stop executing as if the end of the
sequence had been reached and all cycles had been completed. If this sequence was
initiated by a CALL statement, the sequence which executed the CALL statement resumes
execution at the statement following the CALL. If executed from the main sequence, the
runtime task returns to idle state.
The syntax is:
RETURN
IF Statement
The IF statement allows you to conditionally execute a block of statements.
The syntax is:
IF {--uopr--} --variable-- {--opr-- --variable-{--opr-- --variable-- ... }...}}}}}
To execute a block of statements if a variable has a certain value, specify the variable in the
first --variable-- clause, select “==” as the first --opr--, and the required value as
the second --variable--:
IF x == 3
If you want to execute a block of statements based on the value of two variables, you
could use one of the following statements:
IF x == 3 AND y == 7
IF x == 3 OR y == 7
The first example executes the statement block if x has a value of 3 and y has a value of 7—
both variables must have the indicated values. In the second example, if either variable
has the indicated value, the statement block will execute.
To create a conditional block that depends on the state of a digital signal, select a variable
that has Input signal or Output signal selected:
IF in_sig
IF NOT in_sig
In the first case, the statement block will execute if the signal is on. In the second case, it
will execute if the signal is off.
END Statement
A statement block is terminated with an END statement. In the following sequence, the
first statement will execute, statements 3 and 4 will execute only if x has a value of 7, and
statement 6 will execute normally.
1.
2.
3.
4.
5.
6.
STATEMENT one
IF x == 7
STATEMENT three
STATEMENT four
END
STATEMENT six
63
ELSE Statement
An ELSE statement is always used in conjunction with an IF statement. The ELSE
statement specifies a block of statements to execute when the statements specified by the
preceding IF statement are not executed. The ELSE statement can also specify conditions to
control execution of statements within the ELSE block.
The syntax of the ELSE statement is:
ELSE {IF {--uopr--} --variable-- {--opr-- --variable-{--opr-- --variable-- ... }...}}}}}
In the following example, statement 2 will execute if x has a value of 7 and statement 4
will execute if it has any other value:
1. IF x == 7
2.
STATEMENT two
3. ELSE
4.
STATEMENT four
5. END
In the following example, statement 2 will execute if x == 7, and statement 4 will execute if
x has any other value and y == 3. If both x and y do not have the specified values, neither
statement will execute:
1. IF x == 7
2.
STATEMENT two
3. ELSE IF y == 3
4.
STATEMENT four
5. END
FOR Statement
The FOR statement allows you to execute a block of statements a specified number of
times.
FOR --o_variable-- = {--uopr--} --variable-- {--opr---variable--} TO {--uopr--} --variable-- {--opr-- --variable--}
{STEP --constant--}
FOR statements can become complex. Following are several examples beginning with
simple FOR loops and proceeding to complicated FOR loops.
The following example executes a block of code four times:
FOR loop_var = 1 TO 4
In the above example, “loop_var” (which must be an AIM variable, V + variable or ai.ctl[]
value in the Variable database) will increment once each time the loop is executed. If any
other statements within the loop access the variable loop_var, the variable will have the
value of the current cycle of the loop.
You could make the FOR loop “count by twos” by including the STEP argument:
FOR loop_var = 2 TO 4 STEP 2
The above example would execute twice with loop_var having the value of 2 and 4 during
successive loops.
64
You can count from a negative number by using the --uopr-- argument:
FOR loop_var = –2 TO 4 STEP 2
Double clicking --uopr-- will give you the option of “-”, NOT, or COM. The “-” is the
only selection that would normally be used in a FOR statement. You can also make the
FOR statement count backwards by giving the STEP argument a negative value (note the
relationship of the “=” and TO argument values):
FOR loop_var = 4 TO -2 STEP -1
You can make the “=” and TO argument values rely on a calculation by using the
--opr-- and --variable-- arguments:
FOR loop_var = 4 * x TO -2 STEP -1
REPEAT Statement
The REPEAT statement allows you to repeat a block of statements a given number of
times. The arguments to REPEAT allow you to evaluate a complex expression when
deciding how many times to repeat a block of statements.
The syntax is:
REPEAT {--uopr--} --variable-- {--opr-- --variable-{--opr-- --variable-- ... }...}}}}
To simply repeat a block of statements a given number of times, specify that number for
the first --variable--:
REPEAT 4
To repeat a loop 4 times plus the value of the variable x, select “+” as --opr-- and the
record x as the second --variable--:
REPEAT 4 + x
The block of statements included in a REPEAT loop is identified by an END statement. In
the following example, statements 2 through 6 will be executed five times:
1. REPEAT 5
2.
STATEMENT two
3.
STATEMENT three
4.
5. END
STATEMENT four
WHILE Statement
The WHILE control structure causes a block of statements to be indefinitely executed as
long as the specified conditions are correct.
The syntax for the WHILE statement is:
WHILE {--uopr--} --variable-- {--opr-- --variable-{--opr-- --variable-- ... }...}}}}
65
In the following example, statements 2 and 3 will execute only if signal in_sig1 is on or
signal in_sig2 is off when statement 1 is encountered, and they will continue to execute as
long as in_sig1 is on or in_sig2 is off:
1. WHILE in_sig1 OR_NOT in_sig2
2.
STATEMENT two
3.
STATEMENT three
4. END
EXIT_LOOP Statement
An EXIT_LOOP statement causes a REPEAT, FOR or WHILE loop to terminate and
sequence execution to continue at the next statement following the END statement that
closes the REPEAT or WHILE loop.
The syntax for an EXIT_LOOP statement is:
EXIT_LOOP {--constant--}
This optional argument specifies the number of loops to exit. If an EXIT_LOOP is within a
REPEAT loop that is nested within a WHILE loop, specifying 2 for the --constant-argument will result in terminating the execution of both loops.
An EXIT_LOOP usually contains IF/END statements, which identify a condition that
dictates when a loop should be exited early. In the following example, a REPEAT loop is
started that will normally execute 10 times. Halfway through the loop, variable x is
checked. If it has a value of 7, the repeat loop is exited and the sequence resumes
execution at statement 8:
1. REPEAT 10
2.
STATEMENT two
3.
IF x == 7
4.
EXIT_LOOP
5.
END
6.
STATEMENT six
7. END
8. STATEMENT eight
NEXT_LOOP Statement
The NEXT_LOOP statement is similar to the EXIT_LOOP statement, however, execution
of the looping block is not canceled completely; only the current iteration of the loop is
canceled. In the following example, if y is less then 10 when statement 4 is reached, the
sequence will resume execution at statement 1:
1. REPEAT 10
2.
STATEMENT two
3.
IF y < 10
4.
NEXT_LOOP
5.
END
6.
STATEMENT six
7. END
8. STATEMENT eight
66
Sequence Control Statements
CASE Structure (Includes VALUE and ANY Statements)
The CASE structure is similar to the IF...THEN...ELSE statement except that it can
conditionally execute any of several different blocks of code based on the value of a
variable. A CASE structure is actually built from the CASE, VALUE, ANY, and END
statements. In the following example, if the variable code has a value of 1, STATEMENT
one will execute. If it has a value of 2, STATEMENT two will execute. If it has any other
value, STATEMENT three will execute.
1. CASE code OF
2.
VALUE 1:
3.
STATEMENT one
4.
VALUE 2:
5.
STATEMENT two
6.
ANY
7.
STATEMENT three
8. END
GOTO Statement
The GOTO statement allows you to jump to any other labeled step in a sequence. You
create a step label by typing any 15-character label on a line displaying the
--statement-- place holder. The label must begin with a character and must not
include any spaces. It can contain mixed alpha and numeric characters. the label must be
terminated with a colon “:”. In the following example, if the variable check has a value of
7, a GOTO will be executed and execution will jump to line 15 of the sequence:
15. steplabel:
.
.
.
20. IF check == 7
21.
GOTO steplabel
22. END
23.
SET Statement
The SET statement allows you to assign a new value to a variable.
The syntax is:
SET --o_variable-- = {--uopr--} --variable-{--opr-- --variable-- {--opr-- --variable-{--opr-- --variable--{--opr-- --variable-- {--opr-- --variable-}}}}}
The following example would result in var1 having the value of var2 + var3 - 12:
SET var1 = var2 + var3 - 12
3.4
Sequence Control Statements
The following statements allow you to control execution of your sequences. One of the
primary uses of these statements is to load and execute all the sequences that are required
for a particular operation. This allows users to start-up a complicated workcell by simply
choosing a single button.
67
Examples of control sequences are provided in the module vwctl. These sequences are
associated with the buttons on the Master Control Panel. The sequences in vwctl give you
examples of how to create control sequences that can be edited so that the buttons
perform your custom operations.
NOTE: You do not have to use these examples sequences to use the
Master Control Panel buttons.
Sequences with the same names can be created in your own modules. When that module
is loaded, the buttons on the Master Control Panel will execute the corresponding
sequence. For example, create a module named new, which contains the control sequence
named proceed. Edit the record CONTROL SEQUENCE MODULE in the vwini
initialization database and change it to new. Choosing Proceed on the Master Control
Panel runs the sequence named proceed from the module named new. 1
LOAD Statement
This statement loads a resource module and all its components.
The syntax is:
LOAD MODULE module
PAUSE_TASK Statement
The PAUSE_TASK statement performs the same operations as the Immediate, Operation,
Action, Statement, and Cycle check boxes on the control panels.
The syntax is:
PAUSE_TASK --task-- {AFTER --event--}
Double click --task-- to select a task name. (These are the same names that appear in
the scrolling window on the Task Control Panel). For an immediate pause, leave the
--event-- argument blank. To select other pauses, double click --event-- and the
remaining pause options are displayed. Pauses after Operation and Action depend on the
particular statement that is executing.
RESUME_TASK Statement
This statement restarts a task that has been paused with a PAUSE_TASK. It is equivalent
to choosing the proceed/retry buttons on the control panels.
The syntax is:
RESUME_TASK --task-- {RESPONSE --response--}
Double click --task-- to select a task name. (These are the same names as appear in the
scrolling window on the Task Control Panel). To select proceed/retry options, double click
--response-- and the options will be displayed. If --response-- is left blank, the
response is the same as from the Proceed button.
1
You can also edit the definitions of the various buttons to specify which module you want to use
for the control sequences (see the AIM Customizer’s Reference Guide).
68
The Variable Database
SELECT_TASK Statement
The SELECT_TASK statement performs the same function as the Select button on the Task
Control Panel. A sequence is assigned to a task for execution. If the task is not found, no
error is reported.
The syntax is:
SELECT_TASK --task-- {MODULE --module--} {SEQUENCE
--string--}
scrolling window on the Task Control Panel). If --module-- is not specified, the module
currently assigned to the task is used. If a module is specified, it must be loaded.
START_TASK Statement
The START_TASK statement begins execution of a task. If the task is not found, no error is
reported.
The syntax is:
START_TASK --task--
STOP_TASK Statement
The STOP_TASK statement stops the specified task.
The syntax is:
STOP_TASK --task-- {AFTER --event--}
scrolling window on the Task Control Panel). For an immediate stop, leave the
--event--argument blank. To select other pauses, double click --event-- and the
remaining pause options are displayed.
As from the control panel, pauses after Operation and Action depend on the particular
statement that is executing.
UNLOAD Statement
The UNLOAD statement removes a loaded module from memory. If you attempt to unload
a module that is assigned to some task, a warning message is displayed and the module is
not unloaded.
The syntax is:
UNLOAD MODULE --module--
3.5
Many AIM statements can use values from the variable database to complete their
arguments. For example, the number of cycles that a REPEAT statement executes can be
determined by a variable. There is a global variable database or there can be a variable
database in the currently selected resource module.
69
To access the variable database, perform:
Edit
➡ Variables
The following (or similar) screen is displayed:
➊
➋
➌
➍
➎
Figure 3-1
Variable Database
Refer to Figure 3-1.
➊
➋
➌
Indicate if this record should belong to a group. This option is for convenience in
sorting variables in the various pick lists (variables are sorted first by Group and then
by record name). It does not affect the behavior of the variable.
Enter a description of the variable, what it does, when it is changed, etc.
For constants and input/output signals, enter the value. This value cannot be changed
except by editing it from the variable record.
For variables and ai.ctl[] values, displays the current value of this variable. Question
marks indicate that the variable has not been defined.
➍
Select
Integer constant to define a constant value that can only have an integer
value, e.g., 112.
Real constant to define a constant value that can only have an real value, e.g,
Select
12.635. In this case, the real value is typed into the name field ➊.
Input signal to define an input signal. This value must represent a valid,
Select
installed digital input signal, e.g., 1003.
Output signal to define an output signal. This value must represent a valid,
Select
installed digital output signal, e.g., 7.
AIM variable to define a real variable that can be changed by an executing
Select
AIM sequence.
70
Select
V+ variable to define a real variable that can be changed by an executing V+
program.
ai.ctl[] value to define a real variable that accesses the special AIM control
Select
values. See the AIM Customizer’s Reference Guide.
➎
This area defines which sequences will have access to the variable (known as variable
scope). If the record being edited is in the global variable database, this area will only
Global option. This variable can be accessed by all sequences found in
display the
resource modules that do not contain variable databases. If the record being accessed
is in a variable database which is part of a resource to a module, the variable can be:
Local to module
Variable accessible by all sequences in the module.
Local to sequence
Variable accessible only by a specific sequence.
71
Building Inspections
4
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.2 Inspection Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.3 Inspection Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Pass/Fail Criteria for Numeric Values. . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Pass/Fail Criteria for Boolean Values . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.4 Picture Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.5 Picture Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.6 Camera Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.7 Camera Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.8 Calibrating a Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.9 Camera Calibration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Method 1: Adept Calibration Sheet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Method 2: Square of Know Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . 86
Method 3: Circle of Known Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Method 4: Solid Bar of Known Width . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Method 5: Specify mm/pixel Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Calibration Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
73
Chapter 4 - Building Inspections
4.1
Introduction
A complete inspection operation is made up of several records. Each record gives the toplevel inspection a specific piece of information needed to generate the pass-fail conditions
for the inspection.
The minimum number of records required for an inspection operation is four. These four
records are:
Inspection
This is the top-level record for the inspection. It tells the system what type
of inspection is being made and specifies the pass/fail limits for the
inspection. The name of this record is the name you will use in the
INSPECT statement when a sequence of inspection operations is created.
Vision Tool
This record specifies vision tools that will do the work required by the
top-level inspection record. There may be several vision tool records for a
single inspection.
Picture
This record specifies parameters that control the contrast levels when a
picture is taken. These values can be set automatically when you create
this record. Every vision tool record references a picture record.
Camera
This record specifies the physical camera to use when a picture is taken.
The record also contains calibration information that relates the vision
image to real-world coordinates. Each picture record references a camera
record.
When you run a sequence, the vision records that make up each inspection operation
takes the required pictures, places the necessary vision tools, and reports the results to the
top-level inspection record. The top-level inspection record calculates the success of the
inspection and report the results. Chapter 11 describes the Inspection Results menu page.
The inspection results page summarizes the results from the different inspections
performed during sequence execution.
Section 1.3 provides an overview of the menu page features that are common to all vision
records.
Some important principles to bear in mind while creating records are:
• A record can be used by more than one inspection. For example, a circle finder record
might be used both to check the diameter of the circle and to provide the starting
point for a measurement. Picture records in particular are often shared by many
vision tool records.
• Name records carefully. Relate the records to what they physically do. Name point
finders that locate the corners of an object, to “Up_left_cor”, instead of “Pt1”.
• As you build an inspection operation, remember that in many cases, entries in the
data boxes of the current record will themselves be the names of other vision records.
(These records are referred to as source records.) If you enter the name of a nonexistent record in a source field, VisionWare will display a pop-up window
indicating that the record does not exist and ask you if you want to create a new
record.
• The camera and picture records for the currently displayed image become defaults
for any new vision tool records.
74
Introduction
• As you build inspections, the data records that you create will become very valuable
and should be backed up. See “The Backup and Restore Utility” on page 215 for
details on backing up the data generated as you build inspections.
• To edit an existing vision record:
Edit
➡ Vision ➡ Seek ➡ Index ➡ double click record
• All the vision record types available to VisionWare are described in Appendixes D–G.
75
4.2
Inspection Records
Figure 4-1 shows a top-level inspection record. Its name will be the one you use when
building inspection sequences. This record receives the results generated by the other
records associated with this inspection record, evaluates the success of the inspection, and
reports the results. To create a new inspection record:
➡ Vision ➡ Edit ➡ New Record ➡ enter record name ·
➡ OK
Edit
➋
➊
✔
➌
➍
➎
➐
➏
➑
➒
➓
Figure 4-1
Inspection Record
76
Inspection
Inspection Record Options
4.3
➊
➋
➌
➍
Shows the name of the record you are editing, and the date and time it was last altered.
The record name can be changed at any time, but any sequences that use the old record
name can no longer find the record.
Select this option if you want this record to appear in the list of inspections available
when Top Level is chosen in the vision tree window. Selecting this option also
makes this record available when completing statement arguments during sequence
editing.
Select the type of inspection you want to make. The inspection types and specific
operations are described in the next three chapters, and are summarized in . After an
operation is selected, data box(es) for the required records are displayed in this area.
Choose this button to display the available operations (based on the selection from
item ➌ and the vision tool record selected). The different operations that appear in
this group are described in the following chapters.
If ✔ Error if the Result is FAIL is selected and the inspection result is “fail”, the
system will return an error during sequence execution.
If ✔ Error if a source "not found" is selected and a source record fails to find a
feature, the system will return an error during sequence execution. If these items are
not selected, no error is reported in these situations. If an INSPECT_LIST or INSPECT
statement encounters an error, sequence execution will halt.
➎
➏
➐
➑
➒
➓
After you select an inspection type, and a specific operation for that type of inspection,
you must create several other records to actually perform the inspection. The value
generated by these inspections is displayed in the Value information box. The result
of the inspection is shown in the Result information box. The pass/fail criteria for
inspections that return numeric values are set by choosing Limits (item ➐). See
“Pass/Fail Criteria for Boolean Values” on page 79 for details on setting pass/fail
criteria for inspections that return Boolean (true/false) results.
In the Nominal data box, enter the ideal value this inspection should have. The
Deviation information box shows the difference between this ideal value and the one
reported in the Value data box (item ➎).
Choose this button to set the minimum, maximum, and warning limits for the
inspection (see “Pass/Fail Criteria for Numeric Values” on page 77).
Select this option to specify a digital output signal that is set based on the success of
the inspection. Digital I/O is covered in Chapter 12.
Select this option and the results are reported to the Inspection Results page when a
sequence containing this top-level inspection is run ( ✔ Gather stats must be selected
on the inspection results page). The number entered into Bin size is used in the
statistical calculations when vision results are displayed (see ).
Select the desired data logging for this inspection ().
Pass/Fail Criteria for Numeric Values
To set the minimum, maximum, and warning limits for inspection results returning
numeric values, choose Limits . The following pop-up menu page is displayed:
77
➊
➋
➌
➍
➎
Figure 4-2
Inspection Limits and Results
➊
➋
78
Enter the pass/fail criteria for this inspection:
Criteria
Meaning
Maximum limit
If the value returned exceeds this value, the inspection
will fail.
High warning limit
If the value returned exceeds this value, a high
warning will be recorded and the high warning output
signal will be set.
Nominal value
Enter the ideal value for this inspection. The returned
value will be compared with this value and the
difference will be reported as the deviation (on the
main inspection page).
Low warning limit
If the value returned is below this value, a low warning
will be recorded and the low warning output signal
will be set.
Minimum limits
If the value returned is below this value, the inspection
will fail.
Enter the warning output signals for this inspection:
Signal
Meaning
High warning
This signal is asserted (set to the indicated condition)
when the high warning limit is exceeded, otherwise it
is de-asserted.
Pass/fail (specified
on the main
inspection page)
This signal is asserted when the inspection passes. It is
de-asserted when the inspection fails.
Low warning
This signal is asserted when the low warning limit is
exceeded, otherwise it is de-asserted.
The high and low warning may use the same signal
number, in which cas either limit asserts the signal.
➌
➍
➎
Choose this button to execute a test run of this inspection. The inspection is executed
repeatedly until Stop is chosen. Inspection statistics are gathered and reported in the
Latest Test Run group (item ➍).
This group shows the statistical results from the most recent test run of the inspection.
Choose Done to return to the main inspection record menu page.
Pass/Fail Criteria for Boolean Values
If an inspection operation that returns a boolean result is selected, the Results group of the
inspection record changes to:
Figure 4-3
Pass/Fail Criteria for Boolean Inspections
In the Expected value data box, enter the result (true or false) that indicates the inspection
has passed. In many cases, you will find that FALSE is the desired result for passing an
inspection. For example, you might use a finder tool to look for flaws on a part. If no flaw
is found, the tool will return a false result indicating that no flaws were found and,
therefore, the inspection should pass. Other items in this group are the same as
inspections returning a numeric result.
79
4.4
Picture Records
Picture records specify the contrast parameters and I/O conditions used when taking a
picture. All vision tool records require a picture record. To create a new picture record:
Edit ➡ Vision
➡ OK
➡ Edit ➡ New Record ➡ enter picture record name ➡
➋
➊
➌
➍
➎
➏
➐
➑
➒
➓
Figure 4-4
Picture Record
80
Picture
Picture Record Options
4.5
➊
➋
➌
➍
➎
Shows the name of the record you are editing, and the date and time it was created or
last altered. The record name can be changed, but any vision tool records that use the
old name can no longer find the record.
Select this item if you want this record to appear in the list of records available when
Top Level is chosen in the vision tree window. Selecting this item also makes this
record available when completing statement arguments during sequence editing. This
option is useful only if you plan to use the PICTURE statement in your sequence.
Select a camera record to be associated with this picture record. The camera record
specifies the camera settings and calibration that will be used when an image is
acquired. Calibration information from this camera is displayed at the bottom of the
window.
Choose this button to start repetitive image acquisition. This option takes into account
the selections in the Modes of Operation group, allowing you to test any I/O options.
Select
Wait for I/O signal if (during sequence execution) you want new image
acquisition to wait until a specified digital signal is set to the correct state. A data box
will be displayed requesting a digital input or soft signal number. Digital I/O is
described in Chapter 12.
Select
Wait for external trigger if image-acquisition hardware should wait for an
external hardware trigger. External triggers must be configured using the controller
software configuration utility CONFIG_C. See the Instructions for Adept Utility
Programs. External triggers eliminate the slight delay that might occur with normal
digital I/O.
➏
Select ✔ Output I/O signal if you want a digital signal set after a picture is taken.1
The Motion items are used only by motion systems. Refer to the MotionWare User’s
Guide for details.
➐
➑
➒
➓
1
Select this option if you want the image-acquisition hardware to generate a strobe
signal whenever a new image is acquired. The strobe signal will be sent to the camera
specified in option ➌. You may use the strobe signal to latch belt or robot encoders in
a motion system, or to trigger a strobe light.
Choose this button to display a graph of the graylevel value distribution. A graph will
be displayed showing the frequency of each graylevel value in the current image.
Choose Auto-set to automatically set the gain and offset parameters. Use the slide
bars to fine-tune the parameters. The actual parameter values are shown in the data
box next to the parameter name. Gain and offset are explained in Chapter 13.
Choose Auto-set to automatically set the binary threshold. The actual parameter
values are shown in the data box next to the parameter name. Use the slide bars to fine
tune the parameters. Threshold and 2nd threshold are explained in Chapter 13.
This signal is set as soon as the picture is taken: it does not wait for image processing to complete.
81
4.6
Camera Records
Camera records specify the physical camera to use, the camera model, various other
camera characteristics, and the camera calibration data (camera calibration is actually
performed using a camera calibration record from the vision database). All picture records
require a camera record.
To create a new camera record:
Edit
➡ Camera ➡ Edit ➡ New Record ➡ Enter record name ➡ OK
➊
➋
➌
➍
➎
➐
➏
➑
➒
➓
Figure 4-5
Camera Record
4.7
➊
82
Camera Record Options
If you have a dual-vision system, this record must be associated with one of the vision
systems, select vision system
1 or
2. Choose Live Video to display current
camera output in the vision window. If the camera is a member of a module, you can
Camera Record Options
select only the vision system that matches the vision database and vision system in the
module-edit utility.
Choose Snap a Picture to acquire a new image.
➋
➌
Specify the physical camera to use and the camera model that describes the physical
camera. Choose Select to display a list of defined camera models. If your camera is
not in the list of standard cameras, you can define new camera models in the “visini”
initialization database.
Specify the resolution to use. The half-rez option uses every other line of camera data.
For many operations this provides ample resolution and provides significant speed
increases. If your application requires maximum speed, consider using the half-rez
option. Note: all vision tools in a single sequence must use the same resolution option.
If your camera supports a shutter mode, specify the type of shuttering required.
Synchronous shuttering will occur at the beginning of the video scan, regardless of
when the strobe signal is received. This option maximizes picture quality.
Asynchronous shuttering will occur as soon as the signal is received. This option
minimizes latency from strobe signal to image acquisition. Note: your camera must
support this feature.
➍
➎
➏
➐
➑
➒
➓
These options are available when a robot related camera is specified. They indicated
which motion device and conveyor to use with this camera and, for arm mounted
cameras, the link on which the camera is mounted.
This option allows you to use the perspective distortion correction option. If cameras
are not mounted with their imaging surface parallel to the surface being viewed, the
image will display perspective distortion. This option defines a transformation that
corrects for this distortion. Note: for arm mounted cameras, the camera will sweep a
surface area. This area must be equidistant from the camera in order to use perspective
correction.
This area shows the basic camera calibration that relates the distances in the field-ofview to camera pixels.
Choose to display the matrix that defines the correction for perspective distortion.
If this camera is associated with a motion device, this area shows the transformation
that relates the robot coordinate system with the field-of-view.
If this camera is associated with a motion device, the system must know whether the
camera points up or down with relation to the Z-axis of the motion device world
coordinate system.
These buttons allow you to import/export calibration files in the format used by the
Adept Advanced Calibration program.
83
4.8
Calibrating a Camera
In order to calibrate a camera you must first create a picture and camera record that define
the camera and image parameters you want to use for calibration.
VisionWare includes a pre-defined global camera database that contains definitions for
standard camera calibrations. It also includes a resource module named vcalvw that
contains sample vision calibration records that reference the global camera database.
You can use these standard databases in several different ways:
1. Load and select resource module vcalvw and use it to perform your camera
calibrations and store the data in the global camera database. Omit the camera
database from your custom resource modules so that you access the global one.
2. Import the global camera database (named VCAMVW.DB) and the sample vision
database (named VCALVW.VI) into your custom resource module. The camera
calibration affects only that module.
3. Copy and Paste individual records from the global camera database and the vcalvw
vision database to your custom databases.
To better understand how camera calibration works, or to define your own calibrations
from the beginning, read the sections that follow.
You create a camera calibration record by performing:
Edit ➡ Vision ➡ Edit ➡ New Record ➡ enter calib record
name ➡ Calibration Record Types ➡ dbl clk “camera-only Calibration” ➡ OK
84
Camera Calibration Options
➊
➋
➌
➍
➎
➏
➐
Figure 4-6
Camera Calibration Record
4.9
There are two types of camera calibration, stand-alone and robot related. In stand-alone
calibration the camera is mounted at a fixed location and is used to make inspections only,
it does not provide guidance for a robot. The calibration options for stand-alone
calibration are covered in the following sections. Robot related calibration, which
provides for robot guidance as well as inspection, is covered in the MotionWare User’s
Guide.
✼
Before beginning camera calibration, make sure the camera is permanently mounted.
Whenever the camera-to-object distance is changed or the lens is refocused, the camera
needs to be recalibrated.
85
➊
➋
Shows the name of the record you are editing and the date and time it was created or
last altered. It also shows the vision system selected in the camera record.
This area shows the camera and picture records associate with this calibration record.
Choose Goto to display the associated record.
➌
➍
➎
➏
From this area, select the calibration method you want to use. The different calibration
methods are described in the following sections.
This area will change depending on the calibration method selected.
This area shows the basic camera options selected in the camera record.
Choose Set Cal to Default to return the calibration to the default 1 pixel per
millimeter values.
Choose Undo Last Calib to return the calibration to the previous values.
Choose Calibrate to begin the calibration process.
➐
This area shows the calibration results.
Method 1: Adept Calibration Sheet
This calibration option requires the calibration target provided by Adept, a series of
nested squares.1 The steps are:
1. Create a camera record that defines the camera you want to calibrate. Be sure to select
✔ Use perspective correction if you want perspective correction calculated during
calibration.
2. Create a picture record that uses the camera record created in step 1 as its source
record.
3. Create a camera calibration record that use the picture record created in step 2 as its
source record.
4. Select
Adept Calibration Sheet (nested squares).
5. Move the calibration tool until it is just larger than the largest square that can be
completely seen in the window.
6. Select a light or dark object color depending on whether you want to use white or
black squares.
7. Select the edge strength used for the locating the edges of the square (you can
normally use the default unless the system tells you that is cannot find the edges).
8. Choose Calibrate .
9. If you selected perspective calibration, the perspective result is displayed.
Method 2: Square of Know Dimensions
To calibrate a camera you must have a square of known dimensions. The square must be
smaller than the field of view. Make sure the square is truly square, all four sides are the
1
This target is specially made to produce uniform, precision results. Copies of this target do not
provide accurate results.
86
exact same size, and they meet at 90° angles. Camera calibration will be only as accurate
as your calibration square (particularly for small fields of view). To calibrate a camera:
1. Complete steps 1 - 3 as in “Method 1: Adept Calibration Sheet”.
2. Select
Square of known dimensions.
3. A calibration tool will be displayed in the vision window. Center your calibration
square in the calibration tool. Use the drag handles on the calibration tool to size the
tool until it just encompasses your calibration square.
4. Enter the size of the square.
5. Select a light or dark object color depending on the color of your square.
6. Select the edge strength used for the locating the edges of the square (you can
normally use the default unless the system tells you that is cannot find the edges).
7. Choose Calibrate . Four line finders will be placed around the calibration square
and the vision window should look like Figure 4-7. (If you get a message indicating
the edges of the calibration square could not be found, resize the calibration tool until
it more closely fits the calibration square.)
8. If you selected perspective calibration, the perspective results is displayed.
Figure 4-7
Camera Calibration
Method 3: Circle of Known Radius
This calibration is identical to method 2, except you use a circle of known dimensions.
Make sure that this circle is truly round (equal radii at all points).
87
Method 4: Solid Bar of Known Width
This calibration is similar to method 2 except you use a bar of known length. This
calibration option does not supply sufficient information to perform perspective
calibration.
Method 5: Specify mm/pixel Ratio
This method assumes that you have derived the mm/pixel ratio and need only enter that
value. Entered the known mm/pixel ration in the Known dimension data box and choose
Calibrate . The moving point shows the X and Y location of the dot in the vision
window. The point is in pixels. Moving the dot around can help you verify the calibration
you entered.
Calibration Hints
Make sure the camera is permanently fixed before you begin calibration. Whenever the
camera-to-object distance changes, the camera has to be recalibrated. If pictures are being
taken at different camera-to-object distances, a camera record must be created for each
camera-to-object distance.
After you complete calibration, the camera focus should not be changed because it might
invalidate the calibration.
Prototypes, templates, and OCR font records are dependent on a specific camera
calibration. If the calibration changes, the models may no longer be accurate.
Prototype finder, OCR Field, and Correlation Window records must use the same camera
record as their referenced model record. For example, if OCR Field record ocr.ver uses the
OCR font record font_1, both records must use the same camera record. (Use the same
picture record to ensure the camera record is correct.)
Camera calibration must be completed before the vision tools that make distance
measurements can return accurate absolute measurements. If you change your camera
calibration, you may need to reposition your vision tools.
88
Record Classes
5.1
5.2
5.3
5.4
5
Why Are Record Classes Important? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
What are the Record Classes? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Records That Return Cartesian Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Records in the Test-a-Value Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
89
Chapter 5 - Record Classes
5.1
Why Are Record Classes Important?
The class that a record type belongs to determines where it can be used in VisionWare
operations. For example, the inspection operation that measures the distance between two
points requires two point class records. The tables in this chapter summarize what records
belong to each class and what results the record returns that make it a member of a
particular class.
5.2
What are the Record Classes?
Many vision record types return Cartesian or geometric values based on what they find in
the field of view. Depending on which values the record returns, the record type belongs
to one or more of the following record classes:
• Point Class
• Line Class
• Vision Frame Class
• Circle Class
• Test-a-Value Class
Records can belong to multiple classes. For example, an arc ruler belongs to the point,
frame, and test-a-value classes.
90
Records That Return Cartesian Results
5.3
Records That Return Cartesian Results
Table 5-1
Records Returning Point Values (Point-Class Records)
Record Type
Point Returned
Point Finder
The first point found
Linear and Arc Rulers
The edge detected (selectable from the ruler record)
Computed Points
The point computed
Computed Circle or
Arc
Center of the computed feature
Arc/circle Finder
The center of the found arc/circle
Computed Frame
The origin of the computed frame
Blob Finder
The centroid of the found blob
Prototype Finder
The centroid of the found prototype
Frame Pattern
The origin of the frame
Correlation Window
The center of the area matching the correlation
template
Conditional Frame
The origin of the frame
Line finder
The nearest point on the found line to the search line
Table 5-2
Records Returning Line Values (Line-Class Records)
Record Type
Line Returned
Line Finder
The found line
Computed Line
The line computed
Computed Frame
The X axis of the frame
Blob Finder
A line through the centroid of the blob (The
orientation is selected in the finder record.)
Prototype Finder
The X axis of the frame created when the prototype
was trained
Frame Pattern
The frame X axis (see Chapter 10)
Conditional Frame
The frame X axis
Arc ruler
The line through the center and the Nth point
91
Chapter 5 - Record Classes
Table 5-3
Records Returning Circle Values (Circle-Class Records)
Record Type
Circle Returned
Arc/circle Finder
The found circle
Computed Circle
The computed circle
Table 5-4
Records Returning Vision Frame Values (Vision-Frame Class Records)
Record Type
Frame Returned
Computed Frame
The computed frame
Blob Finder
Origin at blob centroid. Orientation varies
depending on selections made from the Orientation
group in the blob finder record
Prototype Finder
Based on frame of trained prototype
Arc Ruler
Origin at a detected edge (selectable in ruler record).
X axis goes from arc center through first edge found.
Linear Ruler
Origin at a detected edge (selectable in ruler record).
Orientation is the same as the ruler tool.
Frame Pattern
Current instance of frame (see Chapter 10)
Point Finder
Origin at the found point. Orientation is the same as
the point finder reference frame.
Computed Point
Origin at the computed point. Orientation is the same
as the computed point reference frame.
Arc/circle Finder
Origin at the center of found arc. Orientation is the
same as the arc finder reference frame.
Computed Circle
Origin at the center of computed circle. Orientation is
zero.
Correlation Window
Origin at the center of the matched area. Orientation
is zero.
Conditional Frame
The source frame plus offsets
92
Records in the Test-a-Value Class
5.4
Records in the Test-a-Value Class
The following record types return testable results. See Appendix F for details on the
values that are returned by each record type.
Table 5-5
Test-a-Value Class Records
Record Type
Inspection
Computed Line
Ruler
Arc Ruler
Window
Point Finder
Line Finder
Circle Finder
Blob Finder
OCR Field
Prototype Finder
Value Combination
Correlation Window
Conditional Frame
93
Measurements
6
6.1 What Types of Measurements Can Be Made? . . . . . . . . . . . . . . . . . . . . . . . 96
6.2 Measuring the Distance Between Two Points . . . . . . . . . . . . . . . . . . . . . . . 97
Tutorial: Measuring a Point-to-Point Distance . . . . . . . . . . . . . . . . . . . . 98
Create the Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Add an Inspect Statement to a Sequence . . . . . . . . . . . . . . . . . . . . . . 100
6.3 Measuring the Distance From a Point to a Line . . . . . . . . . . . . . . . . . . . . . 101
Tutorial: Editing an Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . 102
Modify the Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.4 Measuring the Angle Between Two Lines . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.5 Measuring Circle’s Radius or Diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
95
Chapter 6 - Measurements
6.1
What Types of Measurements Can Be Made?
This chapter covers the details of making distance measurements. As with any individual
inspection, the first record required is an inspection record. The types of measurements
you can specify in the inspection record and the minimum additional records each type
needs are:
POINT-POINT
distance
This measurement returns the distance between two
points. The inspection record requires two additional
point class records.
POINT-LINE
distance
This measurement returns the shortest (perpendicular)
distance between a point and a line. The top-level
inspection record requires two additional vision tool
records, one point class record and one line class record.
LINE-LINE angle
This measurement returns the angle between two lines.
The inspection record requires two additional line class
records.
CIRCLE radius
or diameter
This measurement returns the diameter or radius of a
circle or circular arc. The inspection record requires one
additional circle class record.
✼
The records outlined above may not be the only vision tool records needed for each type
of inspection. There may be several additional records in the tree. For example, one of the
records that returns a point for a point-to-point measurement may require two line finder
records to calculate the point. When you begin to use frame relative vision tools
(Chapter 9), the inspection trees can get very involved.
✼
Measurements depend on accurate camera calibration. The values returned are accurate
only if the cameras used in the inspection are properly calibrated.
96
Measuring the Distance Between Two Points
6.2
The POINT-POINT distance operation measures the distance between two points. The
vision tool records that return points (point class records) are listed in Table 5-1.
The steps to measure the distance between two points are as follows:
1. Create a new top-level inspection record:
a. Module ➡ Select/Edit ➡ highlight resource module
Select ➡ Edit ➡ Vision (main menu bar)
Edit ➡ New Record (Vision record menu bar)
b. Enter a record name in the Name data box, select
A new inspection record is displayed.
2. Select
3. Choose
perform:
➡
Inspection, and choose OK .
Measure from the Inspection Type group.
Select new operation. From the pop-up window that is displayed,
POINT-POINT distance
➡ OK .
4. Double click the POINT 1 name data box to display an index of appropriate records.
Highlight an existing record or click a tool in the Vision window, and choose
Retrieve to use the existing record; or choose New to create a new record.
5. Double click the POINT 2 name data box to display an index of appropriate records.
Highlight an existing record or click a tool in the Vision window, and choose
Retrieve to use the existing record; or choose New to create a new record that
returns a point value.
6. Enter the pass-fail criteria:
a. In the Nominal data box, enter the ideal value of the distance being measured.
b. Choose Limits .
c. Enter the upper acceptable limit of the distance (maximum limit).
d. Enter the lower acceptable limit of the distance (minimum limit).
Optional:
e. Select ✔ Pass-fail I/O signal if you want to specify a digital output signal to be set
based on the success of the inspection. A data box is displayed into which you
enter a digital output signal number (see Chapter 12).
f. Select ✔ Gather stats if you want the results of this inspection reported to the
Inspection Results menu page.
The number entered into Bin size is used in the statistical calculations when a
sequence is run. Chapter 11 describes the use of this option.
g. Select the desired data-logging item.
h. Choose Limits and enter high and low warning limits, along with any associated
I/O signals (see Chapter 12).
97
Tutorial: Measuring a Point-to-Point Distance
Let’s measure the distance between the center of the circular hole and the centroid of the
polygon shaped hole in the sample object. A copy of the sample object is reproduced at
the back of the manual. Remove (or copy) the sample object and place it in the field of
view.
Make sure the vision system is turned on, VisionWare is loaded and running, and you
have calibrated a camera (see “Calibrating a Camera” on page 84).
The records we will be using for this inspection are:
A new top-level inspection record
An existing arc finder tool record (to locate the center of the circle)
An existing blob finder record (to locate the centroid of the polygon hole)
The existing camera and picture records
Create the Inspection
1. Load and select the tutorial resource module:
Module
➡ Select/Edit ➡ highlight “vwtutor” ➡ Select (main menu bar)
2. Enter the Vision editing mode:
Edit
➡ Vision (main menu bar)
3. Choose a live grayscale display:
Image
➡ Live Grayscale(vision window menu bar)
Place a copy of the sample object in the field of view.
4. Create a new inspection record:
Edit
➡ New Record (vision record editing menu bar)
Enter new.pt2pt in the name data box, select
the new inspection record is displayed:
Inspection, and choose OK . When
Select TopLevel.
Select
Choose
Select
Measure.
Select new operation.
POINT-POINT distance and choose OK .
5. Edit the sample circle finder record:
Double click the POINT 1 name data box. From the pick list that is displayed,
highlight (click once) sample.arc.fdr and choose Retrieve .
Double click sample.arc.fdr in the POINT 1 name data box. The arc finder tool
record is displayed.1
Use the center drag handle to locate the finder tool over the center of the circular hole
in the sample object.
1
If a pop-up warning window is displayed asking you if it is “Okay to snap the shape params to
within valid limits”, choose OK .
98
Use the drag handle on the outer radius (dark blue) to size the outer radius until it is
entirely within the sample object (see Figure 6-1). (If the tool cannot be made small
enough, use the drag handle of the green guide line to make the tool smaller.)
Use the drag handle on the guide line (green) to size the inner radius (light blue) until
it is just smaller than the circular hole.
Choose Setup Parameters .
Select
Light inside from the Edge Direction group,
group, and
Inside from the Closest to group.
Both from the Find Arc’s
Choose Done .
6. Perform Image ➡ New Picture to acquire a new image. The circular hole should be
outlined in red. If it is not, check the arc finder tool settings. If the hole is still not
outlined, double click the Picture data box to go to the picture record.
Choose the Auto-set buttons in the grayscale and binary groups.
Perform Go ➡ Back to return to the arc finder tool. The Results group at the bottom
of the arc finder tool screen should now show the data calculated by the arc finder.
7. Return to the top-level inspection record:
Go
➡ Back
8. Edit the second point record:
Double click the POINT 2 name data box. From the pick list that is displayed,
highlight sample.blob.fdr and choose Retrieve . Double click sample.blob.fdr in
the POINT 2 name data box. The finder tool record will be displayed.
Click the center drag handle of the finder tool and drag it over the middle of the
polygon shaped hole in the sample object. Use the drag handles to orient the blob
finder so it looks like Figure 6-1.
Select
Light object.
9. Return to the inspection record:
Seek
➡ Index ➡ dbl clk “new.pt2pt”
The calculated distance between the sample object’s polygon and circular holes will
now be displayed in the Value information box.
10. Complete the inspection record:
Enter 19 in the Nominal data box.
Choose Limits .
Enter 21 in the Maximum limit data box.
Enter 17 in the Minimum limit data box.
99
Blob Finder
Arc finder:
Outer radius
Guide line (green)
Inner radius
Point 1
Figure 6-1
POINT-POINT Distance Tools
Add an Inspect Statement to a Sequence
1. Open the sequence editor (A sequence must have already been created. See
Chapter 2):
Module
Edit
➡ Select/Edit ➡ highlight vision module ➡ Select ➡
➡ Sequence ➡ highlight “sequence_1” ➡ Select (main menu bar)
2. Add a new statement:
Edit
➡ Append line (Sequence editor’s menu bar)
Double click --statement--.
Highlight Inspect and choose Retrieve .
Double click --vision--.
Highlight new.pt2pt and choose Retrieve .
3. Disable any existing statement lines:
Highlight the line
➡ Edit ➡ Disable
4. Execute the sequence:
Execute
➡ Task Control Panel (main menu bar)
Click task name.
Select
➡ highlight “sequence_1” ➡ Select
Click ✔ Repeat.
Choose Start .
5. Display the vision results:
Show
100
➡ Vision Results
Measuring the Distance From a Point to a Line
6.3
Measuring the Distance From a Point to a Line
The POINT-LINE distance operation measures the distance between a point and a line.
The distance measured is the shortest distance between the point and the line
(perpendicular distance). The vision tool records that return points and lines are shown in
Table 5-1 and Table 5-2.
The steps to measure the distance between a point and a line are:
Edit ➡ Vision (main menu bar)
Edit ➡ New Record (vision record’s menu bar)
2. Select
➡ Select ➡
Measure from the Inspection type group.
3. Choose
Select new operation. From the pop-up window that is displayed, select
POINT-LINE distance, and choose OK .
4. Double click the POINT name data box to display an index of appropriate records.
Highlight an existing record or click the desired tool on the Vision window, and
choose Retrieve to use the existing record; or choose New to create a new point
class record.
5. Double click the LINE name data box to display an index of appropriate records.
Highlight an existing record or click the desired tool on the Vision window, and
choose Retrieve to use the existing record; or choose New to create a new record
that returns a line.
b. Choose Limits .
Optional:
based on the success of the inspection. A data box is displayed into which you
enter a digital output signal number (see Chapter 12).
g. Select the desired data-logging option.
101
Tutorial: Editing an Inspection Record
For this tutorial we will modify the inspection originally created to measure a point-topoint distance (you must have completed the tutorial from the previous section). The
modified inspection will measure a point-to-line distance. The distance measured will be
between the center of the arc at the top of the object and a line running along one edge of
the object.
Modify the Inspection
1. Enter data editing mode:
Module ➡ Select/Edit ➡ highlight “vwtutor”
➡ Select ➡
(main menu bar)
2. Select a live grayscale display:
Image
➡ Live Grayscale
3. Modify the inspection record:
Seek
➡ Index ➡ double click “new.pt2pt” (vision record’s menu bar)
Highlight the Name data box and type in the new name, new.pt2ln.
Select new operation.
Choose
Select
POINT-LINE distance .
Choose OK .
4. Modify the Point Record:
Double click sample.arc.fdr.
When the sample.arc.fdr record appears, choose Setup Parameters and select
Circular arc.
Drag the arc finder tool until the apex of the green guide line is near the apex of the
object (see Figure 6-2).
Use the three drag handles on the green guide line to widen the tool arc until the
green guide line approximates the object’s radius.
Select
Dark inside and choose Done .
5. Return to the top-level record:
Go
➡ Back
6. Replace the blob finder record with a line finder record:
Highlight the LINE name data box.
Go
➡ Select
Highlight sample.ln.fdr1 and choose Retrieve .
7. Modify the line finder record:
Double click sample.ln.fdr1 to go to the line finder record.1
Using the drag handles, position the line finder as shown in Figure 6-2.
102
Measuring the Angle Between Two Lines
8. Return to the top-level record:
Tree
➡ Top of current tree ➡ double click “new.pt2ln” icon
a. Enter 24 in the Nominal data box.
Choose Limits .
b. Enter 26 in the Maximum limit data box.
c. Enter 23 in the Minimum limit data box.
Existing Line Finder
Modified Arc Finder
Figure 6-2
POINT-LINE Distance Tools
6.4
Measuring the Angle Between Two Lines
The LINE-LINE angle operation measures the angle between two lines. The vision tool
records that return lines are shown in Table 5-2.
The steps to measure the angle between two lines are:
Edit ➡ New Record (vision record’s menu bar)
2. Select
➡ Select ➡
Measure from the Inspection Type group.
3. Choose
LINE-LINE angle and choose OK .
1
If a pop-up warning window is displayed asking you if it is “Okay to snap the shape params to
within valid limits”, choose OK .
103
4. Double click the LINE 1 name data box and an index of appropriate records will be
displayed. Highlight an existing record or click the desired tool on the Vision
window, and choose Retrieve to use the existing record; or choose New to create
a new record that returns a line.
5. Double click the LINE 1 name data box and an index of appropriate records will be
displayed. Highlight an existing record or click the desired tool on the Vision
window, and choose Retrieve to use the existing record; or choose New to create
a new record that returns a line.
6. Specify the pass-fail criteria:
b. Choose Limits .
c. Enter the upper acceptable limit of the angle (maximum limit).
d. Enter the lower acceptable limit of the angle (minimum limit).
Optional:
based on the success of the inspection. A data box will be displayed into which
you enter a digital output signal number (see Chapter 12).
g. Select the desired data-logging option.
6.5
Measuring Circle’s Radius or Diameter
The CIRCLE radius and CIRCLE diameter operations measure the radius or diameter of a
circle. The record types that return circles (circle-class records) are:
• Arc/circle finder
• Computed circle
To measure a circle’s radius or diameter:
Edit ➡ Vision ➡ Edit ➡ New Record
2. Select
➡ Select ➡
Measure from the Inspection type group.
3. Choose
CIRCLE diameter and choose OK .
CIRCLE radius or
4. Double click CIRCLE name to display an index of appropriate records. Highlight an
existing record or click the desired tool on the Vision window, and choose Retrieve
104
Measuring Circle’s Radius or Diameter
to use the existing record; or choose New to create a new record that returns a
circle.
5. Specify the pass-fail criteria:
b. Choose Limits .
Optional:
based on the success of the inspection. A data box will be displayed into which
you enter a digital output signal number (see Chapter 12).
g. .Select the desired data-logging option.
105
Testing a Value
7
7.1 Which Values Can Be Tested? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.2 Creating a Test-a-Value Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.3 Testing Results From Rulers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Create a Ruler Record:. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.4 Testing Results From Finder Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Tutorial: Testing the Orientation of a Blob . . . . . . . . . . . . . . . . . . . . . . 112
Create a Blob Finder Record: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.5 Testing Window Stats: Graylevel Statistics. . . . . . . . . . . . . . . . . . . . . . . . . 113
Picture Records and Graylevel Statistics . . . . . . . . . . . . . . . . . . . . . . . 114
Tutorial: Calculating an Average Graylevel . . . . . . . . . . . . . . . . . . . . . 115
Edit the Sample Window Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Edit the Picture Record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.6 Testing Window Stats: Pixel Counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
How Does VisionWare Know Which Pixels to Count? . . . . . . . . . . . . . 117
Picture Records and Pixel Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Window Records and Pixel Count Inspections . . . . . . . . . . . . . . . . . . . 118
Pixel Count Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
107
Chapter 7 - Testing a Value
7.1
Which Values Can Be Tested?
Table 7-1 lists the values that can be tested with the test-a-value inspection type. The
inspection record will test these values to see if they fall within the range of values
specified in the Minimum limit and Maximum limit data boxes in the Inspection Limits
pop-up window. The window-stats, blob-stats, and OCR-results inspection types are a
subset of the test-a-value inspection type. Any inspection that can be made in window
stats, blob stats, or OCR results can be made from a test-a-value inspection type. Prototype
finder, OCR field, and Correlation window results are covered in Chapter 8.
Table 7-1
List of Values That Can Be Tested
Record Type
Testable Values
Linear Rulers
Search area clipped by field of view?
Number of edges found
Distance from first to last edge
Distance from ruler start to first edge
Arc Rulers
Was the search area clipped by field of view?
Angle from first to last edge
Angle from ruler start to first edge
Point Finders
Success or failure of the finder tool
Line Finders
% of edges found along the line
% of edges filtered
Angle of the found line
Maximum pixel error of fit line overall
Maximum pixel error of fit line on dark side
Maximum pixel error of fit line on light side
Arc\circle
Finders
% of edges found along the arc
% of points filtered
Arc radius
Maximum pixel error of fit arc overall
Maximum pixel error of fit arc on dark side
Maximum pixel error of fit arc on light side
Blob Finders
Number of holes in the found blob
Area of all holes
Blob area
Total area
Perimeter
Radius of minor or major ellipse axis
Blob angle
Prototype
Finders
Percentage of prototype model verified
108
Which Values Can Be Tested?
Table 7-1
List of Values That Can Be Tested (Continued)
Record Type
Testable Values
Window
White pixel count
Black pixel count
Edge pixel count
Minimum graylevel value
Maximum graylevel value
Average graylevel value
Standard deviation of graylevel values
Total number of pixels within window
Value
Combination
See Chapter 10
Inspection
Record
The inspected value
Deviation of the value from the nominal
Pass/fail condition
High warning indicator
Low warning indicator
Correlation
Window
The match coefficient
Positive correlation indicator
OCR Fields
Number of characters found
Average score of characters found
Minimum score of characters found
Was each character the first choice?
Was each character the first or second choice?
Conditional
Frame
Angle of frame line
Computed line
Angle of computed line
109
7.2
Creating a Test-a-Value Inspection
The steps to create an inspection to test a value are:
Module ➡ Select/Edit ➡ highlight “vwtutor”
Enter a name in the Name data box, select
➡ Select
2. When the new inspection record is displayed, select
Inspection Type group.
Test a value from the
The Select new value to test button is inactive until a tool record is entered into the
Operator name data box.
3. Specify a record:
Double click the Operator name data box and retrieve an existing record, or create a
new test-a-value class record (return to the inspection record when complete).
4. Select the value you want to test:
Choose
Select new value to test to display the values from the selected record
that are available for testing (see Table 7-1). Select the desired value and choose OK .
5. Set the pass-fail values for the inspection:
Enter the ideal value the tested value should have in the Nominal data box.
Choose Limits and enter the acceptable range of values in the Minimum limit and
Maximum limit data boxes.
7.3
Testing Results From Rulers
Linear and arc ruler tools look for intensity transitions. Graylevel rulers search for
transitions based on the magnitude of graylevel changes between neighboring pixels. If
the change exceeds the value set for edge strength, an edge is detected. Binary rulers
search for transitions based on a transition from black to white pixels. See “Grayscale vs.
Binary Processing” on page 184 for details on the different modes of image processing. See
“Linear Ruler Records” on page 270 for details on linear rulers and “Arc Ruler Records”
on page 274 for details on arc rulers.
Tutorial: Test the Number of Points Found by a Ruler
In this tutorial we will create a new inspection record and a new ruler record. The
inspections record will test the number of transitions (edges) found by the ruler record.
Create an Inspection Record
1. Load the tutorial resource module:
Module
➡ Select/Edit ➡ highlight “vwtutor” ➡ Select
Edit
110
➡ Vision
Testing Results From Rulers
Image
➡ Live Grayscale
Edit
➡ New Record ➡ enter “new.ruler.insp” ➡
When the new inspection record is displayed, select
Inspection
➡ OK
Test a Value from the
Create a Ruler Record:
5. Double click the Operator name data box. A pick list of available tool records is
displayed.
Choose New and from the pop-up window that is displayed:
enter “new.ruler”
➡ dbl clk Ruler ➡ OK ➡ dbl clk “new.ruler”
6. When the new ruler record is displayed, edit the ruler tool:
Use the center drag handle to move the tool between the two holes in the sample
object.
Use the size drag handles to make the ruler slightly larger than the width of the
sample object.
Use the rotate drag handle to align the ruler tool with the two holes in the sample
object (Table 7-1).
Complete the Inspection Record
Go
➡ Back
8. When the inspection record is re-displayed, select a value to test:
Choose
Select new value to tes t.
Highlight Number of edges found and choose OK .
9. Select ✔ Gather stats.
b. Choose Limits .
Enter 6 in the Minimum limit data box.
11. Check the results:
a. Choose
Test run inspection.
b. View the results in the Latest Test Run group.
c. Choose Done .
111
Ruler Tool
Figure 7-1
Test a Value Example
7.4
Testing Results From Finder Tools
Finder tools locate features in the field-of-view. Finder tools return values indicating how
accurately a feature was found and where that feature is located. Line finders, point
finders, and arc/circle finders can search for features in either the binary or the grayscale
image. Blob finders and prototype finders search for features based on the binary image.
See “Grayscale vs. Binary Processing” on page 184 for details on the different modes of
image processing. See Appendix G for details on creating finder tools.
Tutorial: Testing the Orientation of a Blob
In this tutorial we will create an inspection record and a blob finder record. Blob finders
return information about bounded regions (contiguous areas of black or white pixels) in
the field-of-view. One item of information returned is the orientation of the blob. The
inspection record will test the orientation value returned by the blob.
Module
Edit
➡ Vision
Image
➡ Live Grayscale
Edit
➡ New Record ➡ enter “new.blob.insp” ➡
112
Inspection
➡ OK
Test a Value from the
Testing Window Stats: Graylevel Statistics
Create a Blob Finder Record:
5. Double click the Operator name data box. A pick list of available tool records is
displayed.
Choose New and from the pop-up window that is displayed:
enter “new.blob.fdr”
➡ dbl clk Blob Finder ➡ OK ➡ dbl clk “new.blob.fdr”
6. When the new blob finder record is displayed, edit it:
Use the center drag handle to move the tool over the center of the sample object.
Use the size drag handles to make the blob finder larger than the sample object.
7. Select
Select
Dark object.
Best fit ellipse.
Go
➡ Back
9. When the inspection record is re-displayed, select a value to test:
Choose
Select
Select new value to test.
Angle of blob and choose OK .
b. Choose Limits .
Enter –2 in the Minimum limit data box.
a. Choose
c. Choose Done .
7.5
When the vision system acquires an image, a matrix of approximately 512 x 484 cells is
filled with values. The value in each cell (or pixel1) is a number between 0 and 127 that
represents the light intensity registered from a corresponding point in the field of view.
These values are known as graylevel values. The vision system uses these values to create
images. Figure 7-2 - Sample Vision Matrix shows an example of a small section of pixels.
The lower values represent darker areas of the field of view. The higher values represent
brighter areas of the field of view.
1
Short for “picture element.”
113
88 82 84 88 85 83 80 93 102
88 80 78 80 80 78 73 94 100
85 79 80 78 77 74 65 91 99
38 35 40 35 39 74 77 70 65
20 25 23 28 37 69 64 60 57
22 26 22 28 40 65 64 59 34
24 28 24 30 37 60 58 56 66
21
22 23 27 38 60 67 65 67
23 22 22 25 38 59 64 67 66
Figure 7-2
Sample Vision Matrix
You can instruct VisionWare to calculate the following graylevel statistics:
The average graylevel value
The maximum graylevel value
The minimum graylevel value
The standard deviation of the graylevel values
In many cases, graylevel statistics can be used to inspect an object, or an object feature. For
example, if you were inspecting an all-white feature for surface flaws, the graylevel values
for the feature should have the following characteristics:
• The average graylevel should be near the upper limit of the range.
• The average, minimum, and maximum graylevel values should be very close.
• The standard deviation should be very low.
Picture Records and Graylevel Statistics
An inspection record that measures graylevel statistics requires you to specify a window
vision tool. One class of information that window vision tools return is graylevel statistics.
The statistics are calculated from within a specified search area or window.
The values returned by a window tool are influenced by two settings made in the picture
record that is associated with the window record. The two settings are gain and offset. The
graylevel values that are placed in the vision matrix are not the absolute values registered
from the field of view, but are first amplified by the value of gain, and then offset by the
value of offset.1 These two parameters allow you to compensate for varying scene
brightness and contrast.
If your field of view is dimly lit, all the graylevel values might be bunched up near the
lowest value, and all the scene features would be indistinguishable. This is similar to
underexposing a piece of photographic film.2 Offset allows you to alter the starting
intensity for the first graylevel value. This means that the lowest graylevel value in a
1
Actually, the incoming video signal is affected by these parameters. The final values placed in each
pixel will be scaled to be between 1 and 127.
2 Offset cannot compensate for an overly dark or bright scene. Adjust the camera aperture for
optimum contrast before setting offset and gain.
114
bright scene with a high offset value represents a higher absolute intensity level than does
the first value in a dark scene with a low offset value.
Similarly, a scene might have a fairly even contrast, in which case the difference between
the highest graylevel value and the lowest graylevel value would be small. This would
tend to make the scene features difficult to distinguish. Gain is used to spread out the
range of values in a scene of limited contrast, thus making the scene features easier to
distinguish.
Both Offset and Gain can be automatically set from within the picture record associated
with the window record (see Section D.5).
Tutorial: Calculating an Average Graylevel
In this tutorial we create a top-level inspection record that measures the average graylevel
value, and edit the sample vision tool that returns graylevel values.
Module
Edit
➡ Vision
Image ➡ Live Grayscale
Place a copy of the sample object in the field-of-view and orient it as shown in
Figure 7-3.
Edit
➡ New Record ➡ enter “new.grylvl.insp” ➡
From the inspection record that is displayed, select
Inspection
➡ OK
Window stats.
Edit the Sample Window Record
1. Retrieve the sample window record:
Double click the Operator name data box. An index of available window tools will
be displayed, and the graphics for those tools will be shown in the vision window.
Double click sample.window.
2. Edit the window tool:
Double click sample.window in the WINDOW name data box to go to that record.
(Allow VisionWare to scale the tool if necessary.) When the sample window record is
displayed:
Select
Round from the shape group.
Use the center drag handle to center the window over the hole in the sample
object.
115
Use the size drag handle on the perimeter of the window to size the tool until it
is the same size as the circular hole.
Select ✔ Average graylevel
Edit the Picture Record
1. Go to the picture record:
Double click the PICTURE name data box.
2. Set the contrast parameters:
Choose Auto-set in the grayscale group.
3. Set the binary threshold:
Choose Auto-set in the binary group.
Go ➡ Tree ➡ Go to Root ➡ dbl clk the “new.grylvl.insp” icon
2. Select an operation:
Choose
Select
Select a new value to test.
Average graylevel and choose OK .
a. Choose Limits .
b. Enter the ideal average graylevel value in the Nominal value data box. The level
depends on the lighting conditions and the setting of gain and offset. Acceptable
graylevel values must be determined empirically from known samples of
acceptable parts.
c. Choose
Test run inspection and execute a sufficient number of inspections to
provide a reliable average graylevel value. Enter this new value in the Nominal
value data box.
d. Enter the upper acceptable limit of the graylevel value in the Maximum limit data
box.
e. Enter the lower acceptable limit of the graylevel value in the Minimum limit data
box.
Check the results
1. Acquire a new image:
Image ➡ New Picture
2. View the results in the Result and Dev information boxes.
116
Testing Window Stats: Pixel Counts
Window Tool
Figure 7-3
Window Tools
7.6
Testing Window Stats: Pixel Counts
A pixel is the smallest unit of measurement the system can return to you. If you knew how
many pixels were in a given region, you would have a very accurate measurement of that
region’s size. Similarly, if you knew the number of pixels surrounding a feature, you
would have an accurate measurement of that feature’s perimeter.
How Does VisionWare Know Which Pixels to Count?
Pixel counts are constrained in two ways. First, pixels are always counted within the
confines of a window tool. Second, pixel counts can be made of only the dark pixels, the
light pixels, or the edge pixels within that window. Edge pixels occur in areas where
neighboring pixels go from light to dark or vice versa (i.e., edges).
When the vision system acquires an image, a matrix of approximately 512 x 484 cells is
filled with values. The value in each cell (or pixel) is a number between 0 and 127 that
represents the light intensity registered from a corresponding point in the field of view.
These values are known as graylevel values. When light or dark pixels are counted, the
graylevel value in each pixel is compared with the threshold value. If the value is below
the threshold value, the pixel is considered dark. If the value is above the threshold value,
the pixel is considered white. The resulting image is a binary image–the pixels are either
black or white.
When edge pixels are counted, the difference between neighboring pixels is compared to
the edge strength threshold value. If the difference exceeds edge strength threshold, the
pixels are considered part of an edge and are counted.
In images with high contrast (most areas are either dark or light), pixel counting provides
a way of determining areas or perimeters, and checking for surface flaws.
Picture Records and Pixel Values
Pixel counts are made by window tools. Each window tool record requires an associated
picture record. The picture record specifies the threshold value to be used when deciding
which pixels are white and which ones are dark. (In the case of dynamic pixel counts, the
threshold values can be superseded by settings in the window tool record.)
117
Window Records and Pixel Count Inspections
You will not be able to select a specific operation until the WINDOW name data box has
been filled in with a window record, and that window record has specified one of the
following modes of operation:
Count white/black pixels
Count edge pixels
Dynamic white/black pixel count
Pixel Count Operations
Once the WINDOW name data box in the inspection record has a valid entry, the specific
operations that are available are highlighted and you can select the desired operation.
The White pixels operation will count all the white pixels within the window and return
that count. The threshold value used to separate white from black pixels is specified in
the picture record used to acquire the image.
The Black pixels operation counts all the dark pixels within the window and returns that
count.
The Edge pixels operation counts all the pixels along edges found in the image. An edge
is detected when the difference in intensity from one pixel to the next exceeds the value
specified for the edge strength threshold in the window tool record.
The Dynamic white pixels operation counts all the white pixels based on the threshold
values specified in the window record rather than the picture record.
The Dynamic black pixels operation counts all the black pixels based on the threshold
values specified in the window record rather than the picture record.
The difference between counting white/black pixels and dynamic white/black pixels is
that dynamic pixel counts allow you to specify threshold values other than the ones
specified in the picture record.
118
Vision Model Processing
8
8.1 Prototype Model Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
8.2 Creating Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Editing Prototypes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Prototype Training Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Prototype Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.3 Prototype Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.4 Prototype Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.5 Image Correlation Template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.6 Correlation Template Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.7 Correlation Windows. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.8 Correlation Window Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.9 OCR Font Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.10 Creating a Font . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.11 OCR Field Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.12 OCR Field Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
OCR Field Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
119
Chapter 8 - Vision Model Processing
8.1
Prototype Model Records
The prototype process has two major steps, training and recognition:
The first step, training, involves creating an idealized vision model of the object you want
to recognize. This model is stored in a Prototype Model Record. The second step,
recognition, involves instructing the vision system to see if any objects in the field of view
match the model. A Prototype Finder Record performs this operation. Figure 8-1 shows a
prototype model record. Figure 8-3 shows a prototype finder record.
➋
➊
➌
➍
➎
➏
➐
➒
➑
Figure 8-1
Prototype Model Record
8.2
Creating Prototypes
The steps to create a prototype are (the numbers in black circles refer to the corresponding
numbers in Figure 8-1):
✼
1. Create the picture and camera records that will be used when training and
recognizing this prototype (item ➌). Changing camera settings or calibration after you
train a prototype invalidates the prototype.
2. Create a prototype model record:
Module ➡ Select/Edit ➡ highlight resource module
120
➡ Select ➡
Creating Prototypes
When the new record window is displayed, enter a name for the prototype, select
Prototype (model) from the Special Purpose group and choose OK .
3. When the prototype model record is displayed, indicate whether the prototype is a
light or dark object (item ❹).
4. Indicate the minimum and maximum areas the system should consider when
training a prototype model (item ➎). If many regions appear in the field of view, this
option allows you to ignore the regions that should not be considered part of the
prototype model. The regions that will be considered part of the prototype can be
seen by choosing Show Regions . The bounded regions with areas within the limits
set by item ➎ are outlined in the vision window.
5. Use the drag handles to move the prototype window over the object to be trained
and choose Train .
6. Edit the prototype. (Editing is detailed in the next section.)
7. When you have completed editing of an example:
Done
➡ Use Example
8. A dialogue box is presented showing the default verify percentage (75%). Click the
percentage to change it. Choose OK to accept the percentage displayed in the
dialogue box.
9. A dialogue box is presented showing the available effort levels. The suggested effort
level is highlighted. Choose OK to accept the suggested effort level.1
10. Select New example from the New Example menu and follow steps 5 through 9 to
train at least five additional examples of the prototype. Orient the part differently
during each training session. After training each additional example:
a. Select a corner in the new example (pick well-defined features).
b. Select the corresponding corner in the existing prototype.
c. Choose Done when enough corners have been selected.
d. The system attempts to fit the new example to the existing prototype. If the match
is successful, choose Yes when prompted for verification. If the match is
unsuccessful, you have to select different features to match or abandon the
example.
11. When you have finished training all examples, perform Done ➡ Done (from the
vision window), and VisionWare creates a prototype model. This step requires some
amount of calculation and cogitation, so relax and fill your coffee cup.
12. When training is complete, choose Show Prototype to show the prototype model
that has been created. The Prototype Group data box contains the virtual camera
number associated with this prototype. By default it contains the number that was
allocated to the picture record. Prototypes within a single virtual camera are
processed and recognized as group. If you want to keep certain prototypes separate
from other ones, assign them a different group number.
1
When VisionWare actually begins recognizing prototypes, you can fine-tune verify percentage and
effort level to minimize processing time and maximize accurate prototype matching.
121
Editing Prototypes
A graphic representation of the prototype object showing arcs in purple, lines in yellow,
and corners as white dots will be presented. During prototype editing, you edit the
boundaries fit by the system so they match your object as closely and simply as possible.
The most common editing tasks you will perform are:
• Removing extra corners
• Turning arcs into lines
• Deleting features that are unimportant or are part of the background
Figure 8-2 shows the prototype training window and its functional groups of features. The
process of editing a prototype using the training window is described following
Figure 8-2.
122
Creating Prototypes
Preview Window
Editing Operation
Data Box
TRAINING
Current op.
DELETE CORNER
Edit
Buttons
Location
Box
Op
Prev
Zoom
Buttons
1x
2x
3x
4x
Edge
Next
Region
Prev/Next
Zoom
Edge/Region
Select
Buttons
Message
Window
Edge Type
Edge Length
Region Area
# of Edges
Edge/Region Information
Data Boxes
Figure 8-2
Prototype Editing Operations
Preview Window
This window shows a reduced view of the vision window. When the 1x radio button is
selected, the preview window and the vision window shows the same view. When a 2x or
123
greater button is selected, the objects in the vision window are magnified and a location
box appears in the preview window showing the area of the vision window you are
working on. You can move to a different area of the vision window by clicking this
location box and dragging it to a new area.
Zoom Buttons
These buttons allow you to work with different levels of magnification of the prototype
object. The area you have zoomed to is shown in the Preview window.
Message Window
This box displays information and error messages during the prototype training process.
Edit Buttons
There are two methods of editing a prototype, clicking directly the object’s features with
the mouse or using the mouse to choose the edit buttons. The main difference between the
two methods is that data reported in the edge/region information windows is only
available when using the edit buttons. The editing operation that will be performed (using
either method) is selected from the Operation menu in the Prototype window. The current
operation is shown in the Current op data box.
When you edit with the mouse, the current operation will be performed on the line, arc, or
corner nearest the mouse click.
When you edit with the edit buttons:
The first time you choose the Next or Prev button, an “X” appears on one of the lines
or arcs of the prototype. If you choose the Op button, the operation indicated by the
Editing Operation window is performed.
If the Edge radio button is selected, the next time you choose the Prev or Next
buttons, the “X” will move to the next or previous line or arc in the region. Choosing
the Op button performs the current operation.
If the Region radio button is selected, the next time you choose the Prev or Next
button, the “X” will move to the next or previous region in the vision window.
Choosing the Op button performs the current operation.
Editing Operation Window
This window shows the editing operation that are performed using the edit buttons or by
choosing the prototype. The edit operation is chosen from the Operation menu in the
Prototype window.
The editing tasks performed by each option are:
Delete Corner
Deletes the corner nearest to a mouse click or the next corner in sequence
when the Op button is chosen.
Restore Corner Restores a corner deleted with a delete corner operation.
Arc <=> Line
Converts a line to an arc, or an arc to a line.
Delete Region
Deletes the region nearest to the mouse click or the region currently
selected when Op is chosen. (Can be performed only on the first prototype example.)
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Creating Prototypes
Delete Edge
Deletes the edge currently selected when Op is chosen, or the edge
nearest the mouse click. (Can be performed only on the first prototype
example.)
Create Corner Places a corner at the mouse click or, when the Op button is chosen, on
the currently selected line or arc. (Can be performed only on the first prototype example.)
The most recent editing operation can be undone by performing:
Undo
➡ Last Op
Edge/Region Information Windows
When you are editing using the edit buttons, these windows show:
• Edge type (line or arc)
• Region area in pixels
• Edge length (distance in pixels from one corner to the next)
• Number of edges in the region (holes are not included in this count)
This data is not displayed if you are editing by clicking directly on the prototype image.
Edge/Region Select Buttons
These buttons work in conjunction with the edit buttons. When the Edge button is
selected, choosing the Prev or Next buttons chooses the next or previous edge in a region.
When the Region button is selected, choosing the Prev or Next buttons chooses the next or
previous region within the field of view.
Prototype Training Hints
After you have completed prototype training, you can still train additional examples of a
part or change the prototype parameters (described later in this chapter). Simply open the
prototype model record and choose Train to train additional instances.
When you train the first example, make the prototype as simple as possible. When you
train additional examples, do as little editing as possible.
Prototype Parameters
Each prototype has several prototype parameters associated with it. These parameters can
be set during any training session for that prototype. The parameters are:
Verify Percent
This parameter sets the percentage of total boundary length (including holes) that must be
common to both the prototype model and the current region before recognition is
successful.
This parameter can be used to control:
• The number of objects incorrectly recognized as matching a prototype
• The number of objects matching a prototype that are not recognized
125
Effort Level
Effort level affects recognition accuracy and processing speed. Recognizing prototypes
with few distinguishing features, as well as recognizing prototypes among multiple
overlapping objects, will require higher effort levels and more processing time.
Min/Max Area
Changing the setting for minimum area will allow you to ignore small, non-critical
features of an object.
Changing the setting of maximum area will allow you to isolate an area within a large
object, or ignore large, non-critical areas within the field of view.
Limit Position
These parameters allow you to constrain the location and rotation variance an object can
have from the prototype model and still be recognized.
Edge Weights
In some cases, accuracy of prototype recognition can be improved by weighting an
object’s edges. Important features of an object can be given a high weight, and
unimportant features can be given a low weight. Edge weights work in conjunction with
verify percentage to determine how closely an object must match the prototype model for
successful recognition.
126
Creating Prototypes
127
8.3
Prototype Finder Records
In the previous section we learned how to create prototype model records. This section
will show you how to use prototype finder records to recognize those objects.
To create a prototype finder record:
Module ➡ Select/Edit ➡ highlight resource module ➡ Select
Edit ➡ Vision
Prototype Finder (from the
Edit ➡ New Record ➡ enter record name ➡
‘Special Purpose’ group) ➡ OK
➍
➎
➋
➌
➊
➏
➐
➑
➒
➓
❋
✠
Figure 8-3
Prototype Finder Record
128
Prototype Finder Record Options
8.4
➊
➋
➌
➍
➎
➏
➐
Shows the name of the prototype finder record and the date it was created.
Select this option to have this tool record included in the list of top-level records
presented when the vision record tree display is activated. The record also shows up
in the pick list displayed when a --vision-- argument is selected from the sequence
editor. (This option is primarily for other AIM application modules and is not
generally selected in VisionWare. Standard VisionWare statements cannot directly use
a prototype finder record.)
Select ✔ Show at runtime to have the vision tool graphics displayed in the vision
window when an inspection using this record is run.
Enter the name of a picture record to be associated with this prototype finder record.
This picture record must use one of the virtual cameras that were assigned when the
prototype model was created.
Select the prototype model this record is to find.
Select ✔ Repeat to make this a repeat record (see Chapter 10). Choose Show Rpt to
show all found prototypes.
In the Max proto-instances to find data box, indicate the maximum number of
prototypes the system should attempt to find (–1 indicates that all regions should be
searched for prototype matches). This option can reduce processing time in
complicated scenes.
Max execution time controls the time a finder will spend looking for a prototype
match. See the description of V.MAX.TIME in the Vision Reference Guide for details on
how this option affects prototype matching.
➑
Choose Blob Ordering to select the order in which prototypes are found.
Select ✔ No clipped protos and the system will recognize only prototypes that are
entirely within the prototype finder search area (the angle of the tool search area must
be 0, 90, 180, or 270 for this option to be available).
➒
➓
❋
Shows the absolute coordinates of the finder search area. The search area can be
changed by entering values directly into these data boxes or by using the drag handles
on the finder tool.
Select ✔ Relative to to make the tool relative to a vision frame. A data box is
displayed requiring a source record that returns a frame value.
Choose Show Prototype to display an outline of the prototype model defined by
item ➎.
Choose Show Recognition to display the outline of the prototype model over the
regions that were recognized as matching the prototype.
✠
The Found item indicates whether or not a prototype match was successfully made.
The % verified item indicates the percentage of total boundary length (including
holes) that was common to both the prototype model and the image regions.
The Centroid X, Y item indicates the centroid of the found prototype.
The Angle item indicates the difference between the orientation of the prototype
model and the orientation of the found prototype.
129
8.5
Image Correlation Template
An image correlation template records the graylevel values within the template search
area. A Correlation Window is used to match image areas to the trained template. Image
correlation is normalized so that additive or multiplicative differences between the
template and the match areas are accounted for.
To create a correlation template:
Module ➡ Select/Edit ➡ highlight resource module ➡ Select ➡ Edit ➡ Vision
Correlation Template ➡ OK
➊
➋
➌
➎
➍
➏
➐
➑
Figure 8-4
Correlation Template Record
130
Correlation Template Options
8.6
➊
➋
➌
➍
➎
➏
➐
➑
Shows the name of the correlation template record and the date it was created or last
altered.
Select a picture record to use when training this correlation template.
Correlation templates are automatically numbered by VisionWare. This information
shows the number of this template record.
Size the template search area so it encompasses the image area you want to train and
then choose Train .
Choose Show to outline the image area trained as a correlation template.
Select to allow hierarchical searching. This method of searching can produce
significant improvement in the speed of correlation matching. See the Correlation
Window description for details.
This area shows the location of the image template.
This area shows the size of the image template. The speed of finding a correlation
template match within a correlation window is relative to the size of the image
template and the size of the match search area. Large templates or large search areas
will consume considerable processing time.
Choose Opti-size to increase your template to the next largest size that is optimal
for the correlation algorithm. Normally you should choose this button only once.
Repeatedly choosing it makes your template much larger than necessary and slows
down this tool.
131
8.7
Correlation Windows
A correlation window defines a search area within which matches to a correlation
template are to be made.
To create a correlation window:
Module ➡ Select/Edit ➡ highlight resource module ➡ Select ➡ Edit ➡ Vision
Correlation Window ➡ OK
➊
➋
➌
➍
➎
➏
➐
➑
➒
➓
Figure 8-5
Correlation Window
132
Correlation Window Options
8.8
➊
➋
Shows the name of the correlation window record and the date it was created or last
altered.
Select
Top level to have this tool record included in the list of top-level records
editor. (This option is primarily for other AIM application modules and is not
generally selected in VisionWare. Standard VisionWare statements cannot directly use
a correlation window record.)
Select
Show at runtime to have this tool’s graphics displayed during sequence
execution (runtime graphics must be turned on; Show ➡ Run Time Graphics)
➌
Select a picture record to use during template matching (does not have to be the same
picture record used when the template was trained, but the same camera should be
used).
Select the correlation template record to use for the matching operation.
➍
Select
Match only, no search area to restrict template matching to an area the
same size as the correlation template.
Select
Allow search area to allow template matching in an area larger than the
template.
➎
➏
Choose Show template to show the template location within the field-of-view.
This group shows the location and size of the correlation window.
Select ✔ Relative to to make this tool relative to a frame class tool.
Choose
Snap tool to template exactly to force the correlation window to exactly
match the template location and dimensions.
➐
➑
➒
➓
Specify the hierarchical search options. In this type of search, a rough search is made
in the search area and areas are identified that might contain a match. Finer searches
are then made only in these areas. This process is repeated the number of times
specified in Max depth. The accept and reject level indicate a score for determining
which areas to search again at the next higher level. Maximum search time indicates
how long to search before completing the search or declaring failure.
This area shows the results of the search. The match coefficient indicates the percent
of pixels in the match area that correspond to pixels in the template.
These items show the center of the matching area.
This area shows the size of the correlation window.
133
8.9
OCR Font Records
Optical character recognition (OCR) is a prototype process that is limited to character
recognition. An OCR Field record will attempt to recognize a string of characters from a
trained OCR Font record.
To create a font record:
Module ➡ Select/Edit ➡ highlight resource module ➡ Select ➡ Edit
OCR Font ➡ OK
➊
➋
➌
➍
➎
➏
➐
➑
➒
➓
Figure 8-6
OCR Font Record
134
➡ Vision
Creating a Font
8.10 Creating a Font
The steps to creating a font are (the numbers in black circles refer to the corresponding
numbers in Figure 8-6):
1. Create a new OCR Font record.
2. Enter any characters that may be encountered during verification in the Characters
in font data box (item ➋).
Click the Characters in font box to be able to enter (or delete) characters one at a
time.
Click the character sets in item ➌ to add an entire set of characters to item ➋.
3. Indicate whether the characters to be trained are white or black characters (item ➍).
Choose Show Regions to display the regions in the field of view that will be
considered part of the font (not active until the font height has been measured).
4. Enter the minimum area (in pixels) a bounded area must have to be considered in the
font creation process (item ➎). This area should be set so that disjoint areas of
characters (such as the dot on an i) are not considered.
5. Enter the name of the picture record to use during the training sessions (item ➐).
6. Place a sample of the font characters to be trained in the field of view.
Choose Measure it (item ➏). The font tool search area will be displayed in the
vision window. Drag and size the search area until it exactly encompasses the largest
letter in the sample character set.
Choose Done .
7. If the character is properly outlined, choose Yes . Otherwise, choose No and
repeat step 6.
8. Resize the font search area to encompass all characters to be trained and
choose Train (item ➑). Follow the directions displayed in the vision window.
( Train is not active until font height has been measured.)
9. When all characters have been trained, choose Plan to create the font prototype
(item ➓). Plan is not active until font height has been measured and the font has
been trained.)
10. Choose Show (item ➒) to display the trained font and its characteristics (not active
until font height has been measured).
Once a font has been trained, OCR Field records can be created to verify or recognize
instances of text contained in the font.
135
8.11 OCR Field Records
The OCR field record verifies whether a specified string of text has been located in the
search area of the field-of-view, or recognizes the text within the search area.
To create an OCR Field record:
Module ➡ Select/Edit ➡ highlight resource module ➡ Select
Edit ➡ New Record ➡ enter record name ➡ OCR Field ➡ OK
➋
➌
➊
➍
➎
➐
➑
➏
➒
➓
❋
✠
◆
Figure 8-7
OCR Field Record
136
➡ Edit ➡ Vision
OCR Field Options
8.12 OCR Field Options
➊
➋
➌
➍
➎
➏
Shows the name of the OCR Field record and the date it was created or last altered.
presented when the vision record tree display is activated. The record will also show
up in the pick list displayed when a --vision-- argument is selected from the
sequence editor. If
Full text recognition is selected, this option must be selected
to make this record available to the OCR_OUTPUT statement.
In the Picture name data box, enter the picture record to be used when text
recognition or verification is attempted. The picture record must use the same camera
record as the font record used.
In the Font name data box, enter the name of the font (OCR Font record) that contains
the anticipated characters.
Choose Tool Loc to view the absolute coordinates of the OCR Field search area, or
to make the search area frame relative. The search area can be sized with the drag
handles, or by entering the absolute coordinates in the pop-up window displayed
after this button is chosen.
➐
➑
If ✔ Relative to is selected, select ✔ Force absolute angle of zero to force the
reference-frame angle to be ignored and assumed to be zero.
➒
If
Verify against expected chars is selected, successive regions in the OCR search
area are compared to the corresponding characters in the expected text (item ➓).
If
Verify against all chars is selected, each region in the OCR search area is
compared with every character in the font. This option requires more processing time.
If
Full text recognition is selected, all characters recognized within the search area
are returned along with the average and minimum recognition score. See the
OCR_OUTPUT statement in Chapter 3 for details on full text recognition.
➓
❋
Specify the characters you expect to find in the field of view (not used with full text
recognition).
Choose Train to train the font (this button is not active until a font name is entered).
Choose Show Font to see the status of the font.
✠
◆
Max execution time (secs) allows you to limit the amount of time the tool spends
verifying or recognizing characters. Max blob area (in pixels) allows you to limit
character recognition to bounded regions that are smaller than the specified area.
The results returned for each type of operation are described on the next page.
137
OCR Field Results
The following results are returned for each type of OCR field operation:
Verify against
expected chars
Number of characters found indicates how many characters
were found (not how many were verified).
Average score of characters found indicates the accuracy of
the average character match between the expected text and the
found text.
Min score of chars found indicates the accuracy of the worst
character match.
Verify against
all chars
Each char was 1st choice indicates whether each character from
item ➓ was matched to an identical character in the font.
Each was 1st or 2nd choice indicates whether each character
from item ➓ was matched to an identical character or next
closest character from the font.
the average character match between the expected text and the
found text.
character match.
Full text
recognition
the average character match of the found text.
character match.
Text recognized displays the characters that were recognized
within the tool search area. This text can be output to a serial line
or disk file during sequence execution using the statement
OCR_OUTPUT. See “Logging Vision Results” on page 171 for
details on opening a data logging file or serial line. See Chapter 3
for details on the OCR_OUTPUT statement.
A complete OCR inspection often involves two inspections: an inspection testing whether
characters were found or verified, and an inspection to measure the accuracy with which
the characters were found or verified.
Frame Relative Records
9
9.1
9.2
9.3
9.4
9.5
Why Use Frame Relative Records? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
What Is a Vision Frame? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Vision Frame Class Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Vision Frames Generated by Vision Tools . . . . . . . . . . . . . . . . . . . . . . . . . 140
Computed Vision Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Fixed Frame and Null Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Frame Origin, a Point on the X axis, and a Point in the Positive Y Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Frame Origin and a Point on the Positive X Axis . . . . . . . . . . . . . . . . . 145
Line and a Point in the Positive Y Direction . . . . . . . . . . . . . . . . . . . . . 146
A Line for the X Axis, and a Line Through the Origin . . . . . . . . . . . . . . 147
9.6 Making Vision Tools Relative to a Vision Frame. . . . . . . . . . . . . . . . . . . . . 147
Tutorial: Creating a Vision Frame Relative Arc Finder . . . . . . . . . . . . . 148
A. Create an Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
B. Create an Arc Finder Record . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
C. Create a Computed Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
D. Complete the Arc Finder Record . . . . . . . . . . . . . . . . . . . . . . . . 150
E. Complete the Inspection Record . . . . . . . . . . . . . . . . . . . . . . . . 150
Vision Frame Relative Inspection Tree. . . . . . . . . . . . . . . . . . . . . . . . . 151
139
Chapter 9 - Frame Relative Records
9.1
Why Use Frame Relative Records?
In many cases the objects you are inspecting will be presented to the camera at a random
location and orientation, making it difficult or impossible to place the vision tools
accurately. Making the location of vision tools relative to a frame allows you to easily
make inspections of parts that are not always in the same location or orientation in the
field of view. To place frame relative vision tools, you must first create a frame that is
unique to the object you are inspecting.
9.2
What Is a Vision Frame?
When you create a vision tool, that tool’s location and orientation are stored in the vision
tool record. When a sequence using that tool is executed, the tool’s location and
orientation are retrieved from the database, and the tool is placed on the screen. By
default, the location and orientation values are relative to the camera coordinate frame.
This frame is a Cartesian frame with the frame origin (X = 0, Y = 0) at the lower left corner
of the vision window. The X and Y values for the tool location are interpreted as offsets
from this point, and the tool angle is interpreted with respect to the bottom of the vision
window (the X axis).
VisionWare is not limited to using the camera coordinate frame to place tools. A frame can
be created by simply specifying a location in the camera coordinate frame, and an angle
for the new frame with respect to the camera coordinate frame. The new frame has its
origin (X = 0, Y = 0) at the specified point. The new frame’s X axis runs at the specified
angle with respect to the camera coordinate frame’s X axis. This type of frame is referred
to as a vision frame.
Vision frames can be chained– a vision frame can be relative to another vision frame, rather
than to the camera coordinate frame. When vision frames are chained, the rotation and
offsets of a vision frame are relative to the vision frame immediately below it in the tree.
9.3
Vision Frame Class Records
Several vision records return vision frame results. These records belong to the vision frame
class; their characteristics are described in Table 5-4. Section 9.4 details using the frame
results from frame class vision tools.
Vision frames can also be created by locating different features of an object that uniquely
identify the object’s location and orientation. Section 9.5 details creating computed vision
frames.
One method of creating a vision frame is not necessarily better than another, but in
different situations you will find some methods more practical than others.
9.4
Vision Frames Generated by Vision Tools
This section presents several examples of using vision tools to create vision frames. The
first example checks the angle of a key way in a pulley. An arc finder is used to locate the
center of the pulley. An arc ruler is then placed relative to the center located by the arc
finder. Figure 9-1 shows the setup of this inspection. Notice that the pulley must still fall
within the arc finder, and the key way is limited to about 300° of rotation.
140
Vision Frames Generated by Vision Tools
An arc finder
locates the center of the pulley.
The center point is used as the
origin of a new vision frame.
An arc ruler is placed relative to the
new vision frame.
Whenever the vision frame center
moves (based on the center found by the
arc finder), the arc ruler will move with it.
Figure 9-1
Vision Frame Relative Arc Ruler
The orientation of a vision frame returned by an arc finder is considered to be parallel to
its frame and the resulting vision frame has the same rotation. This type of frame is
translational only. Other vision tools produce frames with a rotation that depends on what
the vision tool finds. This type of vision frame is a full vision frame.
In the next example, the orientation of the vision frame is critical, and a vision tool
returning a frame having a unique orientation is used.
In this example, a prototype finder is used to create a vision frame. Individual linear rulers
are then used to measure the distance from the edge of the calculator to the individual
keys. The center and orientation of the prototype are determined during prototype
training (see Chapter 8). The resulting frame is shown in Figure 9-2.
141
Prototype
Finder
Linear rulers are placed
relative to the new
vision frame.
Whenever the vision
frame moves,
the linear rulers will move with it.
Figure 9-2
Vision Frame Relative Linear Rulers
9.5
Computed Vision Frames
There are several ways of creating a computed vision frame, most of which rely on using
vision tools to identify object features. There are two special frames that do not require
any other vision tool records: fixed frames and null frames.
The frames that can be computed based on object features are:
• Frame origin, a point on the X axis, and a point in the positive Y direction
• Frame origin and a point on the positive X axis
142
• A line and a point in the positive Y direction
• A line for the X axis, and a line through the origin
To create a computed vision frame record:
Module ➡ Select/Edit ➡ highlight resource module
➡ Select
When the new record pop-up window is displayed, enter a name for the new record,
select
Frame and choose OK .
When the new computed frame record is displayed, select a computed frame method
(see below).
After a computed frame method has been selected (other than null or fixed), data
boxes will appear that require source records for the vision tools that will be used to
compute the frame.
When all the source records have been entered, the vision frame will be displayed in
the vision window.
If the yellow warning sign appears next to any of the source records, check to make sure
the records have been defined and that their source records have been properly defined. If
all records are properly defined, the warning sign indicates that a tool (usually a finder
tool) has failed to return the required data and the computed frame record does not have
sufficient information to create a vision frame.
Fixed Frame and Null Frame
To create a fixed frame, you specify a point that forms the frame origin, and a rotation for
that frame. The location of the fixed frame can be set by entering values in the location
data boxes, or by using the mouse to drag and rotate the frame to a new location.Use a
fixed frame when you intend to use a computed vision frame later, but have not yet
defined the source records. A fixed frame can be changed to a computed frame at any
time. (A fixed frame can be relative to another vision frame.)
To create a null frame, simply select
Null frame in the computed frame record. A
frame identical to the camera coordinate frame will be created. Null frames are useful
when you have a group of vision tools that you are going to later re-position as a group.
Create the tools relative to a null frame and then change the null frame to the desired
frame type. All the tools will now be relative to the new vision frame location.
Frame Origin, a Point on the X axis, and a Point in the Positive Y
Direction
This method of creating a vision frame involves locating a point to serve as the origin of
the computed frame, locating another point on the X axis (positive or negative), and
locating a point anywhere in the positive Y direction. Figure 9-3 shows a computed frame
being created for the sample object. The frame’s origin is created by a point finder that
locates the tail of the object. The X axis point is located by an arc finder that locates the
circular hole in the object. The resulting computed frame goes through the tail of the object
and the middle of the circular hole. The point in the positive Y direction is created by a
blob finder that locates the polygon shaped hole in the sample object. The frame resulting
from the tools shown in Figure 9-3 has the positive Y axis pointing down.
143
Notice that the sample object is not free to enter the field of view in any location or
orientation. Its movement and rotation must be such that all the points being looked for
fall within the vision tool search areas.
Arc finder: Locates point
on X axis
+X
Point finder: Locates
frame origin
+Y
Figure 9-3
Computed Frame, Three Point Method
144
Blob Finder: Locates
point in positive Y direction
Frame Origin and a Point on the Positive X Axis
The next method creates a frame from a point specifying the frame origin and a point on
the positive X axis. Figure 9-4 shows two line finders being used to create a computed
point at the tail of the object to serve as the frame origin. A point finder locates the edge of
the object to serve as the positive X axis point.
Line Finder 2
Computed Point:
Frame origin
Line Finder 1
+X
Point Finder:
Point on positive X axis
+Y
Figure 9-4
Computed Frame, Two Point Method
NOTE: To make the examples as clear as possible, none of the vision tools
overlap each other. However, this need not be the case. Vision tools can
overlap each other and will still work properly.
145
Line and a Point in the Positive Y Direction
The next method of creating a frame involves specifying a line to use for the X axis of the
computed frame, and specifying a point in the positive Y direction relative to that line.
Figure 9-5 shows a computed frame being created from the line returned by a line finder
and the centroid of a found blob. This frame’s X axis will follow the left edge of the object
and the Y axis will go through the centroid of the object.
Blob Finder:
Locates the centroid of the object
+Y
Centroid of
object
Line Finder:
Locates an edge of the object
+X
Figure 9-5
Computed Frame, Point and Line Method
146
Making Vision Tools Relative to a Vision Frame
A Line for the X Axis, and a Line Through the Origin
This method uses two lines to compute a frame. This first line identifies the X axis, and the
second line identifies the origin point on that axis (but not the Y axis line).
Blob Finder:
Identifies line through origin point (minimum radius)
+Y
+X
Line Finder:
Locates an edge of the object
Figure 9-6
Computed Frame, Two Line Method
9.6
To make a vision tool relative to a vision frame:
1. From the vision tool record, select ✔ Relative (usually in the Tool Loc pop-up
window).
2. Enter a computed frame record name in the data box that is displayed.
3. Position the vision tool in its proper location relative to the displayed computed
frame.
4. Whenever the computed frame moves (based on new image data), now the vision
tool also moves.
147
NOTE: If you select a vision frame that causes a vision tool to be placed
out of the vision window and then attempt to edit that tool, VisionWare
asks you if it is okay to reset the tool location values so they are within the
vision window. If you accept this option, the tool is relocated to the center
of the window. When you have finished editing the tool, you may have to
relocate it so that it is placed in the correct location relative to the vision
frame.
NOTE: Fixed frames can themselves be relative to other vision frames.
Tutorial: Creating a Vision Frame Relative Arc Finder
In this tutorial we will create the vision frame shown in Figure 9-4. This frame will be used
as a vision frame for an arc finder tool that measures the radius of the circular hole in the
sample object.
A. Create an Inspection Record
Create a new inspection record:
a. Module ➡ Select/Edit
Edit ➡ Vision
➡ highlight “vwtutor” ➡ Select
b. Press the NEW key (F2), and when the new record window is displayed:
c. Enter “new.rel.rec”
➡
Inspection
➡ OK
Measure as the inspection type.
- Choose
Select new operation, and from the displayed pop-up window, select
Circle radius, and choose OK .
B. Create an Arc Finder Record
1. Create a new record:
a. Double click the CIRCLE name data box.
b. When the select circle window is displayed, choose New . (If no circle class
records have been defined, this step is skipped.) A new window appears titled
Specify New Record Name and Type.
c. When the new circle window is displayed, type new.rel.crc.fdr in the Name data
box, select
Circle Finde r, and choose OK . Double click new.rel.crc.fdr in the
Circle name field of the Inspection window.
2. When the new arc finder record is displayed, select the correct modes of operation:
a. Select
Full circle(Shape group).
b. Select Inside of arc is:
Light.
c. Select Find arc’s:
Both.
d. Select Closest to:
Inside.
3. Make the arc finder a frame relative tool:
a. Choose Tool Loc .
148
b. From the displayed pop-up window, select ✔ Relative.
c. A data box will appear after ✔ Relative to. Double click this data box.
d. When the select frame window is displayed, choose New .
C. Create a Computed Frame
1. When the new frame record window is displayed:
enter “new.vis.frm” ➡ dbl clk Computed Frame ➡ OK ➡ dbl clk “new.vis.frm”
a. When the frame record is displayed, select
Origin, POINT on +X axis.
2. Create a record for the origin point:
a. Double click the Origin POINT data box.
b. Choose New . A new point record window is displayed.
c. Enter new.comp.pt in the Record Name data box.
d. Double click Computed Point and choose OK .
e. Double click new.comp.pt. When the computed point record is displayed, select
LINE-LINE intersection.
3. Create the first line finder tool (two line finders will be used to compute a point used
as the frame origin):
a. Double click the LINE 1 data box and when the Select Line window is displayed,
choose New . A window appears titled Specify New Record Name and Type.
b. In this window type new.ln.fdr1 in the Name data box, double click Line Finder,
and choose OK .
c. Double click new.ln.fdr1. Size and position the line finder tool as shown in
Figure 9-4.
d. Return to the computed point record:
e. Go ➡ Back
4. Create the second line finder:
a. Double click the LINE 2 data box and when the select line window is displayed,
choose New .
b. When the new line record window is displayed, enter new.ln.fdr2 in the Name
data box, select Line finder, and choose OK .
c. Double click new.ln.fdr2. Size and position the line finder tool as shown in
Figure 9-4.
5. Return to the computed frame record:
Go ➡ Tree
➡ Go to root ➡ dbl clk the ‘new.vis.frm’ icon
6. Create the X axis point record:
a. Double click the PT on + X axis data box and when the Select Point pop-up
window is displayed, choose New .
b. Enter new.pt.fdr in the Name data box, double click Point Finder, and choose
OK .
149
c. Double click new.pt.fdr. Size the tool as shown in Figure 9-4.
D. Complete the Arc Finder Record
1. Return to the arc finder record:
Go ➡ Tree
➡ Go to root ➡ double click ‘new.rel.crc.fdr’ icon
2. Edit the arc finder tool:
a. Use the center drag handle to move the tool over the center of the round hole in the
sample object.
b. Use the size drag handles to make the inner radius (light blue) of the window tool
slightly larger than the round hole in the sample object.
E. Complete the Inspection Record
Go ➡ Tree
➡ Go to root ➡ double click ‘new.rel.rec’ icon
a. Enter 5.25 in the Nominal data box.
b. Select ✔ Gather stats.
c. Choose Limits .
d. Enter 5.5 in the Maximum limit data box.
e. Enter 5 in the Minimum limit data box.
a. Choose
150
Vision Frame Relative Inspection Tree
Figure 9-7 shows the vision record tree resulting from the preceding tutorial.
Figure 9-7
Vision Frame Relative Inspection Tree
151
Repeating and
Combining
Operations
10
10.1 Looping in VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Repeat Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Value Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
10.2 Examples Using Combination-Repeat Pairs. . . . . . . . . . . . . . . . . . . . . . . 155
Example 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Example 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Example 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Additional Observations of Interest . . . . . . . . . . . . . . . . . . . . . . . . 161
Restrictions on Combination-Repeat Loops . . . . . . . . . . . . . . . . . . . . . 163
153
Chapter 10 - Repeating and Combining Operations
10.1 Looping in VisionWare
In many cases, you may want to repeat the same vision operation, or group of operations,
at several different locations. This is referred to as looping; VisionWare allows a limited
form of looping. In looping, a specified subsection of a vision tree is repeated multiple
times. Two records are required to define the subtree that is repeatedly executed. The first
record is a combination record. This record defines the top of the subtree. The second
record must be a repeat record (Table 9.2). This record defines the bottom of the subtree.
At minimum, all looping inspections require these two records, called combination-repeat
pairs.
Repeat Records
Repeat records are records that can produce more than one instance of a particular result.
For example, a blob finder record normally returns information about a single blob. You
might use blob finder results to inspect one of the blob’s features, or use the blob’s
position as a reference frame for other vision tools. However, if there are multiple blobs in
the field of view, you might want to inspect all blobs and calculate the average or standard
deviation of a feature (perhaps the blob areas), or use the positions of the blobs as
reference frames for another vision tool. These multiple operations can be performed by
selecting the ✔ Repeat option in the blob finder record and then pairing the blob finder
record with a combination record. The records listed in Table 10-1 can be used as repeat
records.
Repeat records do not compute results all at once, but one at a time as requested by the
value combination record. For a blob finder, this avoids having to store all the statistics for
each blob when only one (area, perhaps) is collected.
Table 10-1
Repeat Class Records
Record Type
Repeat Values Returned
Blob Finder
Frame value for each blob found
Blob found indicator
Angle of found blob
Radius of the major axis ellipse
Radius of the minor axis ellipse
Blob area
Blob hole area
Total area
Number of hole
Perimeter of blob
Prototype Finder
Frame value for each prototype found
Prototype found indicator
Percent of prototype verified
Angle of prototype frame
Frame Pattern
A pattern of frames
Arc Ruler
A frame based on the X,Y value of each edge
detected.
Linear Ruler
A frame based on the X,Y value of each edge detected
154
Examples Using Combination-Repeat Pairs
Combination Records
Combination records work with repeat records to produce multiple results, one result for
each time the repeat record is repeated. These results are combined and made available for
use by other records.
A combination record requires one source record that defines the top of the repeat tree.
The repeat tree must have at least one unique repeat record in it; this record defines the
bottom of the repeat tree for this combination record. (A unique repeat record is one that is
not part of a nested combination-repeat pair.) When the combination record executes, it
re-evaluates the repeat tree once for each repeatable instance of its repeat record.
!
CAUTION: In VisionWare, a repeat record may be used by only one
combination record in a single execution cycle of a sequence. Otherwise,
the evaluation order of the repeated record is disrupted and your results
may be invalid.
Value Combination Records
The only combination type record is a value combination record. See Section D.6 for
details on editing a value combination record.
Value combination records combine real or boolean values. The repeat tree record in the
value combination record must be from the test-a-value class (Table 5-5). You select the
value to combine from a pop-up window displayed from the value combination record.
When real values are collected, the average, minimum, maximum, and standard deviation
of the values collected are computed. When boolean values are collected, the total true, the
total false, the logical AND, and the logical OR of the values collected is computed. Since
value combination records are members of the test-a-value class, any results they generate
are available to other vision records.
10.2 Examples Using Combination-Repeat Pairs
Vision trees using combination and repeat records can get quite complicated, as nesting of
combination-repeat pairs is allowed. Nesting can go as deep as memory constraints allow.
To help you get a handle on combination-repeat strategies, we present three increasingly
complex examples.
The first case uses a blob finder record and a value combination record to return the
average area of all blobs found within the tool search area.
The second example uses a frame pattern record, an arc ruler record, and a value
combination record to inspect the angular spacing of gear teeth. In this case, the arc ruler
is relative to a frame pattern record. The value combination record executes multiple
instances of the frame pattern record (and the arc ruler since it is relative to the frame
pattern). Each time the frame pattern record generates a new frame, another instance of
the arc ruler is generated. Since each instance of the frame pattern record creates a
reference frame in a new location, the arc rulers are all placed and evaluated at different
locations. The results of the multiple instances of the arc ruler are collected by the value
combination record.
The third example uses two frame pattern records, a ruler record, and two value
combination records to inspect the leads on a Surface Mount Device (SMD). This example
uses nested combination records. The ruler record calculates the width of a single lead.
The ruler record is relative to a frame pattern record that provides reference frames for all
leads on one side of an SMD. The first value combination record executes the multiple
155
instances of the frame pattern record so the ruler is placed and evaluated at all the leads
on one side of the SMD. This frame pattern record is relative to the second frame pattern
record, which provides reference frames for the four sides of the SMD. The second value
combination record executes the multiple instances of the frame pattern record at the four
sides of the SMD (thereby repeating the first frame pattern record on all four sides
[thereby repeating the ruler at all six leads on all four sides]). Let’s look at each example in
detail.
The examples should give you a good idea of how to use combination-repeat pairs. Pay
close attention to how the tree is structured for combination-repeat pairs. Understanding
the tree structure is critical to using combination and repeat records. (Note: When
displayed in the vision window, the names of repeat records are green in the vision record
tree.)
Example 1
Since blob finder records are both in the test-a-value class and can be repeat records, we
can create a simple combination-repeat inspection using a value combination record and
blob finder record. The blob finder is used to isolate and compute the area of multiple
blobs. The value combination record uses the blob finder as both its top-of-tree (Repeat
tree) and bottom-of-tree (Using each of) record. Blob area is selected as the value to
collect. The value combination record repeatedly executes the blob finder, each time
storing the blob area. When all repeat instances are exhausted, it computes the average,
minimum, maximum, and standard deviation of the blob areas. A top-level inspection
record is then used to evaluate one of the returned results. The record tree for this
inspection looks like:
156
Figure 10-1
Combination Inspection Tree (Example 1)
The records in the tree in Figure 10-1 have the following characteristics:
The top_level_inspect record specifies a test-a-value inspection type. The value to
test selected is Average value.
The pass/fail criterion is based on the average area of all blobs found.
The value_combination record specifies that the blob area be averaged.
The blob finder record has the ✔ Repeat option selected.
Example 2
In the second example, a circular frame pattern is used to generate multiple instances of
an arc ruler to measure the average angular spacing of gear teeth. The vision tool layout is
shown in Figure 9-2.
157
Frame pattern record
Arc ruler
First frame generated
Figure 10-2
Combination Inspection (Example 2)
In the above example, the arc ruler has been declared to be relative to a circular frame
pattern. The frame pattern record generates seven reference frames, one for each gear
tooth.
The value combination record executes the seven frames and (since the arc ruler is relative
to this frame) the resulting seven repetitions of the arc ruler. The angular measurements
are averaged by the value combination record and returned to the Inspection record.
The tree for this inspection is shown in Figure 10-3. Notice that the frame pattern record is
not directly below the value combination record in the tree. When the inspection is
evaluated, the value combination record searches down the repeat tree for the first unused
repeat record. When a repeat record is found, that repeat tree is repeated the required
number of times and the results collected by the value combination record. In this
example, seven frames were specified in the frame pattern record. If the value
combination record had specified that a maximum of five values be collected, after five
instances of the arc ruler had successfully returned results, the repeat tree would not be
repeated again.
158
Figure 10-3
Combination Record Tree (Example 2)
The records in this tree have the following characteristics:
• The top_level_inspect record specifies a test-a-value inspection type and the average
value as the value to test.
• The value_combination record specifies arc_ruler as the repeat tree record. Since
arc_ruler is not a repeat record, the frame_pattern record is the Using each of
record.
• This repeat record cannot be used to repeat another vision tool within the same
execution cycle of a VisionWare sequence. (If another vision tool must be placed at
the same locations, make a copy of the frame_pattern record to use with that tool.)
• The value_combination record specifies that the value to collect is the angle between
the first and the last edge found by the arc_ruler.
• The arc_ruler is declared to be relative to the frame_pattern record.
Example 3
In this example we create a linear ruler to measure the width of a lead on a surface mount
device. This record is declared to be relative to a frame pattern record that repeats six
times, once for each lead on one side of the SMD. This frame pattern record is declared to
be relative to another frame pattern record that repeats four times, once for each side of
the SMD. The net result is the ruler that is repeated 24 times (6 times a side multiplied by 4
sides).
159
1. A linear ruler is created to measure one lead.
Ruler tool
2. The ruler is made relative to a Frame Pattern
record returning a frame for each lead.
Frame pattern record 1
3. The first Frame Pattern record is made relative to a second
Frame Pattern record returning a frame for each side of the SMD.
Frame pattern record 2
Figure 10-4
Combination Record (Example 3)
The tree for this example is shown in Figure 10-5. Note how the value combination
records combine with the frame pattern records. The inner nested combination record
finds the first repeat record below it in the tree and pairs up with that record. When the
second value combination record goes looking for a repeat record, the first one it finds is
used, so it moves to the next frame pattern record and pairs up with that record.
160
Figure 10-5
Combination Record Tree (Example 3)
The records in the tree in Figure 10-5 have the following characteristics:
• The value top_level_inspect is receiving is the average of the values returned from
the four repetitions of frame_pattern_2 executed by value_combination_2. Each of
these repetitions returns the average of the six repetitions of frame_pattern_1’
executed by value_combination_1.
• The Repeat tree record for value_combination_2 is value_combination_1, and the
Using each of record is frame_pattern_2.
• The Repeat tree record for value_combination_1 is the ruler_record, and the Using
each of record in frame_pattern_1. Once you understand how the tree is evaluated
by the pairing of combination and repeat records, these complicated inspections are
easily built.
• The ruler record does not have the ✔ Repeat option selected.
Additional Observations of Interest
If you wanted to add records that would allow you to inspect an entire pallet of SMDs at
once:
1. Create a new combination record and select value_combination_2 as its Repeat tree
record.
2. Create a new frame pattern record that creates a rectangular grid of frames that
corresponds to the number of rows and columns of SMDs on the pallet.
161
3. Declare frame_pattern_3 to be relative to this new frame pattern record. The
ruler_record will be repeated twenty-four times for each SMD in the pallet.
This inspection only looks at lead width. To test lead spacing, a nearly identical inspection
tree can be built to measure the average spacing.
If you are measuring items that are not regularly spaced like SMD leads, a linear ruler can
be used in place of frame_pattern_1. The ruler record then requires that the ✔ Repeat
option is selected. The ruler record would then return the point values for each edge
found. These point values would be used as origins for multiple reference frames for
another linear ruler that actually performs the measurement (similar to the arc ruler in
example 2).
If the initial placement of the item being inspected is not known precisely, the bottommost
repeat record in the tree can be made relative to a frame class record that properly
positions the repeat records.
Remember, by the time a result gets back to the top-level inspection record, only one value
is being evaluated. You can look only at the selected statistical or boolean result, not each
individual value. If you placed an Inspection record between the value combination and
linear ruler record, I/O signals could be set based on each measurement, and individual
results could be reported to the vision results page and logged with the data logger. A
sample tree for this inspection strategy would look like:
Figure 10-6
Repeat Tree With Multiple Inspection Records
162
Restrictions on Combination-Repeat Loops
For combination-repeat loops that use Prototype Finders or Blob Finders as their repeat
record, the following restriction exists:
There cannot be any other Prototype Finders or Blob Finders in the subtree under the
combination record that do not also appear under the repeat record’s subtree.
In Figure 10-7, trees 1-3 are invalid trees and 4-6 are valid trees.
Invalid combination-repeat trees
1.
2.
VC
3.
VC
VC
VC
BP1
BP2
BP2
BP1
BP1
BP2
Valid combination-repeat trees
4.
5.
VC
6.
VC
VC
BP1
BP1
BP2
BP2
BP2
BP2
BP2
BP1
BP2
BP1
Blob/Prototype
Finders
VC
Value
Combination
Other
Vision Rec
Repeat
Record
Figure 10-7
Valid and Invalid Combination-Repeat Trees
163
Viewing and
Recording
Vision Results
11
11.1 Viewing Vision Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Displaying Tool Graphics During Sequence Execution . . . . . . . . . . . . 166
11.2 Displaying Vision Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Recent History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
11.3 Inspection Results Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
11.4 Inspection Results Page Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
11.5 Charts of Inspection Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
11.6 inspection Chart Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Inspection Charts for Boolean Inspections . . . . . . . . . . . . . . . . . . . . . . 171
11.7 Logging Vision Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
The Form of the Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
The Output File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
The Shifted Process Capability Index. . . . . . . . . . . . . . . . . . . . . . . . . . 173
165
Chapter 11 - Viewing and Recording Vision Results
11.1 Viewing Vision Graphics
Vision graphics are divided into two groups. The first group includes graphics that
represent the tool. These graphics show the tool’s size and orientation. The second group
includes graphics that represent the results generated by the tool. These graphics include
point, line, circle, and frame results, the results of measurements, and the success of finder
tools. Both groups of graphics are displayed whenever you are editing a vision tool. (In
the case of a tool returning multiple results, you must choose a Show button to see all
results.)
Displaying Tool Graphics During Sequence Execution
During execution, you can choose which graphics to display.
To toggle the display of vision tool graphics, perform:
Show ➡ Runtime Graphics1
If the vision window is not displayed, select:
adept ➡ Vision
Tool graphics are displayed only for those records where the ✔ Show at runtime option
was selected.
To see the graphical results of inspections (as well as the tool graphics), select ✔ Walk
Thru. All vision graphics will be displayed regardless of the setting of the ✔ Show at
runtime option in the individual vision records. Execution is slower when any graphics
are displayed.
1
To have runtime graphics display disabled at startup:
Setup ➡ Initialization Data ➡dbl clk ‘visini.db’
Seek ➡ Index ➡ dbl clk ‘vision display mode, default’
Select
166
Off.
Displaying Vision Results
11.2 Displaying Vision Results
The accumulated statistics for an executing sequence (or the most recently executed
sequence) can be displayed by selecting:
Show
➡ Vision Results
The menu page shown in Figure 11-1 is displayed. The scrolling window on this page
shows all inspection records used in the current sequence and the percentage of those
inspections that have passed.
Recent History
The Statistics Summary section of the inspection results page summarizes the recent
history of the selected inspection. By default, recent history is 50 bins of inspections.
The number of bins in recent history can be changed by:
Setup
Seek
➡ Initialization Data ➡dbl clk ‘visini.db’
➡ Index ➡ dbl clk ‘stats, number of bins’
In the Value data box, enter the number of bins that should be included in recent
history. (This change will not take place until VisionWare has been restarted.)
The recent history number also determines the number of points plotted on the inspection
charts. Setting recent history too high makes the charts difficult to read.
The number of bins in an inspection is set in the inspection record. By default, bin size can
range from 1 to 10 for numeric results and 1 to 10,000 for boolean results. The default bin
limits can be changed by:
Setup
Seek
➡ Index ➡ dbl clk ‘stats, max bin size, real (or boolean)’
In the Value data box, enter the maximum number of inspections that can be placed
in a bin. (This change will not take place until VisionWare has been restarted.)
167
11.3 Inspection Results Page
This menu page displays the statistics gathered for all top-level inspection records in a
sequence that have the ✔ Gather stats option selected.
➊
➌
➋
➍
➎
➏
➐
➑
➒
Figure 11-1
Inspection Results Page
11.4 Inspection Results Page Options
➊
➋
This area shows the inspection records that were used in the most recently executed
(or executing) sequence (provided the ✔ Gather stats option was selected in those
records). The current inspection is the highlighted inspection. Click an inspection to
make it the current inspection. The statistics summary is for the current (highlighted)
inspection.
➊
Choose
to 0.
All to reset the recent history statistics of all inspections listed in item
Choose
Current to reset the recent history statistics for the highlighted inspection.
➌
Choose Update % passed to force an update of item ➊. The other statistics are
updated at regular intervals.
168
Inspection Results Page Options
➍
➎
➏
➐
✔ Accum. stats must be selected to accumulate inspection statistics. If this option is
deselected, statistics accumulation will stop.
Shows the name of the inspection and the specific operation that is being summarized.
Shows the results of the most recent inspection. (Deviation is not shown for boolean
inspections.)
Shows the recent history for the selected inspection.
If
All bins is selected, recent history is for all bins in recent history (see “Recent
History” on page 167).
If
Last full bin is selected, the history summary is for the last full bin. The bin size
is set in the inspection record (see section D.1). (For boolean inspections, only passed,
failed, and total are shown.)
Choose Chart to display statistical histograms for the highlighted inspection. The
results of the selected inspection are charted (see the next section).
➑
➒
Shows the inspection criteria defined in the inspection record (see “Pass/Fail Criteria
for Numeric Values” on page 77). (For boolean inspections, only nominal is shown.)
Shows the number of inspections that passed, the number that failed, and the total
number of inspections considered in the recent history calculations.
169
11.5 Charts of Inspection Results
When the Chart button is chosen from the Inspection Results window, the following
screen is displayed:
➊
➋
➌
➏
➍
➎
Figure 11-2
Charts of Inspection Results
11.6 inspection Chart Options
➊
➋
➌
➍
➎
170
This graph reports the average inspection value. Each node represents the average o
one bin of inspections. The number of inspections in a bin is specified in the Bin size
data box in the inspection record for the inspection being charted. The axes change
depending on the inspection and the values returned from that inspection.
If ✔ Auto-scale is selected, the Y axis of the X chart will automatically be scaled to fit
the data. If it is not selected, the Y axis scaling will be based on the minimum and
maximum limits specified for the inspection unless a result exceeds the limits, then the
axis will be scaled to show all results.
This chart represents the maximum deviation of the values reported in a bin. The units
change depending on the inspection and the values returned from that inspection. The
X axis represents the total number of inspections considered as recent history. The
range of values change depending on the value entered into the Bin size data box in
the inspection record for the inspection being charted.
Shows the inspection being charted and the specific operation being performed by
that inspection.
Select the reference lines you want displayed on the charts:
Logging Vision Results
Running average is the average of all inspections charted.
Upper/lower control limits represent approximately 3 standard deviations from
the average.
Nominal value is the nominal value specified in the inspection record (numeric
values only).
Pass/fail limits shows the minimum and maximum limits specified in the
inspection record (numeric values only).
Warning limits shows the high and low warning limits specified in the inspection
record (numeric values only).
➏
Choose this button to close the Inspection Results window.
Inspection Charts for Boolean Inspections
When boolean inspections are charted, a single chart is displayed showing the percent of
inspections passed per bin.
11.7 Logging Vision Results
The VisionWare data logger allows you to record the results of an inspection to a disk file,
or to output the results to one of the user serial lines on the controller. (See the controller
user’s guide for details on connecting to the user serial lines.) There are three steps to
using the data logger:
1. For each inspection record that requires data logging:
a. On the inspection record, select one item from:
-
Log all results
-
Log warnings and failures only
-
Log failures only
-
Log nothing
b. In the Label for data item in file data box, enter a label to be placed in front of
each result line that is logged (optional).
2. Enable logging of results:
a. Perform I/O
➡ Log Results.
b. Select ✔ Log vision results.
c. Specify a serial line or file name to which to output the results. If a number from 1
to 5 is entered, the results will be passed to a serial line. Lines 1 to 3 correspond to
the three serial lines on the SIO board, and lines 4 and 5 correspond to the two
serial lines on the system processor that is running AIM. Any other entry is
considered a file name (and must conform to disk file name conventions). If an
extension is not specified, .LOG is added as the default extension.
d. Choose Done . If a serial line was specified, that serial line is now attached and
ready for output. If a file name was specified, that file is now open on the default
disk and ready to be written to.
171
e. Set the update interval (in seconds) at which accumulated statistics will be written.
The following values have special meaning:
–1
Results are written only when the system buffers are full.
0
Results are written at the end of each cycle of a sequence.
NOTE: Results cannot be written any more often than once every cycle. If
your sequence takes three seconds to complete and you have entered two
seconds as the update time, results will be updated only every three
seconds. Writing results slows sequence execution significantly.
• Execute a sequence. The results from any inspection records with the ✔ Log vision
results option selected are output to the file or serial line.
Results logging can be enabled1 at startup by:
Setup
Seek
➡ Index ➡ dbl clk ‘results log enable’
Select
On. (This change will not take place until VisionWare has been restarted.)
The Form of the Results
The results output has the following form:
label, pass/fail indicator, returned value CR/LF
label
the label entered at the inspection record
pass/fail indicator
0 indicates the inspection failed.
1 indicates the inspection passed.
2 indicates inspection passed but exceeded high warning.
3 indicates inspection passed but exceeded low warning.
returned value
the real or boolean value returned by the inspection
CR/LFeach line is terminated with a carriage return/line feed
In addition to the information for each completed inspection, the following information is
also output:
Date and time stamped lines indicating that logging has been enabled or disabled.
These lines always begin with a dollar sign ($).
An indication that the results summary on the results page has been zeroed. This line
has the form:
$ZERO label
(This line is also placed in the output if a change was made to the result’s section
that would affect statistics gathering.)
1
The default log file name and update interval can also be set.
172
Logging Vision Results
The Output File
When results logging is started, the system looks for a file on the default drive that
matches the file name entered. If a matching file is found, that file is opened and
appended to. If a file is not found, a new file is opened.
The output file name can be changed during sequence execution. When a new file name is
entered, the existing file is closed, the new file is opened or created, and data logging
flows uninterrupted to the new file.
The programs for generating logging results can be modified to suit your needs. The
programs are in the file QCLOG.V2.
The Shifted Process Capability Index
The Cpk value (Capability Index adjusted for a shift of k) is computed as follows:
(1) Cpk = MIN((avg - min),(max - avg))/(3σ)
where min and max are the low and high ends of the tolerance specification and avg and
σ are the mean and standard deviation for the data set, respectively. The meaning could be
expressed as “the distance (in units of 3σ) that the average is from the nearest tolerance
limit.”
An alternate way to compute Cpk is as follows:
(2) Cpk = (1-k) Cp
where:
k = ABS(D-m)/(T/2)
Cp = T/6σ (the unshifted Capability Index)
σ = standard deviation
T = tolerance or spec width (MAX-MIN)
m = mean of samples
D = design nominal
Formula 2 assumes that the design nominal is at the center of the tolerance range. This
formula is identical to formula 1 only when the design nominal is centered in the tolerance
range (i.e., at (MAX+MIN)/2).
Formula 2, however, loses meaning and may actually be misleading, when the nominal is
not centered in the tolerance. Cpk is used to determine how “safe” your process is, that is,
how unlikely it is to exceed tolerances. Formula 1 (used by VisionWare) returns
meaningful results for non-centered as well as centered nominal values.
When using a non-centered nominal, the objective of achieving a C p > 2 and a Cpk > 1.5 for
a 6σ process can be evaluated reliably only when using a Cpk that is based on the distance
from the limits, such as the formula used by VisionWare. If you have been using formula 2
with non-centered specifications, your results may be different from the ones returned by
VisionWare.
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Using Digital I/O
12
12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
12.2 Installing Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Displaying the State of Digital I/O Signals . . . . . . . . . . . . . . . . . . . . . . 176
12.3 Digital I/O Signal Numbering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Soft Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Special Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Negative Signal Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
12.4 Using Digital I/O With Vision Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
12.5 Using Digital I/O Statements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
WAIT_FOR Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
WAIT_UNTIL Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
IO Statement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
IO_LIST Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
175
Chapter 12 - Using Digital I/O
12.1 Introduction
Digital I/O provides you with a way of communicating with other devices in your
workcell. Digital input allows your sequence to suspend or resume execution based on
feedback from a switching device in the workcell. The state of digital input signals can be
controlled by almost any type of switching device. Closing a microswitch when an object
is in the correct location is a common use of digital input.
Digital output allows a sequence to signal devices in the workcell to begin or suspend
operation. Digital output acts as a switch to open or close the current being supplied to the
device. (Digital output switches the current: it does not provide it.) Common uses of
digital output are controlling conveyor motors or part feeders and activating warning
lights or sound devices.
12.2 Installing Digital I/O
Before a sequence can use the digital I/O capabilities, the following steps must be taken:
• Install the devices that generate or receive digital signals in the workcell.
• Install the physical digital I/O equipment in your controller. This installation is
covered in the controller user’s guide that came with your controller.
Your controller may not be equipped to use all available digital signals. To see which
digital I/O signals are installed in your system:
adept
➡ Monitor ➡ enter IO
The status of all digital I/O signals will be displayed. The digit “1” indicates that the
signal is installed and is on. The digit “0” indicates that the signal is off. The character “–”
indicates that the signal is not installed.
To terminate the digital I/O display, hold down the CONTROL key and type c.
Displaying the State of Digital I/O Signals
The states of digital I/O signals can be set and/or viewed by performing:
I/O
176
➡ Digital Signals
Digital I/O Signal Numbering
Figure 12-1
Digital I/O Control
This display shows only the signals that are installed in your controller. The input, output,
and soft digital signal ranges are displayed. Either use the slide bar to select the desired
digital signal or enter the desired signal value into the data box next to the slide bar. Click
the On or Off button to set the desired state of output or soft signals.
The digital signal remains in this state until a sequence or program instruction changes the
signal. If a signal has not been installed, you cannot select the signal number.
12.3 Digital I/O Signal Numbering
Digital input signals are differentiated from digital output signals by the range of
numbers that each falls within; each range is limited to a maximum of 512 signals. Digital
input signals must be in the range from 1001 to 1512, and digital output signals must be in
the range from 1 to 512.1
Soft Signals
There is an additional range of I/O signals from 2001 to 2512 that can be used with
VisionWare. This range of signals, referred to as soft signals, are set by the system software
and do not require hardware support. Soft signals are always available for use (although
the range from 2005 to 2032 are reserved for use by Adept software). Soft signals can be
used anywhere input or output signals are specified.
Special Signals
The range (3000-3008) performs special functions for Adept robots. See your robot user’s
guide for details on use of any of these special signals.
1
Signals 9 - 31 and 1013 - 1031 are not available.
177
Negative Signal Numbers
When digital signals are set, they are set to a given state (not changed from the existing
state). When VisionWare is instructed to set a positive output signal number, that signal is
turned on. If the signal is already on, its state is not changed.
When VisionWare is instructed to set a negative output signal number, that signal is
turned off. If the signal is already off, its state is not changed. Similarly, if VisionWare is
instructed to wait for a positive input signal, it will suspend execution until the signal is
on. If the signal is already on, execution will not be affected.
If VisionWare is instructed to wait for a negative input signal, it will wait until the signal is
turned off. If the signal is already off, execution is not affected.
12.4 Using Digital I/O With Vision Records
Digital output and soft signals can be set from an inspection record. In the Results group
of an inspection record is the check box ✔ Pass-fail I/O signal. Select this option to
display a data box into which you enter a digital output or soft signal number. Output
signal numbers must be in the 1 to 512 range, and the signal must have been configured as
an output signal.
When this inspection is executed, the digital signal is set depending on whether the
inspection passes or fails. If the inspection passes, the signal is set to the indicated state. If
the inspection fails, the signal is set to the opposite state. (If a negative signal is entered, a
failed inspection turns the signal on.).
Digital output and soft signals can be set from the picture record. In the Modes of
Operation group, select ✔ Output I/O signal to set the specified signal after each image
acquisition by the picture record.
Digital input signals can be monitored from a picture record. In the Modes of Operation
group, select
Wait for I/O signal and a data box will be displayed into which you
enter a digital input number. When this record is called on to acquire a new picture,
sequence execution will be suspended until the signal is turned on. If the signal is already
on, execution will not be affected. An external trigger is a special input signal that
eliminates the slight delay possible with the normal input signals. Your hardware must
support, and be configured for, the external trigger. See the controller user’s guide and the
CONFIG_C utility.
12.5 Using Digital I/O Statements
There are four statements that control digital I/O signals, WAIT_FOR, WAIT_UNTIL,
IO_LIST and IO.
WAIT_FOR Statement
The WAIT_FOR statement has one required and two optional arguments. The required
argument is a constant that requires a digital signal. When a WAIT_FOR statement is
encountered in a sequence, the sequence will suspend until the specified signal achieves
the correct state.
The syntax for WAIT_FOR is:
WAIT_FOR --input-- {OUTPUT --output-- {PULSE --constant--}}
178
Using Digital I/O Statements
If the statement:
WAIT_FOR dev_ready
is encountered in a sequence, the sequence will suspend until digital signal specified in
the variable database record dev_ready is turned off (if the signal is already off, the
sequence will not wait).1
The optional arguments to the WAIT_FOR statement allow you to specify a digital output
signal to set and duration for output signal pulse.
If the statement:
WAIT_FOR dev_ready {OUTPUT dev_run {PULSE 10}}
is encountered in a sequence, the sequence suspends until the digital signal specified in
dev_ready is turned on. When this digital signal is on, execution resumes and the digital
output signal specified in the variable database record dev_run is turned on for 0.1
seconds. (The constant replacing the PULSE argument is multiplied by 0.01 seconds to
indicate the total duration of the signal change.) If a pulse argument is not entered, the
specified digital output signal remains on.
If either the digital input or output signals are already at the indicated state, their state is
not changed.
WAIT_UNTIL Statement
The syntax for WAIT_UNTIL is:
WAIT_UNTIL {--uopr--} --variable-- {--opr-- --variable-{--opr-- --variable-- {opr-- --variable-- {--opr-- --variable-{--opr-- --variable--}}}}} {TIMEOUT --constant--}
WAIT_UNTIL is similar to WAIT_FOR, however, it allows more complicated conditions to
be evaluated. The statement has one required argument, a digital signal number or record
from the variable database that specifies a digital signal number (--variable--).
If only this argument is specified, sequence execution will halt until the signal is correctly
set. The required --variable-- can be preceded with a keyword from the list of unary
operators (this operation is applied after all clauses in the statement have been evaluated).
NOT is the most commonly used unary operator.
The optional --variable-- arguments also take a digital signal number or record from
the variable database that specifies a digital signal number. Each signal can be preceded
with a keyword from the list of operators. AND and OR are the most commonly used
operators.
The final option argument in this statement is a TIMEOUT value. This value sets the
maximum time (in 0.01 seconds units) that the sequence will pause waiting for the correct
states of the specified digital I/O signals.
IO Statement
The IO statement has one required and two optional arguments. The required argument is
a constant that requires a digital output signal number. When an IO statement is
1
In all cases where a digital signal is expected, a minus (–) can precede the signal number or variable
name. This inverts the sense of the signal. Thus “WAIT_FOR -1003” waits until signal 1003 is low.
179
encountered in a sequence, the specified digital output signal will be set to the specified
state.
The syntax for IO is:
IO {WAIT_FOR --input--} OUTPUT --output-{PULSE --constant--}
If the statement:
IO OUTPUT test.sig
is encountered in a sequence, the digital output signal specified in the variable test.sig is
turned on.
The optional arguments to the IO statement allow you to wait for an input signal before
signaling the output signal and specify a duration for the state change of the output
signal.
If the statement:
IO {WAIT_FOR -1012} OUTPUT -20 {PULSE 5}
is encountered, execution suspends until the digital input signal 1012 is turned off. When
signal 1012 is turned off, digital output signal 20 is turned off for 0.05 seconds. Execution
resumes at the next statement.
IO_LIST Statement
This statement allows you to set up to 12 output signals at the same time.
The syntax is:
IO_LIST --output-- {--output-- {...}}}}}}}}}}
180
Vision Basics
13
13.1 Pixel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Computer Image Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.2 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
13.3 Grayscale vs. Binary Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
13.4 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.5 Blobs and Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Holes in Blobs or Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.6 Lighting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
13.7 Lighting Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Diffuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Back . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Directional. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Structured . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Strobe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
13.8 Filtering and Special Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Polarizing Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Color Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Infrared Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
181
Chapter 13 - Vision Basics
13.1 Pixel
The basic unit of a vision image is a pixel (picture element). It is the smallest unit of
information a vision system can return to you. The number of pixels the system can
process determines the system’s resolution and affects the computer processing time
needed to analyze an image.
A pixel can be thought of as a single cell in a matrix that the camera overlays on the field of
view (FOV). The value that is placed in a cell (pixel) is a shade of gray that represents the
intensity of the light reflected from the corresponding area in the field of view. This ability
to analyze an image based on intensity values is referred to as grayscale vision. Figure 13-1
shows how a 22 x 16 pixel camera sees the sample object. (The dashed lines are shown for
reference; they are not actually “seen” by the system.)
Figure 13-1
A Grayscale Image
In addition to grayscale processing, VisionWare can process image data in binary mode. In
binary mode, all the cells with a value above a certain value are seen as white and those
below that value are seen as black. Figure 13-2 shows how the sample object is seen in
binary mode.
Figure 13-2
A Binary Image
182
Resolution
Computer Image Analysis
The computer system uses the information extracted from the matrix of pixels to perform
vision tasks. The rulers, windows, and other tools VisionWare provides you with look at
the matrix and return information about object size, relative location, feature recognition,
and object identification.
13.2 Resolution
The camera representation of our hypothetical 22 x 16 camera shows very poor resolution
due to the low density of pixels. VisionWare uses an array of approximately 512 x 484
pixels.
In addition to the number of pixels in the camera array, the lens focal length combined
with the distance of an object from the camera has the greatest effect on the final
resolution of whatever you are viewing. Figure 13-3 shows the relationship between focal
length and viewing distance. In general, the best resolution comes when the object of
interest fills as much of the field of view as possible while still being in focus.
An important concept that is illustrated by Figure 13-3 is the relationship between a pixel
and the physical size of an object. A pixel always has a relative relationship to the size of an
object. It has an absolute relationship only when you fix your viewing distance and lens
focal length, and then calibrate the vision system. The calibration process establishes an
absolute relationship between a pixel and the actual dimensions of the field of view.
183
Vision System
Representation
Field of View
A
A
A
f=75mm
f=25mm
f=75mm
A
Figure 13-3
Resolution Factors
A
A
13.3 Grayscale vs. Binary Processing
Depending on the tool and tool operation you select from the tool record, VisionWare
processes either in binary mode or grayscale mode. The processing mode is selected by
VisionWare and, in most cases, you do not have to be concerned with which type of
processing is taking place. In many cases, however, you have to set threshold values for
binary processing or the edge strength value for grayscale processing. This discussion
gives you an idea of how to set those values.
Figure 13-4 shows a magnified section of the array of pixels that might be returned by a
camera. In each pixel of the matrix is the grayscale value the camera has registered from
the field of view.
184
Grayscale vs. Binary Processing
88 82 84 88 85 83 80 93 102
88 80 78 80 80 78 73 94 100
85 79 80 78 77 74 65 91 99
38 35 40 35 39 74 77 70 65
20 25 23 28 37 69 64 60 57
22 26 22 28 40 65 64 59 34
24 28 24 30 37 60 58 56 66
21
22 23 27 38 60 67 65 67
23 22 22 25 38 59 64 67 66
Figure 13-4
Sample Vision Matrix
When the software processes image data in binary mode, each value in the matrix is
compared with the threshold value. All the pixels with a value above the threshold value
are considered white and all the pixels below this value are considered black. In binary
mode, edges of objects within the field of view are found by looking for a change from a
white section of pixels to a dark section of pixels. Figure 13-5 shows how the system
would process the data from Figure 13-1 into a binary image if the threshold were set to
34. The overall threshold can be set automatically from within any picture record.
There are several tools that allow you to set a binary threshold specifically for that tool.
These tools create a new thresholded image within the area of the tool and perform their
work based on this new data.
88 82 84 88 85 83 80 93 102
88 80 78 80 80 78 73 94 100
85 79 80 78 77 74 65 91 99
38 35 40 35 39 74 77 70 65
20 25 23 28 37 69 64 60 57
22 26 22 28 40 65 64 59 61
24 28 24 30 37 60 58 56 66
21
22 23 27 38 60 67 65 67
23 22 22 25 38 59 64 67 66
Figure 13-5
Binary Representation of Sample Matrix
There are actually two threshold values that can be used together to isolate a range of
intensity values. When 2nd threshold is given a value other than 0, all pixels between
2nd threshold and threshold are white. Figure 13-6 shows the sample array with the
threshold set to 34 and 2nd threshold set to 89.
185
88 82 84 88 85 83 80 93 102
88 80 78 80 80 78 73 94 100
85 79 80 78 77 74 65 91 99
38 35 40 35 39 74 77 70 65
20 25 23 28 37 69 64 60 57
22 26 22 28 40 65 64 59 61
24 28 24 30 37 60 58 56 66
21 22 23 27 38 60 67 65 67
23 22 22 25 38 59 64 67 66
Figure 13-6
Setting Both Binary Thresholds
When the software processes the data from Figure 13-1 in grayscale mode, it looks at a
three-by-three section of pixels and compares the difference in intensity values found in
the neighboring pixels to the value of edge strength. If the difference found exceeds edge
strength, the system considers the three-by-three area to be part of an edge. Figure 13-6
shows the edge the system finds in the data from the array in Figure 13-7 if the edge
strength is set to 20. (This illustration is somewhat idealized to help illustrate the point.)
88 82 84 88 85 83 80 93 102
88 80 78 80 80 78 73 94 100
85 79 80 78 77 74 65 91 99
38 35 40 35 39 74 77 70 65
20 25 23 28 37 69 64 60 57
22 26 22 28 40 65 64 59 61
24 28 24 30 37 60 58 56 66
21
22 23 27 38 60 67 65 67
23 22 22 25 38 59 64 67 66
Figure 13-7
Grayscale Representation of Sample Matrix
The algorithm that VisionWare uses when looking at the three-by-three neighborhood of
pixels allows edges to be located with sub-pixel accuracy. Thus, grayscale processing is
generally more accurate than binary processing.
Contrast
There are two settings that allow you to control the level of contrast in an image. The
sensors in the camera report an absolute intensity value. A camera operating in a low light
environment returns values in a limited range at the low end of possible values (0-127)
and the image would be very dark (similar to under-exposing a piece of photographic
film). If a given value were added to all the pixels, the absolute brightness of the image
would increase, making it easier to work with. Offset is the VisionWare parameter that
performs this function. If the value of offset is set too high, all the intensity values are
bunched up around the high end of the scale and the image are washed out (similar to
overexposing a piece of photographic film). Offset and gain should be adjusted after the
camera aperture has been set for maximum contrast.
186
Camera Calibration
Similarly, if all the objects in the field of view reflect light of a uniform intensity, the values
returned are in a very narrow range. If the intensity values were multiplied by a given
value, the relative differences between intensity values would increase and edges would
be easier to detect. Gain is the VisionWare parameter that performs this function.
Using offset and gain together allows you to maximize the brightness and contrast within
an image. The binary threshold values are calculated after the effects of offset and gain
have been included in the image, so the difference between light and dark areas of the
image is maximized and the binary image is most useful. Gain and offset can be set
automatically from any picture record.
13.4 Camera Calibration
Camera calibration is the process of relating the image size of the camera to the actual size
of the field of view. Three primary pieces of information are established when camera
calibration is run:
1. The number of pixels needed to see a millimeter of distance in the field of view. This
relationship is used by any tools that make distance measurements. It is also used by
vision guided motion devices.
2. The ratio of the height of a pixel to its width.
✼ Some important points to remember about camera calibration:
• The millimeter-to-pixel ratio is different for different camera-to-object distances. If
you are making distance measurements of objects that are different distances from
the camera, you have to create a calibration data set (virtual camera) for each
distance.
• When you change the focus of a camera lens, the amount of the viewing area in the
field of view changes. This means that the millimeter-to-pixel ratio changes, and
camera calibration created before the lens was refocused are not valid. The camera
must be recalibrated.
13.5 Blobs and Prototypes
When VisionWare examines the matrix of pixels returned by the camera, it looks for
bounded regions. A bounded region is any contiguous section of pixels that is the opposite
color from the background (and is within the minimum and maximum pixel limits). When
a blob finder tool locates such a region, it reports that a Blob has been found and returns
the information it discovered about the blob. If prototypes have been trained, a prototype
tool record compares the vision model with any blobs and report any matches found.
Holes in Blobs or Prototypes
Any area within a blob or prototype that has the same intensity as the background is
considered a hole. If you have light objects on a dark background, any dark areas within
the blob or prototype are considered holes. VisionWare calculates the number of holes and
the area of those holes.
187
13.6 Lighting
Table 13-1
Types of Lighting
Type
Advantages
Disadvantages
Incandescent
Inexpensive, can be cycled
Short life (for AC lamps), heat
Fluorescent
Efficient, cool
Cannot be cycled, flickers
TungstenHalogen
High output
Heat, can’t be cycled
Gas Strobes
High power, freezes motion
Expensive, poor CCD
sensitivity
IR Laser
Good CCD sensitivity
Highly divergent, federally
regulated
He-Ne Laser
Highly collimated, infinite
depth of field
Fragile, expensive, bulky
IR & Laser
Diodes
Not regulated
Low power, highly divergent
188
Lighting Strategies
13.7 Lighting Strategies
Diffuse
Light is reflected from a shiny surface at the opposite angle from which it struck the
surface. If most of the light that is reflected from a surface comes from the same angle, the
surface has sharp shadows and a great deal of surface glare. Diffuse lighting illuminates a
surface with light that strikes the surface from as many different angles as possible, thus
minimizing shadows, reflections, and the need for critically placed light sources.
Fluorescent lighting is the most diffuse of the lighting types listed in Table 13-1. Diffuser
plates and reflecting panels produce a more diffuse light. True diffuse lighting requires a
parabolic shaped reflector.
Applications with high-contrast, complicated objects, spherical objects, shiny objects, or
objects that require multiple inspections of interior features are candidates for diffuse
lighting.
Back
In backlighting, the light source (usually a diffuse source) is placed behind the object to be
inspected.
Backlighting effectively lights objects whose silhouettes are the critical feature. This is
particularly effective if the objects are shiny or have highly variable surfaces.
Directional
Incandescent floods, ring lights, and fiber lights mounted above or to the side of an object
provide directional lighting.
This lighting is the simplest to install, but effective vision operations depend on this type
of light source remaining constant. If the light source dims, the object appear different to
the camera. If the angle changes, shadows may be added that are interpreted as features of
the object.
This type of lighting is most effective with simple objects or objects where specific, highly
identifiable features are being inspected. Shiny surfaces or objects with variable surface
brightness are difficult to inspect with this type of lighting.
Structured
In one type of structured lighting, a highly collimated light source is applied to the object.
Lasers are sources of collimated light.
This type of lighting allows the vision system to perceive three-dimensional features, such
as depth changes in the surface plane or holes in the object. Shiny surfaces are not
amenable to structured lighting.
Strobe
Strobe lighting is required when the speed of moving objects exceeds one pixel every 17
milliseconds.
Strobes cast harsh shadows, but can be diffused (see above).
189
13.8 Filtering and Special Effects
In many cases, specific lighting problems can be solved by placing an optical filter on the
camera lens. The three most common filters used for black and white cameras are
polarizing filters, color filters, and infrared filters.
Polarizing Filters
Reflected light is highly polarized (the light waves have a predominant orientation about
the wave axis). A polarizing filter can be adjusted so that light waves with a predominant
orientation are filtered. If reflected glare from an object is a problem, a polarizing filter
may be able to minimize the problem. A polarizing filter reduces the overall scene
brightness so more intense lighting sources are needed with this type of filter.
By adjusting the orientation of polarizing filters on both the light source and lens, you can
significantly reduce ambient light and reduce shiny (specular) reflections.
Color Filters
Color filters allow you to reduce or eliminate different colors of light that reach the
camera. Color filters may enable the system to ignore annoying object features that are a
given color, or ignore non-significant differences in an object that develop due to
differences in the colors of the feature.
Color filtration is difficult and should be attempted only when other avenues have been
exhausted.
Infrared Filters
CCD cameras usually have a relatively high sensitivity to infrared light. Warm or hot
objects emit infrared light (which is invisible to the human eye). If you suspect your
camera data may be inaccurate due to infrared emissions, try placing an infrared filter
over the lens.
190
Installing VisionWare
A
A.1 Installing the Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
A.2 Initialization Databases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.3 Autostarting VisionWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
191
Appendix A - Installing VisionWare
A.1
Installing the Software
To install VisionWare V+ on your hard drive:
1. Create a subdirectory for AIM.
2. Copy the AIM files to the hard drive.
3. Upgrade the operating system (if necessary). See sections following for specific
information.
Create a Sub Directory for the AIM Files
Turn on the controller and perform the steps below when the startup procedures have
completed.
At the controller keyboard, type:
fdirectory/c c:\aim\
A new subdirectory is created. To make that directory the default directory, type:
default = c:\aim
To verify that the directory was properly created and is the default directory, type:
default
The bottom line of the monitor window displays:
DISK>C:\aim\
If this line is not displayed, repeat the steps in this section.
Copy the AIM Files to the Hard Drive
Use the V+ utility program DISKCOPY to copy the AIM floppy disks to your hard drive.
Complete instructions for using the utility program are contained in the Instructions for
Adept Utility Programs supplied with your V+ reference manuals.
The following section describes the procedure to copy the MotionWare files to your hard
drive.
1. Turn on your controller.
2. After the startup procedures have completed, make AIM the default directory by
typing:
default = c:\aim
3. Run the diskcopy program.
Place the Adept Utility Disk in the A drive and type:
load a:diskcopy
4. After the program files are loaded, type:
execute 1 a.diskcopy
5. Remove the utility disk. Insert a VisionWare disk into the A drive.
6. From the menu that is presented, choose:
4. => Copy multiple files
192
Installing the Software
7. When prompted What is the INPUT disk?, type:
a
8. When prompted What is the OUTPUT disk?, type:
c
9. When prompted Do you want to verify copy operations?, type:
y
10. When prompted Enter spec of file(s) to copy, type:
*.*
11. When prompted Enter output subdirectory,
Press the ENTER key.
12. When prompted Do you want existing files automatically
superseded?, type:
y
13. When prompted Copy this file, type:
g
14. Repeat steps 10-13 for the remaining AIM disks.1
15. After the last disk has been copied, when prompted Enter spec of file(s) to
copy,
Press the ENTER key.
16. Choose exit.
Upgrade the Operating System
If VisionWare is being delivered with a new system, the correct operating system is
already installed. If you are adding VisionWare to an existing system, you may be
required to upgrade your operating system.
To determine if you need to upgrade your operating system, turn on the controller and
type:
id
The second line displayed by the ID command shows the system configuration. The first
number in the software line is the operating system version. It must be 11.2 or higher,
otherwise you must upgrade to the current version.
To upgrade your operating system:
1. Turn on the controller and let it load the existing operating system.
2. Insert the Adept Utility Disk (delivered with the existing system software) in the A
drive and load the file CONFIG_C.V2, type:2
1
If you are not using VisionWare with a robot or motion device, you do not need to copy the
MotionWare or AIM PCB disks.
2 Or use the correct drive and path specification if the file is stored on the hard drive.
193
load a:config_c.v2
When loading is complete, you can remove the Utility Disk from the disk drive.
3. Start execution of the program by typing the command:
execute a.config_c
(Or use execute 1 a.config_c to execute the program as task #1.)
4. Choose V+ Installation from the menu.
5. Follow the prompts provided by the program (see below).
NOTE: If a floppy diskette is modified, the write-protect slider on the
back of the diskette must be in the unprotected position. That is, it must
be in the position that closes the hole through the diskette jacket. Ensure
that you move the slider back to the protected position after the operation
is completed.
Do not alter the original V+ system diskette supplied by Adept. Instead,
make a copy of the distribution diskette (with this program during the
process of installation, or with the DISKCOPY utility). Then modify the
configuration information on the copy.
6. The configuration program can be deleted from the system memory by typing the
following commands (type kill 1 in place of kill if the program was executed as task
#1):
kill
deletem a.config_c
194
Initialization Databases
A.2
MotionWare has several initialization databases that control MotionWare at startup. To
change an initialization value, perform:
Setup
Seek
➡ Initialization Data ➡ select an initialization file
➡ Index ➡ select an initialization record
Initialization Options
The following tables summarize the initialization options available to VisionWare.
Table A-1
Options in the Baseline File (BASEINI.DB)
Record Name
Use
abort “Are you sure?” enable
Enable/disable the Are you sure? verification when the
Abort button is pressed on the debug control panel
access level, initial
Set the system access level at startup. (Do not change
this record unless you have created a user account with
an access level of 4.)
access level, V+ monitor
Set the access level required to display the monitor
window.
autostart module name
Name of module to load and select when autostarting
autostart sequence name
Name of sequence to execute when autostarting
backup copy directory
Name of the subdirectory to use with the
Backup/Restore utility.
cycle repeat, initial
Set the Repeat option on the Task Control Panel
database auto-save enable
Enable/disable auto-saving database records
whenever a database editing page is exited
error/message log queue size
Used by AIM customizers only
error/message log queue
task
Number of the task to handle the error/message queue
Kermit directory file start
Specify position of first character of the file name of a
directory record returned by Kermit to the File
Manager.
language definition, English
Specifies English as one of the available languages
(other languages may be added by system customizers)
language selection
If multiple languages have been implemented, specify
which language to display.
module default directory
Default directory for newly created resource modules
screen blanking time interval
Set the idle time before the screen goes blank
signal for operator attention
The digital I/O signal that should be set whenever the
*operator attention* message is generated
195
Table A-1
Options in the Baseline File (BASEINI.DB) (Continued)
Record Name
Use
stack size
The maximum depth of nested sequences that can be
called from a single task
statements - baseline
Name of the baseline statement database
statements - task control
Name of the task control statement database
task number, concurrent
number
Specifies the total number of tasks searched when
looking for a free task of concurrent AIM processes
task number, first concurrent
Specifies the first task searched when looking for a free
task of concurrent AIM processes
user name, initial
Name of the user to be logged on at startup
Table A-2
Options in the Vision (VISWINI.DB) File
Record Name
Use
example - custom camera
model
Example of a record to define a custom camera model
example -custom convolution
Example of a record to define a custom convolution
example - custom morph pattern
Example of a record to define a custom morphology
record
results log enable, initial
Initial setting of the result logging check box
results log file name, initial
Initial name for result file
results log update interval
Interval to write data to results log file
runtime graphics, initial
Display or hide runtime graphics at start-up
stats, max bin size, boolean
Default maximum bin size for Boolean results
stats, max bin size, real
Default maximum bin size for real results
stats, number of bins
Number of bins that constitutes “recent history”
virtual camera alloc enable
Enable/disable pre-runtime allocation of virtual cameras
virtual frame buffer size
Size of the virtual frame buffers (and by default, the
number of frame buffers)
vision display mode, initial
Start vision window in grayscale or binary
196
Table A-3
Options in the VisionWare (VWINI.DB) File
Record Name
Use
control sequence module
Default module for Master Control Panel button
sequences
master control panel file
name
Name of the menu file that will accessed by the Master
Control Panel pull-down
master control panel page
name
Name of the menu page that will accessed by the Master
Control Panel pull-down
picture-priming enabled
Enables immediate acquisition of next image
statements - VisionWare
VisionWare statements database
The VisionWare Record Type initialization file (VWRTINI.DB) contains basic information
on all the record types available to VisionWare. Unless you are creating your own vision
record type or want to specifically disable some existing record type, you do not need to
use this file.
Table A-4
Options in the User File (USERINI.DB)
Record Name
Use
error database, additional
This record allows you to create your own
error/message database and have it loaded along with
the standard AIM error database.
overlay, additional
The name of a custom V+ program to be loaded as an
overlay during startup. The file name must be of the
form *.OVR, and the first program in the file must be
the same as the file name.
statements, additional
The name of a custom statement database to be merged
with the standard AIM statements.
If other AIM application or add-in modules are loaded, their initialization databases are
described in documentation accompanying those programs.
197
A.3
Autostarting VisionWare
VisionWare can be automatically started at system power-on. Before starting VisionWare,
complete these steps:
1. Before the controller is turned on:
Set the autostart position on the configuration DIP switch to autostart. The location
of the configuration DIP switch on the SIO module is detailed in the Adept MV
Controller User’s Guide.
2. Before starting VisionWare:
Make sure the root directory of the C drive is the current directory, type:
default disk = c:\
Copy the VisionWare autostart file from the distribution diskette to the root directory
and give the file the correct name, type:1
fcopy auto.v2 = a: vwauto.v2
3. After starting VisionWare, open the BASEINI.DB initialization file, perform:
Setup
➡ Initialization Data ➡ dbl clk “baseini.db”
Select the record named autostart module name. Type the name of the resource
module you want loaded and selected at start up.
Select the record named autostart sequence name. Type the name of the sequence
you want executed at start up (in most cases this is a control sequence that performs
all the work required to load and start an application sequence).
This BASEINI.DB initialization file also contains many other initialization
preferences that allow you to customize how VisionWare starts. These include:
changing the vision-window display mode, enabling of runtime graphics, displaying
the number of cycles to complete, displaying the user name for the initial logged-on
user, and enabling of results logging.
1
The VAUTO file contains a program that sets the default disk to C:\AIM\. VisionWare must have
been copied to this directory or the program auto must be changed to reflect the directory that
holds the VisionWare files.
198
Menu Bars and
Quick Keys
B
B.1 Main Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
B.2 Record Editing Menu Bar and Quick Keys . . . . . . . . . . . . . . . . . . . . . . . . . 203
B.3 Vision Window Menu Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
B.4 Sequence Editing Menu Bar and Quick Keys . . . . . . . . . . . . . . . . . . . . . . 208
199
Appendix B - Menu Bars and Quick Keys
B.1
Main Menu Bar
These menus are displayed whenever VisionWare is running. Several options are used
only with the AIM system that underlies VisionWare.
Execute
Display the master control panel
Task Control Panel
Display the task control panel
*Stop All Tasks*
Stop all user tasks (started from Master or Task Control Panel)
Edit
Sequence
Edit a sequence
Variable
Edit or create records in the Variable database
Vision
Edit or create vision records
Camera
Edit or create camera records
Module
Select
Select a resource module
Show
Statement Tree
Display a graphic tree of the individual statements in a sequence
AIM Status Window
Display AIM status window
Vision Results
Display the Inspection Results menu page
Live Video
Select camera and display live video output for that camera
Runtime Graphics
Select display of runtime graphics
200
Main Menu Bar
IO
Digital Signals
Log Results
Display/set digital I/O signals
Set options for logging vision results
Setup
Initialization Data
Set the values of system initialization variables
Calibrate Camera
Calibrate a specific camera
Utilities
Save All DBs
Save changes made to any databases in memory
Set Access Level
Set the current user’s access level
File Manager
Display the AIM file manager
Backup
Create a backup definition
Restore
Restore the system files from a backup definition
DBM Utilities
Enter the database creation and editing program
Edit menu
Enter the menu editing program
V+ Developer
Open the V+ developer option (see the AIM Customizer’s
Guide for these three options)
Import/Export Windows
Import/Export a vision image or Export TIF file of a menu page
Profiler
Display the system CPU usage profiler
Export ADX Data
Export a database to an ADX file format
Import ADX Data
Import an ADX formatted file into a database
201
Special
Sample Menu
Display a sample menu for use with menu editing program
Edit User Accounts
Create new users, edit or delete existing users
Edit Statements
Create or edit AIM statements (see the AIM User’s Guide)
Edit Error Messages
Edit the error database (see the AIM User’s Guide)
Edit Help File
Edit help databases (see the AIM User’s Guide)
Edit Init Data
Edit the AIM initialization databases
Edit Raw Sequence
Edit the sequence database
Link All Databases
Reexecute the linking process that is performed when a sequence
is executed
System Shutdown
Exit AIM and save all modified databases
Help
Error Messages
Browse the error message database
System ID
Display the system ID window
202
Record Editing Menu Bar and Quick Keys
B.2
This menu is displayed whenever you are editing database records. The quick keys that
correspond to the different menu options are shown in parentheses (an “S+” indicates that
the SHIFT key should be held down when the quick key is pressed).
Go
Goto
Goto the highlighted record (F3)
Select
Display a pick list of records appropriate to the highlighted field (F5)
Tree
Display the record tree showing other records associated with this record
Back
Go back to the previously open record
Retrieve
Return the record name of the open record to the previously open record (S+F3)
Exit
Exit record editing mode, does not permanently save new or altered records
to the disk (F7)
Seek
Index
Display a pick list of all records in the current database
First
Goto the first record in the database (Home)
Previous
Goto the previous record in the database (Page Up)
Next
Goto the next record in the database (Page Down)
Last
Goto the last record in the database (End)
Find
Enter a field value, search the database of the highlighted field for the value (F7)
Repeat Find
Repeat the last find operation (F8)
Edit
Undo Field
Undo un-entered changes made from the keyboard (F6)
New Record
Create a new database record (F2)
Cut Record
Cut the current record to the copy buffer (S+F9)
203
Copy Record
Copy the current record to the copy buffer (F9)
Paste Record
Paste the record in the copy buffer to the current database (F10)
Help
Field Information
Display the help screen for the currently highlighted menu item (F1)
Page Information
Display help screen for the current menu page (S+F1)
Whenever the record editing menu is displayed, the following quick keys are active.
Table B-1
Record Editing Quick Keys
Key Combination
Effect
Help (F1)
Display help for the current menu page or the currently
selected menu page item.
New (F2)
Create a new record in the current database and go to that
record.
Save (Shift+F2)
Display the Save All Modified Databases window.
Go To (F3)
If a source field is selected, go to that record.
Retrieve (Shift+F3)
Return the record name of the open record to the previously
open record.
Exit (F4)
Close the currently open menu page and return to the next open
page (if any).
Shift+F4
Close all open menu pages.
Display (F5)
If a source field is selected, display a pick list of records
appropriate to the selected field.
Undo (F6)
Undo the most recent changes entered from the keyboard (only
if the changes have not been entered by pressing ENTER or
moving to another field)
Redraw (Shift+F6)
Force a redraw of the screen (updates digital I/O references).
Find (F7)
Display the Find window.
Repeat (F8)
Repeat the last executed find operation.
Copy (F9)
Copy the currently displayed record.
Cut (Shift+F9)
Cut the currently displayed record and place it in the copy
buffer.
204
Table B-1
Record Editing Quick Keys (Continued)
Key Combination
Effect
Paste (F10)
Paste the record currently in the copy buffer.
Tab
Select the next menu item. The next menu item is the physical
item to the right of the currently selected menu item, or the
leftmost item below the currently selected menu item. If the last
menu item is selected, the first menu item will be selected.
Shift+Tab
Select successive menu items in the reverse order of Tab.
Shift+↑, ↓, →, ←
Selected successive menu items in a top/bottom or left/right
order.
Enter
If a data box is selected, causes the system to accept the data box
entry. If a button is selected, has the same effect as if the button
is clicked on with the mouse pointer.
Page Up
Go to the previous record in the database.
Page Down
Go to the next record in the database.
Home
Go to the first record in the database.
End
Go to the last record in the database.
Ctrl+Delete
Delete the value in a selected field.
205
B.3
Vision Window Menu Bar
This menu bar is displayed in the vision window whenever a vision record is being
edited.
The vision window and menu bar are displayed by performing:
Edit ➡ Vision
Image
New Picture(s)
Acquire the needed images for the current operation (redraw any graphics)
Show Edge Image
Show the grayscale edge image
Live Grayscale
When chosen, show the actual camera output (in grayscale mode)
Live Binary
When chosen, show the actual camera output (in binary mode)
Grayscale Image
When chosen, show the image currently stored in the grayscale frame buffer
Binary Image
When chosen, show the image currently stored in the binary frame buffer
Image Lock
Take a new picture only when New Picture(s) is chosen (useful when
developing applications using strobe lights)
Show
Vision Tools
When chosen, display the graphics for all currently defined vision tools
Points
When chosen, display graphics for currently defined point class recs
Lines
When chosen, display graphics for currently defined line class recs
Circles
When chosen, display graphics for currently defined circle class recs
Vision Frames
When chosen, display graphics for currently defined frame class recs
Delete All
Delete all but pictures, cameras, models
Delete all vision records
Delete all vision records except camera, picture,
prototype model, and font records
Delete all vision records (in the currently open database)
206
Vision Window Menu Bar
Goto
Top Level List
Display a list of top-level vision inspections
Top of tree
Redraw the currently displayed tree from the top
Options
Vision tool timer
Hide or show the timer in the lower left corner of vision window
Show edge points
Enable or disable the display of “points used” for finder tools
Zoom
Zoom In
Zoom in on the vision window
Zoom Out
Zoom out on the vision window
Zoom Popup...
Display window that lets you see zoomed area before zooming
Back to normal
Display the un-zoomed vision image
207
B.4
Sequence Editing Menu Bar and Quick Keys
This menu bar is displayed whenever you are editing a sequence. The sequence editor and
menu bar is displayed by performing:
Edit ➡ Sequence
File
Export File
Export the sequence to an ASCII file
Exit
Exit the sequence editorchanges saved to RAM only (F4)
Go
Sequence
Index
Display the select/create/delete sequence popup window
Goto Field
Record
Goto the selected record
Select Field
Index
Display a pick list of records appropriate to the highlighted argument (F5)
Move
First Line
Move cursor to the first line of the sequence (CTRL+Home)
Last Line
Move cursor to the last line of the sequence (CTRL+End)
Previous Page
Show the previous screen of statement lines (Page Up)
Next Page
Show the next screen of statement lines (Page Down)
Find
Repeat Find
Repeat the last find operation (F8)
Repeat Change
Repeat the last change operation (S+F8)
Find Setup
Specify a string to find in the current sequence (F7)
Change Setup
Specify a string to find in the current sequence, and another string to
replace the found string with (S+F7)
208
Sequence Editing Menu Bar and Quick Keys
Edit
Undo Field
Undo recent (un-entered) changes made from the keyboard (F6)
Delete Field
Delete the highlighted record or statement name (CTRL+U)
Disable
Enable or disable the current line (Esc)
Expand
Display or hide the optional arguments in the current statement line (F11)
Append Line
Insert Line
Delete Line
Append a new line to the end of the sequence (F2)
Insert a new statement line above the current cursor location
(CTRL+Insert)
Delete the current statement line — not placed in copy buffer
(CTRL+Delete)
Copy Line
Copy the current line to the copy buffer (F9)
Cut Line
Cut current line and place it in copy buffer (S+F9)
Paste Line
Paste the first line in the copy buffer above the current cursor location (F10)
Paste All
Paste the entire copy buffer above the current cursor location (S+F10)
Table B-2
Sequence Editing Quick Keys
Key Combination
Effect
New (F2)
Append a new statement line to the end of the sequence.
Save (Shift+F2)
Display the “Save All Modified Databases” pop-up window.
Go To (F3)
When “--statement--” is highlighted, display a pick list of
statements. When an uncompleted statement argument is
highlighted, display a pick list of appropriate records. When a
completed statement argument is highlighted, go to the record.
Retrieve (Shift+F3)
Return to the sequence editor after a “Go to”.
Exit (F4)
Exit the sequence editor.
Display (F5)
Display a pick list for the highlighted statement or argument.
Undo (F6)
Undo recent changes entered from the keyboard (unless the
ENTER key has been pressed or another menu item has been
highlighted).
Find (F7)
Display the find pop-up window.
Change (Shift+F7)
Display the change pop-up window.
Repeat (F8)
Repeat the last executed find operation.
Shift+F8
Repeat the last executed change operation.
209
Table B-2
Sequence Editing Quick Keys (Continued)
Key Combination
Effect
Copy (F9)
Copy the currently highlighted statement line to the copy
buffer.
Cut (Shift+F9)
Cut the currently highlighted statement line and place it in the
copy buffer.
Paste (F10)
Paste the most recently cut or copied line above the currently
highlighted statement line.
Paste All (Shift+F10)
Copy all lines in the copy buffer above the currently
highlighted statement line.
Edit (F11)
Expand or contract the highlighted statement.
Double click the
statement line
Expand the currently highlighted statement.
Double click the
statement number
Enable or disable a statement.
Shift + ↑, ↓, →, ←
Highlight successive statement arguments in a top-to-bottom
or left-to-right order.
→, ←
Move the typing cursor within a statement name or argument.
Enter
Move to the first argument in the next statement.
Delete
Delete character at the typing cursor.
Backspace
Delete the character to the left of the typing cursor.
Ctrl+Insert
Add a statement above the current statement line.
Ctrl+Delete
Delete the current statement line (not placed in copy buffer).
Home
Go to the first line of the current screen.
End
Go to the last line of the current screen.
Ctrl+Home
Go to the first line of the sequence.
Ctrl+End
Go to the last line of the sequence.
Page Up
Display the previous screen full of statements.
Page Down
Display the next screen full of statements.
ESC
Enable or disable a statement.
Control+U
Blank the highlighted statement or argument name.
210
VisionWare
Utilities
C
C.1 The File Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
File Manager Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
C.2 The Backup and Restore Utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
The Backup Menu Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Backup Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Creating a Backup Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Restoring Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Restore Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
211
Appendix C - VisionWare Utilities
C.1
The File Manager
The File Manager allows you to copy, delete, rename, and move files and directories.
To access the File Manager, perform:
Utilities
➡ File Manager
The following screen is displayed:
➊
➌
➋
➍
➎
➐
➏
➑
Figure C-1
File Manager Window
The File Manager screen contains two scrolling list windows. Each window displays all
files and directories in the corresponding selected directory.
File Manager Options
➊
1
Select A:, C:, Kermit, or NFS> as the source device for this half of the window.1 Before
NFS> can be selected, amount name must be entered in the data box next to NFS>2.
The Kermit device is available only if your controller has been configured to use a serial port to
access another computer running a Kermit server. Then the Kermit device provides access to files
and directories on that computer. See the V+ Language User’s Guide for details.
NFS is available only to systems equipped with the optional AdeptNet hardware and software.
NFS allows you to access files and directories on a remote computer on a network. See the AdeptNet
User’s Guide for details.
2
This information is stored for the current AIM session and is re-displayed each time the File Manger
is opened.
212
The File Manager
An NFS device can be re-read by clicking on the NFS> radio button (even if it is
currently selected).
➋
This window shows the directory path for item ➎. Double click any directory in the
path to display the files and directories in that directory.
➌
This string can be used to limit the files displayed in item ➎. (This string does not
affect the directories displayed in item ➎). For example, the string “*.v2” would limit
the display to the files with that extension.
➍
These options specify the order in which the files and directories in item ➎ are
displayed:
Name sorts the files alphabetically based on the file name
Extension sorts the files alphabetically based on the file extension
Size sorts the files based on their size
Type sorts the files based on the type attribute (directory, protected, etc.)
Date sorts the files based on the creation/update date
None does not sort the files (shows files as they are stored on disk)
Select ✔ Reverse to sort files in reverse order (Has no effect on None.)
➎
This area shows, for the device selected in ➊ and the directory path shown in ➋, all
of the directories present and all of the files present that match the specification
entered in ➌. This is the area where you select files or directories to copy, delete,
rename, duplicate, or move. Click once on a file or directory to select it. To deselect an
entry, click the entry again.
Selected files and directories appear with a ✔ to the left. Unselected files are black,
unselected directories are blue, and selected files and directories are red. Selected
system files are orange and unselected system files are gray. Directories are identified
by a “D” in the attribute column (immediately after the file size). Protected files are
marked with a “P” and system files are marked with an “S”.
To move one level down in the directory structure, double click the desired directory
entry.
➏
Choose Select All to select all the files and directories shown in item ➎.
Choose Deselect All to deselect all the files and directories that are selected.
➐
➑
You can operate on files and directories from only one side of the File Manger. These
radio buttons indicate which side is the active side. The active side is also outlined in
red. You can select a side by clicking on one of the radio buttons or by clicking on an
entry in item ➎, or by choosing Select All .
Choose Copy --> to make copies of the selected files and place them in the directory
shown on the opposite side of the window.
Choose Move --> to move the selected files to the directory shown in the opposite
side of the window.
213
Choose Delete to delete the selected files.
NOTE: Files cannot be restored after they are deleted (except if they had
previously been saved with the backup utility).
➒
Choose New Dir to create a new directory in the active window. Enter the name for
the new directory, when prompted.
Choose Rename to rename the highlighted file or directory. A window prompts for
the new name.
Choose Duplicate to create a copy of the selected file in the same directory. A
window prompts you for a name for the copied file.)
NOTE: Rename and Duplicate are available only when a single line is
selected in item ➎.
Duplicate cannot be used on a directory entry.
The window that prompts for the new name can be dragged aside in
order to get an unobstructed view of the main window.
214
The Backup and Restore Utility
C.2
The backup utility allows you to create backup files of your AIM and V+ files. Backup files
can be used to restore files in the event of a drive failure, file corruption, or accidental
deletion.
The Backup Menu Page
The backup utility is accessed by performing:
Utilities
➡ Backup
Figure C-2
Backup Selection
This menu page has buttons for up to four backup definitions. Each button shows the
name of a backup definition and the date of the last backup. Choosing a Start button
begins the backup using the indicated backup definition.
You can select which backup definitions appear on this page when you create or edit a
backup definition (see item ➎ on page 217).
To start a backup using a definition that is not assigned to one of the buttons, to modify a
backup definition, or to create a new backup definition, choose Setup to display the
window shown in Figure C-3.
Backup Definitions
Before you create a backup file, you need to create a backup definition that specifies which
files to backup, the destination for those files, and the file(s) identification.
To create a backup definition, perform:
Utilities
➡ Backup ➡ Setup
215
The following screen is displayed:
Figure C-3
List of Backup Definitions
Choose Edit to change characteristics of the selected backup definition. (Double clicking
the name of a backup definition has the same effect as choosing this button.)
Choose New to load create a new backup definition (see the next section).
Choose Start to begin creating a backup file using the highlighted backup definition. A
status window displays the state of the backup operation and allow you to pause or abort
the operation.
Choose Delete to delete the selected backup definition.
Choose Cancel to exit the backup utility. (The Exit function key and clicking the closewindow icon have the same effect.)
Creating a Backup Definition
When you choose Edit or New from the List of Backup Definitions window, this
additional window is displayed:
➌
➊
➍
➋
➏
➎
➐
➑
➒
➓
Figure C-4
Backup Definition
216
➊
This area allows you to specify the source of the files to backup and which file groups
to add to the backup definition.
Indicate the path to the source files. This should be an absolute path (see the V+
Language User’s Guide). You can change the path by: directly entering a path; double
clicking any directory (indicated by a “D” after the file size in item ➋), or selecting a
directory and choosing Open Directory . (Double click the “..” line to move up the
directory tree one level.)
The File specification data box allows you to restrict the files displayed in the source
file window.
To select all files, type:
*.*
To select a group of files (all database files, for example), type:
*.db
See theV+ Language User’s Guide for details on using wild cards.
➋
This window shows the files that can be added to the backup definition from the
specified path, matching the file specification. You can either add all of the files shown
or select individual files.
To add all files, select the “.” line (single period at the top of the list) and choose
Add to Specification .
In the example shown, all database files have been selected (“*.db” in the file
specification). To place all these files in the backup definition, select the “.” line and
choose Add to Specification . The path and file specification are added to the
Saveset list (item ➏). Note that all the individual file names are not added.
To add selected files from the source list, select each individual file and then choose
Add to Specification .
➌
Specify where the backup files will be stored:
• Select the desired output device. If you are backing up to an NFS drive, type a
mount name and then select
NFS.
This information is stored for the current AIM session and is re-displayed each
time the File Manger is opened.
• Indicate the directory specification for the backup files.
• You can also enter a description of this backup definition.
➍
Select ✔ Include system files to include any V+ system files that are included in the
selected entry in the backup list (item ➏) or directories within that entry.
Select ✔ Include subdirectories to include all sub directories of the selected directory
entry in the backup list.
NOTE: these selections are made for each entry in the backup list, not for
all of the entries in the list. Highlight each entry in the list and select the
desired options for that entry.
➎
Select one of the check boxes if you want this definition to appear as one of the
standard buttons on the Backup Selection window (see Figure C-2). If another backup
217
definition has already been assigned to that button, a window warns you and then
allows you to re-assign the button or keep the current assignment.
➏
➐
This list shows all the specifications that will be included in the backup. Full names
are shown for files added individually. A wild card specification is shown for files
added as a group. A specification can be edited or deleted by selecting the line and
then choosing one of the buttons at the bottom of the window.
There are two, or more, files associated with a backup. A backup definition file and
the actual backup files that contains all the selected files.
Select ✔ Copy BKD File to make a copy of the definition file in a directory of the C:
drive as well as in the Output directory. (The back-up directory is defined in an
initialization record in the BASEINI initialization file.)
➑
Select
Complete to backup all files regardless of whether they have been backed
up previously.
Select
Partial to backup only files that have changed since they were stored in a
backup and files that have never been stored in a backup.
➒
➓
Select
Current date to use the current date as the file name (in the form
mmmddyyA).
Select
Auto generated to have a random number assigned as the file name.
Select
User supplied to assign your own file name (when the backup is started).
Choose Edit to manually edit the selected file specification. (Double clicking a
specification has the same effect as choosing this button.)
Choose Delete to remove the selected file specification from the backup list.
Choose Clear to remove all items from the backup list. (The Exit function key and
clicking the close-window icon have the same effect.)
Restoring Files
The file restore utility reinstalls files contained in a backup file that was previously created
with the backup utility.
To start the restore process, perform:
Utilities
218
➡ Restore
Figure C-5
List of Backup Savesets
This window shows backup directory files at the indicated device and path. To prepare to
restore the files, highlight the desired saveset and choose Select or double click the
saveset. The restore menu page is displayed. The restore utility can be exited by choosing
Cancel , pressing the Exit function key, or clicking the close-window icon.
Restore Options
➍
➊
➎
➋
➌
Figure C-6
Restore Menu Page
219
➊
➋
This area shows information about the backup selected from the backup savesets list.
You can change the device, path, and saveset name in this window. However, it is
usually easier to cancel this window and make changes in the List of Backup Savesets
window.
Indicate the target path to receive restored files.
NOTE: The path will be added to the path stored in the backup definition
file. Thus, to restore files to their original location, the path should be “\”
(or blank).
➌
A check mark indicates that the file will be restored. To select/deselect specific files,
select the file and then click the check box. The up and down arrow buttons can be
used to move through the list.
Choose Restore All to select all of the files for restore.
Choose Restore None to deselect all of the files.
➍
➎
This area indicates the files stored in the backup file. The files marked with a check
mark will be restored. Either double click a file name or choose
Get File Information to see basic information on that file.
Select ✔ Overwrite files to have the utility automatically overwrite files of the same
name. Choose Start to begin restoring files.
Once a restore operation has started, a window shows the status of the restore and gives
you the option to pause or abort the operation.
220
Basic, OCR, and
Special Purpose
Records
D
D.1 Inspection Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
D.2 Inspection Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
D.3 Inspection Record Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
D.4 Picture Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
D.5 Picture Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
D.6 Value Combination Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
D.7 Value Combination Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
D.8 Prototype Model Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
D.9 Prototype Model Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
D.10 Prototype Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
D.11 Prototype Finder Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
D.12 OCR Font Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
D.13 OCR Font Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
D.14 OCR Field Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
D.15 OCR Field Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
D.16 Correlation Templates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
D.17 Correlation Template Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
D.18 Correlation Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
D.19 Correlation Window Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
D.20 Frame Pattern Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
D.21 Frame Pattern Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
D.22 Conditional Frame Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
D.23 Conditional Frame Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
221
Appendix D - Basic, OCR, and Special Purpose Records
D.1
Inspection Records
Every individual inspection begins with a top-level inspection record. This record specifies
what type of inspection is to be made, the different operations available for a particular
type of inspection, and the acceptable range of values for passing or failing the inspection.
The name of this record is the one you use when you build inspection statements in the
sequence editor. This record receives the results generated by the other records associated
with this inspection record, evaluate the success of the inspection, and report the results.
➋
➊
➌
➍
➎
➐
➏
➑
➒
➓
Figure D-1
Inspection Record
222
D.2
➊
➋
➌
➍
Shows the name of the record you are editing, and the date and time it was last altered.
The record name can be changed at any time, but any sequences that use the old record
name can no longer find the record.
Select this option if you want this record to appear in the list of records available when
TopLevel is chosen in the vision tree window. Choosing this option also makes this
record available when completing statement arguments during sequence editing.
Inspection records are normally top-level records.
Select the type of inspection you want to make. The inspection types and specific
operations are described in Chapters 6 and 7, and are summarized in Section D.3.
After an operation is selected, data box(es) for the required records are displayed in
this area.
Choose this button to display the available operations (based on the selection from
item ➌). After you select an inspection type and a specific operation for that type of
inspection, you will create several other records to actually perform the inspection.
Data boxes for the required records will be shown in this area.
If ✔ Error if the Result is FAIL is selected and the inspection result is fail, the system
returns an error during sequence execution.
If ✔ Error if a source "not found" is selected and a source record fails to find a
feature, the system returns an error during sequence execution. If an INSPECT_LIST
or INSPECT statement encounters an error, sequence execution halts.
➎
➏
➐
➑
➒
➓
The value generated based on the inspection type and specific operation is displayed
in the Value information box. The result of the inspection is displayed in the Result
information box.
In the Nominal data box, enter the ideal value this inspection should have. The
Deviation information box shows the difference between this ideal value and the one
reported in item ➎.
Choose this button to specify the minimum, maximum, and warning limits for this
inspection, or to execute a test run of this inspection. See page 77 for additional details.
Select this option to specify a digital output signal that will be set based on a success
of the inspection. Digital I/O is covered in Chapter 12.
Select this option to report the inspection data to the Inspection Results page when a
sequence containing this top-level inspection is run. The number entered into Bin size
is used in the statistical calculations when vision results are displayed (see
Chapter 11).
Select the desired data logging for this inspection (see Section 11.7).
223
D.3
Inspection Record Types
The types of inspections and the specific operations available to each inspection type are
listed in tables D-1 to D-5. The steps to complete after you create a new inspection record
are:
1. Select a type of inspection
2. Create the record(s) that supply results to the inspection record
3. Select a specific operation
4. Enter the pass/fail criteria for the inspection
Table D-1
Inspection Record Type: Measure
Measure Operation
Description
POINT-POINT distance
Measure the distance between two points. Point
class records are listed in Table 5-1.
POINT-LINE distance
Measure the shortest (perpendicular) distance
between a point and a line. Point class records are
listed in Table 5-1. Line class records are listed in
Table 5-2.
LINE-LINE angle
Measure the angle between two lines. Line class
records are listed in Table 5-2.
CIRCLE radius
Measure the radius of a circle. The circle can come
from an arc finder or a computed circle.
CIRCLE diameter
Measure the diameter of a circle. The circle can come
from an arc finder or a computed circle.
224
Table D-2
Inspection Record Type: Test a Value
Record Type
Testable Values
Linear Ruler
Search area clipped by field of view
Distance from first to last edge
Distance from ruler start to first edge
Arc Ruler
Angle from first to last edge
Angle from ruler start to first edge
Angle of the first edge with respect to the vision X axis
Point Finder
Line Finder
% of edges found along the line
Angle of the found line
Maximum pixel error of fit line
Circle/Arc Finder
% of edges found along the arc
Arc radius
Maximum pixel error of fit arc
Blob Finder
Number of holes in the found blob
Area of all holes
Blob area
Total area
Perimeter
Min/max radii or minor/major ellipse axis
Prototype Finder
Percentage of prototype model verified
Inspection Record
The inspection value, deviation, or pass/fail indication
Value Combination
See Chapter 9.
Computed Line
Angle of the computed line
Window
See Table D-5 .
OCR Field
See “OCR Field Results” on page 138.
Correlation Window
The correlation match coefficient
Success or failure of the correlation match
Conditional frame
Frame angle
225
Table D-3
Inspection Record Type: Combine Inspections
Combining
Operation
Description
AND
Two inspection records are compared. If both pass, this
inspection will pass.
OR
Two inspection records are compared. If either
inspection passes, this inspection will pass.
XOR
Two inspection records are compared. If one
inspection passes and the other fails, this inspection
will pass.
Multiplication
The values returned from two different inspections are
multiplied together and returned to this inspection.
Addition
added together and returned to this inspection.
Subtraction
subtracted from each other and returned to this
inspection.
Division
The value returned from one inspection is divided by
the value returned by another inspection and returned
to this inspection.
Table D-4
Blob Statistics
Blob Operation
Description
Blob found indicator
Success or failure of the blob finder
Blob area
The area (in pixels) of the found blob– minus hole areas
Hole area
The area (in pixels) of all holes found within the blob (a
hole is any section of pixels within the blob that have
the same color as the background)
Number of holes
The number of holes (bounded regions within the blob
that have the same color as the background)
Total area
The blob area, including the area of all holes (in pixels)
Major ellipse radius
The smallest possible ellipse is fit to each blob; this
value is the radius of the major axis of the ellipse
Minor ellipse radius
The radius of the minor axis of the best fit ellipse
Angle of blob
The angle of the found blob (This value depends on the
selection made in the orientation group of the blob
finder tool.)
226
Table D-5
Inspection Record Type: Window Statistics
Window Operation
Description
Average graylevel
value
Calculate the average graylevel value of all the pixels
within a vision tool window.
Maximum graylevel
value
Calculate the maximum graylevel value of the pixels
Minimum graylevel
value
Calculate the minimum graylevel value of the pixels
Standard deviation of
graylevel values
Calculate the standard deviation of the graylevel
values found within a vision tool window.
White pixels
Count all the white pixels within the window and
return that count.
Black pixels
Count all the dark pixels within the window and
return that count.
Edge pixels
Count all the pixels along edges found in the image.
An edge is detected when the difference in intensity
from one pixel to the next exceeds the value specified
for edge strength in the window tool record.
Dynamic white pixels
Count all the white pixels within the window and
return that count. Specify new thresholds for the
count.
Dynamic black pixels
Count all the black pixels within the window and
return that count. Specify new thresholds for the
count.
The OCR inspection type is described in Chapter 8.
227
D.4
Picture Records
A picture record specifies the contrast (gain, offset, threshold, and 2nd threshold)
parameters that are in effect when a picture is taken. Every vision tool record must have a
picture record associated with it. When you are creating new vision tool records, the most
recently created picture record is used as a default by the new vision tool record. The
sending of strobe pulse signals is activated by this record. Every picture record must have
a camera record associated with it.
➋
➊
➌
➍
➎
➏
➐
➑
➒
➓
Figure D-2
Picture Record
228
D.5
➊
➋
➌
➍
➎
Shows the name of the record you are creating or altering, and the date and time it was
created or last altered. The record name can be changed, but any vision tool records
that use this record will no longer be able to find the record.
Choose this button to start repetitive image acquisition. Unlike the New Picture menu
item, this option takes into account the selections in the Modes of Operation group,
allowing you to test I/O options.
Select a camera record to be associated with this picture record. The camera record
specifies the camera settings and calibration that are used when an image is acquired.
Choose this button to start repetitive image acquisition. This option takes into account
the selections in the Modes of Operation group, allowing you to test any I/O options.
Select
Wait for I/O signal if (during sequence execution) you want new image
acquisition to wait until a specified digital signal is set to the correct state. A data box
will be displayed requesting a digital input or soft signal number. Digital I/O is
described in Chapter 12.
Select
Wait for external trigger if image-acquisition hardware should wait for an
external hardware trigger. External triggers must be configured using the controller
software configuration utility CONFIG_C. See the Instructions for Adept Utility
Programs. External triggers eliminate the slight delay that might occur with normal
digital I/O.
➏
Select Output I/O signal if you want a digital signal set after a picture is taken.1
The Motion items are used only by motion systems. Refer to the MotionWare User’s
Guide for details.
➐
➑
➒
➓
1
Select this option if you want the image-acquisition hardware to generate a strobe
signal whenever a new image is acquired. The strobe signal will be sent to the camera
specified in option ➌. You may use the strobe signal to latch belt or robot encoders in
a motion system, or to trigger a strobe light.
Choose this button to display a graph of the graylevel value distribution. A graph will
be displayed showing the frequency of each graylevel value in the current image.
Choose Auto-set to automatically set the gain and offset parameters. Use the slide
bars to fine-tune the parameters. The actual parameter values are shown in the data
box next to the parameter name. Gain and offset are explained in , “Vision Basics.”
Choose Auto-set to automatically set the binary threshold. The actual parameter
values are shown in the data box next to the parameter name. Use the slide bars to fine
tune the parameters. Threshold and 2nd threshold are explained in Chapter 13,
“Vision Basics.”
This signal is set as soon as the picture is taken: it does not wait for image processing to complete.
229
D.6
Value Combination Records
Combination records allow you to use a single tool to execute multiple operations, and
then report the values generated to another vision record. Combination records
themselves do not create multiple operations: They execute the multiple instances of a
repeat tree, combine the results, and return the result to the next higher record. Therefore,
a value combination record must always be paired with a repeat record to be able to
perform multiple operations. See Chapter 10 for details on repeat records.
➊
➋
➌
➍
➎
➏
➐
Figure D-3
Value Combination Record
230
Value Combination Record Options
D.7
➊
➋
➌
Value Combination Record Options
Shows the name of this value combination record and the date it was last modified.
sequence editor. (This option is primarily for other AIM application modules and is
not generally selected in VisionWare. Standard VisionWare statements cannot directly
use a value combination record.)
In the Repeat tree data box, specify the record that defines the top of the repeat tree.
This record must be from the test-a-value class (Section 5.4). The repeat tree must
include a repeat record (Table 10-1).
The Using each of information box shows the record that defines the bottom of the
repeat tree. This record will be the first unused repeat record below the Repeat tree
record.
➍
➎
➏
➐
Select this option to halt at a repeat instance where a “not found” error occurs. This
option applies only to errors where a vision tool lower in the inspection tree fails to
locate a feature and does not return a value that the next higher record requires.
Indicate the maximum number of values that should be collected. The special value
“0” indicates that all possible repetitions should be made. This option is particularly
appropriate when using repeat trees that generate an indeterminate number of
repetitions.
Choose this button to select the real value to collect (or boolean to evaluate) and return
to the next higher record. The options available here will correspond to the values
returned by the record shown in the Repeat tree data box.
This group shows the values returned from the multiple operations. If boolean results
are being returned, this group will display boolean rather than real results.
231
D.8
Prototype Model Records
Prototype model records create the prototype models that prototype finder records use in
the prototype recognition process. See Chapter 8 for details on creating and using
prototype models.
➊
➋
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➒
➑
Figure D-4
Prototype Records
232
Prototype Model Record Options
D.9
➊
➋
➌
➍
➎
➏
Prototype Model Record Options
Displays the name of the record you are editing, and the date and time it was created
or last altered. The record name can be changed, but any prototype finder records that
use the old record name can no longer find the record.
sequence editor.
Specify a picture record to use when training the prototype. This same picture record
and its associated camera record should be used in prototype finder records that locate
this prototype.
Indicate whether the prototype you are training is a light object on a dark background
or vice versa. If this option is incorrectly specified, VisionWare will attempt to train the
background as a prototype.
Enter the minimum and maximum area ranges for the prototype. Any regions with a
value less than the minimum value will not be considered when training the
prototype. Any regions with a value greater than the maximum area will not be
considered when training the prototype.
Max. Pixel Variation: During prototype training, edges will be fit to the bounded
regions in the field of view. The edges generated are used to create the prototype
model. This value sets the maximum deviation that the fit edge can have from the area
it is being fit to. Higher values result in fewer corners and edges.
Max. Verify Distance: This data box specifies the maximum distance (in pixels)
allowed between a feature in the prototype model and a feature in the image which is
still considered to be a match. Features farther apart than this distance do not match.
Increasing this value allows a sloppier fit to still be considered a match. Increase this
value if there is considerable variation between objects being matched and if you can
tolerate matches with a less precise fit.
Disable arc fitting: If you are creating a model of an object that has no arc-shaped
features, select this option. VisionWare will fit only straight line segments to the
bounded regions.
➐
➑
➒
Show the regions that the system “sees” in the current picture.
Show the current prototype model.
Enter prototype training mode (detailed in Chapter 8).
233
D.10 Prototype Finder Records
A prototype finder record locates a specific prototype if that prototype is within the field
of view. The prototype model must have been created before the prototype finder can be
used (see Section D.8).
➍
➎
➋
➌
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➑
➒
➓
❋
✠
Figure D-5
Prototype Finder Record
234
D.11 Prototype Finder Record Options
➊
➋
➌
➍
➎
➏
➐
Shows the name of the prototype finder record and the date it was created.
use a prototype finder record.)
Enter a picture record to be associated with this prototype finder record. This picture
record must use one of the virtual cameras that were assigned when the prototype
model was created.
Select the prototype model this record is to find.
Select ✔ Repeat to make this a repeat record (see Chapter 10).
In the Max proto-instances to find data box, indicate the maximum number of
prototypes the system should attempt to find (–1 indicates that all regions should be
searched for prototype matches). This option can reduce processing time in
complicated scenes.
Max execution time controls the time a finder will spend looking for a prototype
match. See the description of V.MAX.TIME in the Vision Reference Guide for details on
how this option affects prototype matching.
➑
Choose Blob Ordering to specify the order in which multiple prototypes are found.
Select ✔ No clipped protos and the system will recognize only prototypes that are
entirely within the prototype finder search area (the angle of the tool search area must
be 0, 90, 180, or 270 for this option to be available).
➒
➓
❋
Shows the absolute coordinates of the finder tool search area. The search area can be
changed by entering values directly into these data boxes, or by using the drag
handles on the finder tool.
Select this button to make the tool relative to a vision frame. See “Making Vision Tools
Relative to a Vision Frame” on page 147.
Choose Show Prototype
to show the current prototype model.
Choose Show Recognition to display the outline of the prototype model over the
regions that were recognized as matching the prototype.
✠
The Found item indicates whether a prototype match was successfully made.
The % verified item indicates the percentage of total boundary length (including
holes) that was common to both the prototype model and the image regions.
The Centroid X, Y item indicates the centroid of the found prototype.
The Angle item indicates the difference between the orientation of the prototype
model and the orientation of the found prototype.
235
D.12 OCR Font Records
Font records create the prototype font that is used by text verification records to locate
strings of text. Every OCR Field record requires a font record. See Chapter 8 for details on
OCR operations.
➊
➋
➌
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➎
➏
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➑
➒
➓
Figure D-6
OCR Font Record
236
OCR Font Record Options
D.13 OCR Font Record Options
➊
➋
➌
➍
Shows the name of the font record, the date it was created, and the font number for
this record.
Choose this data box to enter or change the characters in this font.
Choose the number set, the capital letter set, or the lower case letter set to have the
entire set added to the font (item ➋).
Choose Show Regions to see the regions VisionWare considers to be in the font.
(The regions are outlined in green.)
Indicate whether the font characters are white on a dark background or black on a
light background.
➎
➏
➐
➑
➒
➓
Enter the minimum area (in pixels) for a single character in the font. Any regions with
an area below this value will not be considered in the recognition process. Use this
option to filter disjoint regions (such as the dot on an i).
Place a sample of the font in the field of view and choose Measure it . Follow the
displayed series of steps to measure the height of a capital character in the font. The
results are displayed in Pixel height of chars.
Enter a picture record to be used when training this font. This picture record should
also be used by the OCR Field records that use this font.
Place a sample of the font in the field of view and choose Train to create the
prototype model of the font characters in item ➋.
Choose Show to display the training status of the characters in the font.
When you have completed training of the font, choose Plan to prepare the font for
use by an OCR Field record.
237
D.14 OCR Field Records
An OCR Field record performs text verification or recognition. Verification or recognition
is based on a trained font. Font creation is detailed in Section D.12.
➋
➌
➊
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➎
➐
➑
➏
➒
➓
❋
✠
◆
Figure D-7
OCR Field Record
238
OCR Field Record Options
D.15 OCR Field Record Options
➊
➋
➌
➍
➎
➏
Shows the name of the OCR Field record and the date it was created or last altered.
sequence editor. If
Full text recognition is selected, this option must be selected
to make this record available to the OCR_OUTPUT statement.
In the Picture name data box, enter the picture record to be used when text
recognition or verification is attempted. The picture record must use the same camera
record as the font record used.
In the Font name data box, enter the name of the font (OCR Font record) that contains
the anticipated characters.
Choose Tool Loc to view the absolute coordinates of the OCR Field search area, or
to make the search area frame relative. The search area can be sized with the drag
handles, or by entering the absolute coordinates in the pop-up window displayed
after this button is chosen.
➐
➑
If ✔ Relative to is selected, select ✔ Force absolute angle of zero to force the
reference-frame angle to be ignored and assumed to be zero.
➒
If
Verify against expected chars is selected, successive regions in the OCR search
area are compared to the corresponding characters in the expected text (item ➓).
If
Verify against all chars is selected, each region in the OCR search area is
compared with every character in the font. This option requires more processing time.
If
Full text recognition is selected, all characters recognized within the search area
are returned along with the average and minimum recognition score. See the
OCR_OUTPUT statement in Chapter 3 for details on full text recognition.
➓
❋
Specify the characters you expect to find in the field of view (not used with full text
recognition).
Choose Train to train the font (this button is not active until a font name is entered).
Choose Show Font to see the status of the font.
✠
◆
Max execution time (secs) allows you to limit the amount of time the tool spends
verifying or recognizing characters. Max blob area (in pixels) allows you to limit
character recognition to bounded regions that are smaller than the specified area.
The results returned for each type of operation are described in “OCR Field Results”
on page 138.
239
D.16 Correlation Templates
Correlation templates record the graylevel values of a section of pixels. Correlation
windows compare areas of the field of view with the correlation template. See Chapter 8
for details on correlation operations.
➊
➋
➌
➎
➍
➏
➐
➑
Figure D-8
Correlation Template Menu Page
240
D.17 Correlation Template Options
➊
➋
➌
➍
➎
➏
➐
➑
Shows the name of the correlation template record and the date it was created or last
altered.
Select a picture record to use when training this correlation template.
Correlation templates are automatically numbered by VisionWare. This information
shows the number of this template record.
Size the template search area so it encompasses the image area you want to train and
then choose Train .
Choose Show to outline the image area trained as a correlation template.
Select to allow hierarchical searching. This method of searching can produce
significant improvement in the speed of correlation matching. See the Correlation
Window description for details.
This area shows the location of the image template.
This area shows the size of the image template. The speed of finding a correlation
template match within a correlation window is relative to the size of the image
template and the size of the match search area. Large templates or large search areas
will consume considerable processing time.
Choose Opti-size to increase your template to the next largest size that is optimal
for the correlation algorithm. Normally you should choose this button only once.
Repeatedly choosing it makes your template much larger than necessary and slows
down this tool.
241
D.18 Correlation Windows
A correlation window defines a search area within which matches to a correlation
template are to be located.
➊
➋
➌
➍
➎
➏
➐
➑
➒
➓
Figure D-9
Correlation Window
242
D.19 Correlation Window Options
➊
➋
Shows the name of the correlation window record and the date it was created or last
altered.
Select ✔ TopLevel to have this tool record included in the list of top-level records
not generally selected in VisionWare. VisionWare statements cannot directly use a
correlation window record.)
Select ✔ Show at runtime to have the window’s tool graphics displayed when
runtime graphics are displayed during sequence execution.
➌
Select a picture record to use during template matching (does not have to be the same
picture record used when the template was trained, but the same camera record
should be used).
Select the correlation template record to use for the matching operation.
➍
Select
Match only, no search area to restrict template matching to an area the
same size as the correlation template.
Select
Allow search area to allow template matching in an area larger than the
template.
➎
➏
Choose Show template to show the template location within the field-of-view.
This group shows the location and size of the correlation window. Select ✔ Relative
to to make this tool relative to a vision frame class tool.
Choose
Snap tool to template exactly to force the correlation window to exactly
match the template location and size.
➐
➑
➒
➓
Specify the hierarchical search options. In this type of search, a rough search is made
in the search area and areas are identified that might contain a match. Finer searches
are then made only in these areas. This process is repeated the number of times
specified in Max depth. The accept and reject level indicate a score for determining
which areas to search again at the next higher level. Maximum search time indicates
how long to search before completing the search or declaring failure.
The match coefficient indicates the percent of pixels in the match area that correspond
to pixels in the template.
This area shows the center of the matching area.
This area shows the size of the correlation window.
243
D.20 Frame Pattern Records
Frame pattern records create multiple vision frames. Any records that are declared to be
relative to a frame pattern record will be repeated for all the frames created (a value
combination record is also required – see Chapter 10).
➋
➊
➌
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➑
➒
Figure D-10
Frame Pattern Record
244
Frame Pattern Record Options
D.21 Frame Pattern Record Options
➊
➋
➌
➍
➎
➏
➐
➑
➒
Shows the name of this frame pattern record and the date it was last modified.
use a frame pattern record.)
Select a picture record to be associated with this frame pattern record. This record
provides the default reference frame for the returned results.
Select a pattern for this repeating frame. In the Count data box, enter the number of
times the frame should be repeated. For rectangular patterns, two data boxes will be
displayed. Use these data boxes to specify the size of the grid of frames.
Use the drag handles on the frame pattern tools to set the size, location, and
orientation of the tool. The values will be displayed in these data boxes. (You can also
edit the values directly).
Select this option if this frame pattern is to be relative to another vision frame. A data
box will be displayed for the vision frame. If another frame pattern record is selected,
all the instances generated by this record will be repeated for each instance of the
specified frame pattern record.
This data box shows the distance between frames in linear or rectangular patterns, or
the angular spacing between frames in arc shaped patterns.
Shows the value of the displayed frame. This is the first frame that will be evaluated.
It is also the frame that will be used if this frame pattern record is not associated with
a value combination record.
Choose this button to show all the frames that will be created by this record.
245
D.22 Conditional Frame Records
Conditional frame records allow you to specify a frame to use only when certain criteria
are met.
➊
➋
➌
➍
➎
Figure D-11
Conditional Frame Record
246
Conditional Frame Record Options
D.23 Conditional Frame Record Options
➊
➋
➌
Shows the name of this conditional frame record and the date it was last modified.
Select a frame source and inspection records that this frame’s conditional use will be
based on. If all the specified inspections pass, the frame record will be evaluated and
the result passed to all records using this frame as a source. If an inspection fails, a null
frame result will be passed.
If ✔ Condition Offset on Inspection Record is not selected, the values from the X,
Y, and Angle data boxes are always added to the resulting frame value. If this item is
selected, the X, Y, and Angle values are conditionally added based on the criteria
specified in the Inspection for Conditional Offset ➍ area.
If ✔ Specify nominal angle is selected, the orientation of the frame result is
constrained to be ±90 ° of the specified angle.
➍
A vision inspection record name must be placed in the Inspection data box. The
success or failure of this inspection and its results determine if the Frame Offset is
added to the frame result.
If no error occurs during the inspection operation:
- If
Inspection Passes is selected, the Frame Offset is added if the result is
“pass”.
- If
Inspection Fails is selected, the Frame Offset is added if the result is “fail”.
If an error occurs during the inspection operation:
- If
Don't use Frame Offset is selected, the frame offset is not added to the
result.
- If
Use Frame Offset is selected, the frame offset is added to the result.
- If
Reject this record is selected, the entire conditional frame record fails and
returns the error from the inspection.
➎
This area shows the results of the conditional frame evaluation.
247
Finder Tool Records
E
E.1 Line Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
E.2 Line Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
E.3 Point Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
E.4 Point Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
E.5 Arc Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
E.6 Arc Finder Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
249
Appendix E - Finder Tool Records
E.1
Line Finder Records
Line finders locate edges of objects or edges of object features.
➋
➌
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➒
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Figure E-1
Line Finder Tool Record
250
Line Finder Record Options
E.2
➊
➋
➌
➍
➎
➏
➐
Shows the name of the line finder record and the date it was created.
use a line finder record.)
Select this option to have the vision tool graphics displayed in the vision window
when an inspection using this record is run.
Enter the name for a picture record to be used by this line finder record.
Choose this button to edit the absolute coordinates of the tool search area.
Check this box to make the tool relative to a vision frame (see “Making Vision Tools
Relative to a Vision Frame” on page 147). Type the name of the vision frame.
Type of Edge Data:
Select
Sub-pixel grayscale edges and the finder tool will locate edges based on
grayscale data using the edge strength value specified by Edge strength. Set edge
strength to the difference in pixel intensities that must be found before an edge is
detected.
Select
Binary edges using binary images and the finder tool will locate edges
based on binary data using the threshold values specified in the picture record
associated with this tool record (item ➍).
Select
Binary (specified threshold) and the finder tool will locate edges based on
binary data using the threshold values specified by Threshold and 2nd threshold.
(When this option is selected, Scroll bars displays scroll bars for the thresholds.)
Edges will be detected in the binary image based on these specified threshold settings
(see Chapter 13 for details on binary and grayscale images).
Use edge points closest to:
In the event of multiple edges in the search area: selecting
tool to use the edge nearest the dark blue line of the tool.
Selecting
Dark side causes the
Guide line causes the tool to use the edge nearest the guide line (green).
Selecting
Light side causes the tool to use the edge found nearest the light blue
line. (Line finders search for edges in a dark-to-light direction. Therefore, a dark-tolight transition must occur within the line finder tool search area.)
Set Effort level % to the percentage of individual points on the search line that are
used to detect edges. Higher effort levels require more found points before a line is
successfully fit (and require more processing time). For example, at effort level 50,
only half of the individual points on the finder tool are used in the search for an edge.
Clearly defined edges generally require an effort level less than 20%. Use the lowest
effort level required to accurately locate features in the image.
251
➑
➒
➓
Lines are generated by a line finder based on a least squares algorithm using the
individual points found within the search area of the tool. If you enable iterative
refinement, you control how precise the line fitting must be. In the Max err dist
(pixels) data box, enter the maximum difference allowed between a found point and
the corresponding point on the fit line. The iterative refinement will filter points that
do not meet this criterion. In the Max std dev (pixels) data box, enter the maximum
standard deviation acceptable. The iterative refinement will filter points until the
standard deviation of the fit line is lower than the specified maximum. The points that
are used to generate the fit line are shown in white. The filtered points are shown in
gray. (Options ➡ ✔Show edge points must be selected from the vision window
menu bar.)
If ✔ Specify nominal angle is selected, the orientation of the found line will be
constrained to ± 90° of the specified angle. Since all lines have an inherent 180°
ambiguity, this option allows you to control the orientation returned by a finder tool.
Line found indicates whether a line was found. The Clipped item indicates whether
the window is completely within the processed area of the field of view. If a line is
found, the X and Y values displayed in the Point on Line information boxes represent
the closest point on the found line to the initial search location (indicated by a white
dot in the tool graphic). The angle of the found line with respect to the vision X axis is
displayed in the Angle of Line information box.
Maximum error distance indicates the maximum deviation between the edge points
used and the found line (in pixels). The error is calculated only along the section of the
search line that actually registered points on the found line. If ✔ Enable is selected
for iterative refinement, the results show the maximum error on the dark and light
sides of the tool. Percentage of points filtered out indicates what percentage of
found points were not used in generating the fit line.
Percentage of line with edge points indicates how many points on the search line
coincided with the line that was actually found.
252
253
E.3
Point Finder Records
Point finder tools return the X/Y coordinates of a point, as well as an indication of
whether a point was found or not. The found point can be used by any record requiring a
point value.
➋
➌
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➐
➑
➒
➓
❋
Figure E-2
Point Finder Tool Record
254
Point Finder Record Options
E.4
➊
➋
➌
➍
➎
➏
➐
Point Finder Record Options
Shows the name of the point finder record and the date it was created.
use a point finder record.)
Select this option to have the vision tool graphics displayed in the vision window
when an inspection using this record is run.
Specify the picture record to be used when an image is acquired for this vision tool.
Choose this button to edit the absolute coordinates of the tool search area, or to make
the tool relative to a vision frame (see “Making Vision Tools Relative to a Vision
Frame” on page 147).
Check this button to make the tool relative to a vision frame.Type the name of the
vision frame.
Points are searched for in a dark-to-light direction (a dark-to-light transition must
occur within the tool search area). In the event of multiple points in the search area:
Selecting
the tool.
Dark side causes the tool to use the point nearest the dark blue line of
Selecting
Light side causes the tool to use the point found nearest the light blue
line. (A white dot on the search area graphic indicates the starting search direction.)
The found point is marked with a pink dot.
If Options ➡ ✔Show edge points is performed from the vision window, the unused
points are shown in white.
➑
Select
Sub-pixel grayscale edges and the finder tool will locate points based on
gray-scale data using the edge strength value specified in item ➒.
Select
Binary edges using binary image and the finder tool will locate points
associated with this tool record (item ➍).
Select
Binary (specified threshold) and the finder tool will locate points based on
binary data using the threshold values specified in item ➒.
➒
➓
❋
The options displayed here will depend on the selection made from item
➑.
Effort level % controls the density of the search. For example, at effort level 50, only
half the pixels within the search area are checked for transitions.
Indicates whether a point was found, and whether the window is completely within
the processed area of the field of view. If a point is found, its X and Y values are
displayed in the Point information boxes.
255
E.5
Arc Finder Records
Arc finder tools return the X/Y coordinates of the center of the found arc, the radius of
the arc, information on how accurately the arc was located, and whether an arc or circle
was found.
➊
➋
➍
➌
➎
➏
➐
➑
➒
➓
Figure E-3
Circle Finder Tool Record
256
Arc Finder Record Options
E.6
➊
➋
➌
➍
➎
Arc Finder Record Options
Shows the name of the arc finder record and the date it was created.
The Top Level item is primarily for other AIM application modules and is not
generally selected in VisionWare. Select ✔ Show at runtime to have the vision tool
graphics displayed in the vision window when an inspection using this record is run.
Enter the name of a picture record to be used to acquire images for this arc finder.
Choose this button to edit the absolute coordinates of the tool search area, or check the
Relative to box to make the tool frame relative (see “Making Vision Tools Relative to
a Vision Frame” on page 147). You can also select a tool editing mode for arc-shaped
tools.
Fixed center allows you to change the tool’s included angle and radii without
moving the tool center.
Three points allows the center to move as the included
angle or radii are changed.
Select either
Full circle for a complete circle or
Circular arc for an arc shaped
tool. The default tool will be displayed in the vision window. It can be edited using the
drag handles.
➏
Search modes:
Indicate the intensity of the inside of the circle. This option, in conjunction with the
options in the Closest to items, allows you to control which arc is located when
multiple arcs are seen within the search area.
Select the measurement(s) you want the arc finder to make: If
Center is selected,
the arc center will be calculated and the radius reported will be the tool radius (choose
Radius is selected, the arc radius will be
Tool loc to see the tool radius). If
calculated and the center reported will be the tool center (choose Tool loc to see the
tool radius value). If
Both is selected, the arc center and radius will be calculated.
In the event of multiple edges in the search area, selecting
Inside causes the tool
to use the arc nearest the inside of the tool. Selecting
Guide line causes the tool to
use the arc nearest the guide line (green). Selecting
Outside causes the tool to use
the arc found nearest the outside of the tool.
➐
Type of Edge Data:
Select
Sub-pixel grayscale edges and the finder tool will locate edges based on
grayscale data using the edge strength value specified by Edge strength. Set edge
strength to the difference in pixel intensities that must be found before an edge is
detected.
Select
Binary edges using binary images and the finder tool will locate edges
associated with this tool record (item ➌).
Select
Binary (specified threshold) and the finder tool will locate edges based on
binary data using the threshold values specified by Threshold and 2nd threshold.
(When this option is selected, Scroll bars displays scroll bars for the thresholds.)
Edges will be detected in the binary image based on these specified threshold settings
(see Chapter 13 for details on binary and grayscale images).
257
➑
➒
➓
Set Effort level % to the percentage of individual points on the search line that are
used to detect edges. Higher effort levels require more found points before an arc is
successfully fit (and require more processing time). For example, at effort level 50,
only half of the individual points on the finder tool are used in the search for an edge.
Clearly defined edges generally require an effort level less than 20%. Use the lowest
effort level required to accurately locate features in the image.
Arcs are generated by an arc finder based on a least squares algorithm using the
individual points found within the search area of the tool. If you enable iterative
refinement, you control how precise the arc fitting must be. In the Max err dist
(pixels) data box, enter the maximum difference allowed between a found point and
the corresponding point on the fit arc. The iterative refinement will filter points that
do not meet this criterion. In the Max std dev (pixels) data box, enter the maximum
standard deviation acceptable. The iterative refinement will filter points until the
standard deviation of the fit arc is lower than the specified maximum. The points that
are used to generate the fit arc are shown in white. The filtered points are shown in
grey. (Options ➡ ✔Show edge points must be selected from the vision window
menu bar.)
Arc found indicates whether or not an arc was found. Clipped indicates whether the
search area was completely within the processed area of the field of view. If an arc is
found, its X and Y (center) values are displayed in the Center information boxes. The
radius of the found arc is displayed in the Radius information box (see the next section
for additional details on the values reported here).
Maximum error distance indicates the maximum deviation between the edge points
used and the found arc (in pixels). The error is calculated only along the section of the
search arc that actually registered points on the found arc. If iterative refinement is
enabled, Max error on outside shows the maximum deviation to the outside of the
fit line, Max error on inside shows the maximum pixel deviation to the inside of the
fit arc, % of arc with edge pts indicates how many points on the search arc coincided
with the arc that was found, and % of points filtered out shows the percentage of
points not used to generate the fit arc.
258
Computed Feature
Records
F
F.1 Computed Line Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
F.2 Computed Line Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
F.3 Computed Point Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
F.4 Computed Point Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
F.5 Computed Circle Records. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
F.6 Computed Circle Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
F.7 Computed Frame Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
F.8 Computed Frame Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
259
Appendix F - Computed Feature Records
F.1
Computed Line Records
A computed line can be created from any two points. Computed lines can also be created
running through a point parallel to a line, or running through a point and perpendicular
to a line.
You can also use this type of record to place reference (fixed) lines in the field of view.
➋
➊
➌
➍
➎
Figure F-1
Computed Line Record
260
Computed Line Record Options
F.2
➊
➋
➌
➍
➎
Computed Line Record Options
Shows the name of the computed line record and the date it was created or last
modified.
use a computed line record.)
Select the method for computing a line:
Fixed line
A fixed line must be associated with a picture record. A
data box labeled In PICTURE is displayed requesting a
picture record. Data boxes are displayed showing the
X/Y coordinates of a point on the line, and angle of the
line relative to the vision X axis. Change the values in
the data boxes to create the desired line, or use the drag
handles to move the line to the desired location. This
line also can be made relative to a vision frame.
Through 2 POINTs
Two data boxes are displayed requesting point class
records (Table 5-1). Select existing records or create
new ones. VisionWare will calculate a point running
through these two points.
Through POINT,
parallel to LINE
Two data boxes are displayed requesting vision
records. One requires a point class record (Table 5-1).
The other requires a line class record (Table 5-2).
VisionWare will create a line going through the point
parallel to the line.
Through POINT,
perpendicular to
LINE
records. One requires a point class record (Table 5-1).
The other requires a line class record (Table 5-2).
VisionWare will create a line going through the point
perpendicular to the line (shortest distance).
If ✔ Specify nominal angle is selected, the orientation of the found line will be
constrained to ±90° of the specified angle. Since all lines have an inherent 180°
ambiguity, this option allows you to control the orientation of the computed line. This
option is particularly important if the computed line results are being used to generate
a vision frame.
Shows the X/Y coordinates of the center point of the line and the angle of the line with
respect to the vision X axis. These values can be used by other vision records requiring
a line result.
261
F.3
Computed Point Records
Often, the most accurate way to calculate a point is to compute it from other features. For
example, computed points can be calculated based on the intersection of a line and
another line, a line and a circle or midway between two points. A computed point record
is also used to place a fixed point in the field of view A fixed point could be used if you
want to make all your measurements from a known reference point.
➋
➊
➌
➍
Figure F-2
Computed Point Record
262
Computed Point Record Options
F.4
➊
➋
➌
➍
Computed Point Record Options
Shows the name of the computed point record and the date it was created or last
modified.
use a computed point record.)
Select the method for computing a point:
Fixed point
A fixed point must be associated with a picture record.
A data box labeled In PICTURE is displayed
requesting a picture record. Data boxes are displayed
showing the X/Y coordinates of a fixed point. Change
the values in the data boxes to place the point at the
desired location, or click on the point in the vision
window and drag it to the desired location.This point
can be made relative to a vision frame.
LINE-LINE
intersection
records that return lines (Table 5-2). Select existing
records or create new ones. VisionWare will calculate
the X/Y intersection of these two lines.
CIRCLE-LINE
intersection
records. One requires a line class record (Table 5-2).
The other requires a record returning the center of a
circle (computed circle or arc finder).
You are also asked to select point 1 or point 2. If you
select point 1, VisionWare will calculate the
intersection of the line and the first intersection point
on the circle. If you select point 2, the intersection of the
line and the second intersection point on the circle will
be calculated.
Midway between two
POINTS
Two data boxes are displayed requiring point class
records (Table 5-1). The point returned will be
midway between the points returned by the two
records.
Shows the X/Y coordinates of the computed point. These values can be used by other
vision records requiring a point value.
263
F.5
Computed Circle Records
A circle can be computed using three points on the circle, or from a center point and a
point on the circle. Computed points, fixed points, or points from the finder tools can be
used to calculate a circle.
Fixed (reference) circles can be placed in the field of view using this type of record.
➊
➋
➌
➍
Figure F-3
Computed Circle Record
264
Computed Circle Record Options
F.6
➊
➋
➌
➍
Computed Circle Record Options
Shows the name of the computed circle record and the date it was created or its
operation was modified.
use a computed circle record.)
Select the method for computing a circle:
Fixed circle
A fixed circle must be associated with a picture record.
A data box labeled In PICTURE will be displayed
requesting a picture record. Data boxes will be
displayed showing the X/Y coordinates and radius of
a fixed circle. Change the values in the data boxes to
create the desired circle, or use the drag handles to size
the circle or move it to the desired location. This fixed
circle can be made relative to a vision frame.
Center and POINT on
circle
Data boxes will be displayed requesting point class
records for a point for the center of the circle, and a
point on the circumference of the circle (Table 5-1).
Through 3 POINTs
Three data boxes will be displayed requesting point
class records (Table 5-1). Select existing records or
create new ones. VisionWare will create a circle that
intersects these three points.
Shows the X/Y coordinates and the radius of the computed circle.
265
F.7
Computed Frame Records
Computed frames are used to create a vision frame from other features. Frames allow you
to place vision tools on objects that are not always in the same location or orientation.
When you create a vision tool record, you can specify that it be relative to a vision frame.
If the object that defines this vision frame moves, so will the vision frame and the tools
that are relative to that frame.
You can also create a fixed frame using this type of record.
➋
➊
➌
➍
Figure F-4
Computed Frame Record
266
Computed Frame Record Options
F.8
➊
➋
➌
Computed Frame Record Options
Shows the name of the computed frame record and the date it was created last
modified.
not generally selected in VisionWare.)
Select the method for computing a frame:
NULL frame
This option will give you a frame whose value is the same as the
vision reference frame. The X, Y, and rotation values will all be 0.
Fixed Frame
This option allows you to place a reference frame anywhere in the
field of view. A fixed frame must be associated with a picture
record. A data box labeled In PICTURE will be displayed
requesting a picture record. Three additional data boxes will be
displayed showing the origin and rotation of the fixed frame (with
respect to the vision reference frame). Enter new values in these
data boxes to create the desired reference frame, or use the drag
handles on the frame graphic to move the frame to the desired
location. A fixed frame can be relative to another frame.
Origin, POINT on
X axis, PT in + Y
dir
This option requires three records (refer to Table 5-1):
Origin POINT: a record returning a point value to specify the
origin of the frame.
PT on X axis: a record returning a point on the X axis (positive or
negative).
PT in +Y dir: a record returning a point in the positive Y direction
(does not have to be on the Y axis).
Origin, POINT on
the + X axis
This option requires two records (refer to Table 5-1):
Origin POINT: a record returning a point value to specify the
origin of the frame.
PT on +X axis: a record returning a point on the positive X axis.
X axis, POINT on
+Y axis
This option requires two records (refer to Table 5-1 and Table 5-2):
X axis: a record returning a line to form the X axis of the frame.
POINT on +Y axis: a record returning a point in the +Y direction.
The Y axis will go through this point and intersect the X axis at the
nearest (perpendicular) distance from the point.
X axis, LINE thru
origin
This option requires two records (refer to Table 5-2):
X axis: a record returning a line to form the X axis of the frame.
LINE thru origin: a record returning a line. The intersection of this
line and the X axis line will form the origin of the frame. (This line
does not form the Y axis of the frame; the Y axis is perpendicular
to the X axis, starting at the point the two lines intersect.)
➍
Shows the X/Y coordinates and the rotation of the computed frame with respect to the
vision coordinate frame. The frame origin can be used by vision records requiring a
point value. The X axis of the frame can be used by records requiring a line value.
267
General Tool Records
G
G.1 Linear Ruler Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
G.2 Linear Ruler Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
G.3 Arc Ruler Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
G.4 Arc Ruler Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
G.5 Ruler Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
G.6 Ruler Profile Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
G.7 Window Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
G.8 Window Record Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
G.9 Image Processing Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
G.10 Image Processing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Add Two Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Subtract Images (A - B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Convolve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Morphological Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Edge Detection Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Threshold Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
Copy Image to New Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
G.11 Blob Finder Records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
G.12 Blob Finder Record Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
269
Appendix G - General Tool Records
G.1 Linear Ruler Records
A linear ruler detects edges (intensity transitions) along its length. The results returned by
this record are: the distances from the start of the ruler to the first edge and from the first
to the last edge, the X/Y coordinates of the first edge, the number of edge points found,
and a ruler clipped indicator.
➋
➊
➍
➌
➎
➏
➐
➑
➒
➓
Figure G-1
Linear Ruler Tool Record
270
Linear Ruler Record Options
G.2 Linear Ruler Record Options
➊
➋
Shows the name of the ruler record and the date it was last modified.
Select ✔ TopLevel to have this tool record included in the list of top-level records
editor.
window when an inspection using this record is run. See Chapter 9 for details on
repeat records.
➌
➍
➎
Choose this button to edit the absolute coordinates of the tool search area, or to make
the tool relative to a vision frame (see Section 9.6).
Specify the picture record to be used when an image is acquired for this tool.
Select
Sub-pixel grayscale edges for the ruler to locate edges based on grayscale
data using the edge strength value specified in item ➏.
Select
Binary edges using binary image for the ruler to locate edges based on
binary data using the threshold values specified in the picture record associated with
this tool record (item ➍).
Select
Binary (specified threshold) for the ruler to locate edges based on binary
data using the threshold values specified in item ➏. (When this option is selected,
item ➏ displays scroll bars for the thresholds.)
➏
If
Sub-pixel grayscale edges is selected, a slide bar for edge strength is displayed.
If
Binary edges using binary image is selected, this area is blank.
If
Binary (specified threshold) is selected, slide bars for threshold and 2nd
threshold are displayed.
➐
➑
Choose Show Profile to show the ruler profile (see “Ruler Profiles” on page 276).
The edge point reported in the Results group is the edge specified in Use
edge #.
Edge direction specifies the intensity change that must occur before an edge is
detected.
Dark-to-light detects edges only when the ruler senses a dark-to-light
transition (goes from a low graylevel value to a high graylevel strength value, or from
a black to a white pixel).
Light-to-dark detects edges when the ruler senses a lightto-dark transition.
Any direction detects transitions in either direction.
If ✔ Return “not found” if no edges is selected, the not found error is returned
when this tool fails to find an edge. The not found error generates a yellow warning
sign on any records using this record as a source record.
➒
The #edge points displays the total number of edges found by the ruler. The Clipped
item indicates whether the ruler was entirely within the FOV. Edge point displays the
coordinate values of the specified edge. Distance to 1st edge displays the distance
from the start of the ruler to the first edge found. Distance from 1st to last edge
displays the distance from the first edge found to the last edge found.
271
➓
272
See Chapter 9 for details on repeat records.
Linear Ruler Record Options
273
G.3 Arc Ruler Records
Arc rulers measure the angular spacing between edges along an arc. Gauge faces, gears,
and similar radially oriented objects can be effectively inspected with arc rulers.
➋
➊
➌
➍
➎
➏
➑
➐
➒
➓
Figure G-2
Arc Ruler Tool Record
274
Arc Ruler Record Options
G.4 Arc Ruler Record Options
➊
➋
Shows the name of the arc ruler record and the date it was last modified.
Select ✔ TopLevel to have this tool record included in the list of top-level records.
window when an inspection using this record is run. See Chapter 9 for details on
repeat records.
Choose Tool Loc to edit the coordinates of the tool search area, or to make the tool
relative to a vision frame (see Section 9.6).
➌
➍
➎
➏
Specify the picture record to be used when an image is acquired for this tool.
Select
partial arc or
Full circle. Once a shape has been selected, use the tool
drag handles to size and locate the tool. The tool location values can be displayed by
choosing Tool Loc .
angle or radii are changed.
Select
Sub-pixel grayscale edges for the ruler to locate edges based on grayscale
data using the edge strength value specified in Edge strength. (If this option is
selected, a slide bar for edge strength is displayed.)
Select
Binary edges using binary image for the ruler to locate edges based on
binary data using the threshold values specified in the picture record associated with
this tool record.
Select
Binary (specified threshold) for the ruler to locate edges based on binary
data using the threshold values specified in threshold and 2nd threshold. (If this
option is selected, scroll bars for threshold and 2nd threshold are displayed.)
➐
➑
Edge direction specifies the intensity change that must occur before an edge is
detected.
Dark-to-light detects edges only when the ruler senses a dark-to-light
transition (goes from a low edge graylevel value to a high graylevel strength value, or
from a black to a white pixel).
Light-to-dark detects edges when the ruler senses
a light-to-dark transition.
Any direction detects transitions in either direction.
Select
ruler.
Clockwise for edges to be searched for in a clockwise direction along the arc
Select
Counter-clock for edges to be searched for in a counter-clockwise direction.
The edge point reported in the Results group is the edge specified in Use edge #.
➒
➓
Choose Show Profile to show the ruler profile (see “Ruler Profiles” on page 276).
If ✔ Return “not found” if no edges is selected, the not found error is returned
when this tool fails to find an edge. The not found error generates a yellow warning
sign on any records using this record as a source record.
The #Number of edge pts item displays the total number of edges found by the ruler.
Clipped indicates whether the ruler was entirely within the FOV. Edge point displays
the coordinate values of the specified edge. Angle to 1st edge pt displays the angle
275
from the start of the ruler to the first edge found. Angle from 1st to last displays the
angle between the first edge found and the last edge found.
G.5 Ruler Profiles
When the Show Profile button is chosen from a ruler tool record, these graphs are
displayed. The ruler profile allows you to see exactly what a ruler is finding along its
length. The profiles are very useful for fine-tuning the edge strength and threshold values
specified for the ruler. They are also a good way to see how different lighting conditions
affect ruler performance.
➊
➋
➌
➍
➏
➎
➐
➑
Figure G-3
Ruler Profiles
276
Ruler Profile Options
G.6 Ruler Profile Options
➊
➋
➌
➍
➎
Plots the graylevel value found in each pixel the ruler crosses. If a binary ruler type
has been selected, purple lines on this graph indicate the values of Threshold and 2nd
threshold. Only the first 400 pixels are plotted.
This axis represents graylevel intensities.
Plots the difference in graylevel values from one pixel to the next. If a grayscale ruler
has been selected, purple lines on this graph represent the edge strength value. Since
edges are looked for in a dark-to-light as well as light-to-dark direction, there is a
purple line for each direction. The profile shown in Figure G-3 is for a ruler with edge
strength set to 20. The ruler found a dark-to -light edge and then another dark-to-light
edge. Only the first 400 pixels are plotted.
This axis represents the change in graylevel values between pixels (gradient).
If a grayscale ruler has been selected, a data box and slide bar for edge strength is
displayed. If you change the value of edge strength, the value in the tool record is also
changed.
If a binary ruler using specified threshold values has been selected, data boxes and
slide bars for Threshold and 2nd threshold are displayed. If you change the threshold
values, the threshold values in the tool record are also changed.
If a standard binary ruler has been selected (using the threshold values from the
picture record associated with the ruler record), this area is blank.
➏
Once a ruler profile has been displayed, the range of values on the Y axis is not
updated unless Re-plot is chosen. If you change threshold or edge strength values
so they exceed the current range of values, the purple lines indicating threshold and
edge strength values are not drawn until the graph is re-plotted.
If you move or re-size the vision tool while the Ruler Profile window is open, the data
for the new ruler location is not updated until Re-plot is chosen.
➐
➑
Choose this button to exit the ruler profile display.
This item shows the number of edge points that are detected.
277
G.7 Window Records
Windows return data about graylevel values or thresholded pixel values within the
window. These records are used primarily with the Window stats inspection type. See
Chapter 13 for a discussion of graylevel and thresholded pixel values.
➋
➊
➌
➍
➎
➏
➐
➑
➒
➓
Figure G-4
Window Tool Record
278
Window Record Options
G.8 Window Record Options
➊
➋
➌
➍
➎
➏
➐
Shows the name of the window record and the date it was last modified.
Select ✔ TopLevel item to have this tool record included in the list of top-level
inspections and the pick list displayed when a --vision-- argument is selected
from the sequence editor. Select ✔ Show at runtime to have the vision tool graphics
displayed in the vision window when an inspection using this record is run.
Choose this button to edit the absolute coordinates of the tool search area, to select a
tool editing mode (fixed center or 3 point), or to make the tool relative to a vision
frame (see Section 9.6).
Specify the picture record to be used when an image is acquired for this tool. Select ✔
Force absolute angle of zero to ignore the relative vision frame angle and always use
an angle of zero.
Select the window shape that most closely fits the area you are inspecting. Once a
shape has been selected, the default tool is shown in the vision window. Use the tool
drag handles to size and locate the tool. The tool shape and location values can be
displayed by selecting item ➌.
angle or radii are changed. This mode is not meaningful for rectangular shapes.
Select the statistics you want the record to gather. Not all options can be selected
individually. Selecting ✔ Standard deviation, for example, causes other options to
be automatically selected. See Chapter 13 for a discussion of graylevel intensities,
edge strength, and binary threshold values. The different operations are:
Count white/black pixels: Returns the number of white and the number of black
pixels found within the window. The threshold values used are the threshold settings
of the picture record associated with this tool (item ➍).
Count edge pixels: Returns the number of edge pixels found within the window.
When this option is selected, an Edge strength thresh data box is displayed. You
must enter the required change in intensity value between pixels before an edge will
be detected.
Average graylevel: Returns the average graylevel value found in the pixels within the
window.
Min and max graylevel: Returns the minimum and maximum graylevel values found
in the pixels within the window.
Dynamic white/black pixel cnt: Returns the number of white and black pixels. The
pixel count is based on the threshold values you enter into the Threshold and 2nd
threshold data boxes. (Threshold data boxes and slide bars are displayed when this
option is selected.)
Standard deviation: This option returns the standard deviation from the average
intensity value found within the window.
➑
If a graylevel statistic was selected from item ➐, the results are displayed here.
279
➒
➓
280
If a pixel counting operation was selected from item ➐, the results are displayed here
Window clipped indicates whether the search area was within the field of view.
Window Record Options
281
G.9 Image Processing Records
Image processing records allow you to perform various image processing operations on
the image from a picture record. This processed image can then be used as a source record
wherever a picture record is normally used.
➊
➋
➌
➍
Figure G-5
Image Processing Record
282
Image Processing Options
G.10 Image Processing Options
➊
➋
➌
➍
Select the image process you want to perform (described in the following section).
This area shows options specific to each operation (described below).
Specify the AOI (area of interest) option for the processed image. Normally, the AOI
is the same as the primary image. However, if you need to use the unprocessed image
for other vision tools, you can copy the processed image to a new AOI and preserve
the original image.
A virtual frame buffer combines with an AOI specification to identify a physical frame
store, virtual frame buffer, and area-of-interest for storing an image. See the
AdeptVision User’s Guide for details. For operations involving two images you have the
choice of using either picture’s buffer or a new buffer. For operations involving a
single image, you have the choice of using the picture’s buffer or a new buffer.
Add Two Images
This operation adds the grayscale or binary image data. Figure G-5 shows the options
when
Add two images is selected. The options are:
• Binary: The exclusive OR result of each pair of pixels is stored.
• Grayscale average: The grayscale values are added and divided by 2.
• Grayscale add: The grayscale values are added and clipped at 127.
You can set new threshold values for the resulting image.
Subtract Images (A - B)
This operation subtracts the grayscale or binary image data. The subtraction options are:
• Binary: The OR result of each pair of pixels is stored.
• Grayscale subtr. : The grayscale values are subtracted, 128 is added to the result (to
prevent negative values), and the result is divided by 2.
• Grayscale subtract: The grayscale values are subtracted and clipped at 0.
You can set new threshold values for the resulting image.
283
Convolve
This operation applies a defined convolution to the image. The Processing Parameters
group looks like:
Convolution kernels are defined in the visini initialization database. There are also
several pre-defined convolutions that are loaded when V + is started. See the description of
VDEF.CONVOLVE in the AdeptVision Referenc e Guide for details on the pre-defined
convolutions and how convolutions are used.
The convolution can be applied multiple times. Select the number of iterations for this
convolution.
Specify the threshold values for the resulting image.
Specify the source for the image.
Morphological Operation
This operation applies a defined morphological operation to the image. The Processing
Parameters group looks like:
Morphological operations are defined in the visini initialization database. The predefined
morphological operations that are loaded when V+ is started are “erosion” and “dilation.”
See the description of VDEF.MORPH in the AdeptVision Reference Guide for details on the
pre-defined operations and how morphological operations are used.
The operation can be applied multiple times. Select the number of iterations for this
operation.
Specify the threshold values for the resulting image.
Specify the source for the image.
284
Image Processing Options
Edge Detection Operator
This operation selects the edge detection operation used. The Processing Parameters
group looks like:
See the description of VEDGE in the AdeptVision Reference Guide for details.
Threshold Image
This operation allows you to apply both the first and second thresholds to an image. See
the description of V.2ND.THRESHOLD in the AdeptVision Reference Guide for details on
setting a second threshold.
Copy Image to New Buffer
This operation allow you to create an exact copy of an image. You can apply new
threshold values to this image.
285
G.11 Blob Finder Records
Blob finders locate bounded regions in the field of view. The blob finder returns the
centroid and the rotation angle of the region, the length and width of the bounding box of
the region, the area of the region, and whether a region was found.
➊
➋
➌
➍
➎
➏
➐
➒
➑
➓
Figure G-6
Blob Finder Tool Record
286
Blob Finder Record Options
G.12 Blob Finder Record Options
➊
Select ✔ Repeat if this record is to be used as a repeat record. See Chapter 10 for
details on repeat records.
➋
displayed requiring a source record that returns a frame value. Choose
Snap to
Full Screen to expand the blob finder tool boundaries to the entire frame size.
➌
Select a mode.
Full-featured provides all information available on a blob.
Quick-Blob mode provides less information but executes significantly faster. The
data items that are not available to quick blobs are grayed out.
Choose Select ordering to determine which blob is selected for processing from
among multiple blobs.
If the ✔ Repeat option is selected, this option allows you to determine the order in
which multiple blobs are processed. Several of the ordering options are based on the
bounding box of the blob. A bounding box is the smallest rectangle that can
completely enclose the blob.
➍
The blob finder tool calculates a frame based on the found blob. The X axis line options
are:
Select
Best fit ellipse for a line that goes through the major axis of an ellipse that
would best fit around the blob.
Select
Max radius for a line from the centroid of the found blob to the furthest
point on the perimeter of the blob.
Select
Min radius for a line from the centroid of the found blob to the nearest point
on the perimeter of the blob.
Select
Zero (constant) for a line through the centroid of the blob (line is parallel
to the vision X axis).
The calculated line is shown in yellow on the vision window (except for a Zero line).
➎
Select
Dark object if the object you are locating is dark compared with the
background.
Select
Light object if the object you are locating is light compared with the
background.
Enter the minimum and maximum areas for found blobs. No blobs will be located that
are smaller than the minimum area, or larger than the maximum area. The minimum
hole area is used in calculating the number of holes and the resulting hole area.
➏
Select ✔ Include hole areas in “Total Area” to have the vision system not subtract
hole areas from area calculations.
Select ✔ Don’t consider clipped blobs to have the vision system consider only blobs
that are entirely within the processed area of the field of view (when the tool angle is
0, 90, 180, or 270).
287
➐
Choose Show blobs to have the vision system outline the found blob(s). The outline
is shown in green in the vision window.
Choose Show Repeat Results to have the vision system display the frame results for
all found blobs. These are the results that are returned if this is used as a repeat record.
➑
The results returned for a blob are:
The Found item indicates whether or not a blob was found.
The Ang item displays the angle of the line specified in item ➏.
The Centroid X and Y items show the centroid of the found blob.
Blob area shows the blob area. Hole areas shows the area of all the holes in the found
blob. A hole is any area within the found blob that has the same intensity as the
background. (Item ➎ determines which intensity is object or background.) Total area
shows the total area of the found blob. Number of holes shows the number of holes
found in the blob.
If an orientation is selected, the angle of the orientation is shown.
The Perimeter item displays the perimeter of the found blob (if ✔ Compute
perimeter is selected).
➒
➓
288
This option uses the perspective correction from the camera calibration when
analyzing blobs.
Select ✔ Compute perimeter to have the perimeter of the found blob(s) calculated.
(Not available for quick-blobs.)
Index
Buttons, pressing
Numerics
2nd threshold
example 185
setting 81
C
A
Access level 29, 200, 201
Accounts
creating user 30
Active/inactive
menu options 22
Adept calibration sheet 85
AIM resource modules 14
Angle
measuring 103
Arc finder records 256–258
Arc finder tools
iterative refinement 258
Arc finders
controlling accuracy of fit line
Arc ruler 274–275
Arguments
completing 38
types 43
ASCII files
writing databases to 19
writing sequences to 19
AUTO.V2 198
Auto-loading modules 17
258
B
Back lighting 189
Backing up files 215
Backup/Restore utility 215–220
BASEINI.DB 195, 198
Baseline initialization database 195
BFD (backup file definition) 215
Bin size 77, 170, 223
setting limits 167
Binary image
example 182
Binary processing
defined 182
Binary vs. grayscale processing 184
Blob
defined 187
Blob finder records 286–288
289
13
Calibrating a camera 85
Calibration
camera 85
defined 184
methods 85
perspective distortion 85
CALL statement 62
Camera calibration 84–88, 187
and robots 85
Camera coordinate frame 140
Camera records 82–84
creating 82
Camera resource 19
Changing sequence arguments 43
Charts
inspection 170
Choosing items 13
Circle class records 92
Circle finder records 256
Clauses, optional 38
Clicking 9
Color filters 190
Combination records 155
Combine inspections
inspection type 225, 226
Combining operations 154–163, 230
Commenting statements 39
Completing arguments 38
Computed circle
creating 265
Computed circle records 264–265
Computed frame methods 144
Computed frame records 266–267
Computed frames
creating 142
Computed line records 260–261
Computed point records 262–263
Conditional frame records 246
Conditional statements
ELSE 64
END 63
EXIT_LOOP 66
IF 63
NEXT_LOOP 66
REPEAT 65
Index
WHILE 65
CONFIG_C 193
Contrast 186
Control panels
master 54
task 48
Control sequences 34
Conveyor resource 19
Copying files 212
Copying modules 17
Copying records 22
Copying statement lines 39
Correlation templates 130–131, 240–241
Correlation windows 132–133, 242–243
Cpk 173
Creating a sequence 34
Creating directories 212
Creating modules 17
Cursor 22
Cursor keys 21
Cutting records 22
Cutting statement lines
sequence editor 39
D
Data logging
and inspection record 77
Databases
global 20
importing/exporting ASCII files
variable 69
Debugging sequences 50
Deleting files 212
Deleting statements 39
Device, pointing 9
Diameter
measuring 104
Diffuse lighting 189
Digital I/O 176–180
displaying signal status 176
negative signals 178
numbering 177
soft signals 177
statements 178
viewing states of 176
with a picture record 178
Digital I/O statements 58, 178
Digital input
with picture record 178
Digital input signal
and picture record 81, 229
Digital output
setting state of 176
with inspection record 178
290
19
Digital output signal
and picture record 81, 229
specifying 223
Directional lighting 189
Directories
creating 212
duplicating 212
renaming 212
Directory
displaying file directory 212
for resource module 16
Disk and memory read-write 35
DISKCOPY 192
Displaying inspection results 170
Double clicking
retrieving records 26
Dragging 9
Dual-vision systems 21
Duplicating directories 212
E
Edge strength
defined 186
Editing modules 17
Editing records 21, 102
Editing sequences 37–56
during execution 56
Effort level
with arc finder tool 258
with line finder tool 251
with point finder tool 255
ELSE 64
END 63
Executing a sequence from a sequence
Executing VisionWare 8
EXIT_LOOP 66
Exiting record editing 24
Exporting databases 19
Exporting sequences 19
External trigger 178
and camera record 81, 229
F
F4 key 24
File Manager 212–214
Files
backing up 215
copying 212
deleting 212
displaying directory of
moving 212
renaming 212
212
62
Index
restoring 215
Finding and changing text
sequence editor 43
Finding records 23
Finding sequence arguments 43
Fixed frame
creating 267
Fixed frames 143
Fixed line 260
creating 261
Fixed point
creating 263
FOR statement 64
Force resource 19
Frame class records 92
Frame pattern records 244–245
Frame resource 19
Function keys
in sequence editor 40
IF 63
Ignore "not found" errors
system message 77, 223
Importing databases 19
Importing sequences 19
Index
sequence 35
Infrared filters 190
Initialization databases 195
BASEINI.DB 195
USERINI.DB 197
VISWINI.DB 196
VWINI.DB 197
Inspection
test running 79
Inspection charts 170
Inspection records 76–79, 222–223
Inspection results 168–173
setting pass/fail limits 78
Inspection results menu page 168
Inspection tree
for frame relative inspection 151
Inspection types
combine inspections 226
measure 224
test a value 108, 225
window stats 113
Inspections
combination 230
steps to create 28
Inspections types
measurement 96
Installing VisionWare 192
IO 179
IO command 176
IO statement 180
IO_LIST statement 180
Iterative refinement
arc finder 258
line finder 252
G
Gain 187
setting 81, 229
with graylevel statistics 114
Global databases 20
and modules 20
Graphics
displaying all 166
Graylevel statistics 113–117
calculating 279
Inspection type 227
Grayscale image
example 182
Grayscale processing
defined 182
Grayscale vs. Binary Processing 184
H
High warning limit
inspection record 78
Highlighting 21
Holes
in blobs or prototypes
K
Key combinations
187
13
L
I
I/O signals
and picture taking 81, 229
high warning limit 79
low warning limit 79
pass/fail 79
picture record 81, 229
setting signal after picture taking
229
81,
Lighting
back 189
diffuse 189
directional 189
strobe 189
structured 189
types 188
Line class records 91
291
Index
Line finder records 250–252
Line finder tools
iterative refinement 252
Line finders
controlling accuracy of fit line 252
Line to line angle
measuring 103–104
Linear ruler 270–271
LOAD
statement 68
Loading modules 15
Loading modules from a sequence 68
Location resource 19
Logging data
Logging off of the system 30
Logging on to the system 30
Logging vision results 171
Looping 154
Looping structures
FOR 64
REPEAT 65
WHILE 65
Low warning limit
M
Main menu
options 200
Managing files 212
Manual conventions 11
Master control panel 54
Maximum limit
Measure
Inspection type 224
Measurement types 96
angle between two lines 103
circle diameter 104
circle radius 104
point to line 101
point to point 97
Measurements
types of 96
Menu bars 200–210
main menu 200, 201
main menu bar vs. window menu bar
10
record editing 203
sequence editor 208
Menu options
active/inactive 22
Menu pages
standard features 10
292
using 10
Menu, selection 12
Minimum limit
Module
directory 16
Module resources
types of 19
Module utilities 17
Modules 14
and global databases 20
and sequences 34
auto-loading 17
copying 17
creating 17
deleting resources 19
editing 17
importing/exporting ASCII
loading 15
managing 17
resource 14
selecting 15
unloading 69
Motion devices
and VisionWare 3
MotionWare
using with VisionWare 8
Mouse 9
Moving files 212
N
NEXT_LOOP 66
Nominal value 78
NULL frame
creating 267
Null frames 143
O
OCR field record 136
OCR field records 238–239
OCR font records 134, 236–237
OCR operations 134–138
Offset 186
setting 81, 229
with graylevel statistics 114
Operating system
upgrading 193
Operator control panel 48–49
Optional clauses 38
Options, statement tree 46
P
Pass/fail conditions
19
Index
specifying 77, 223
Pass/fail criteria for boolean values 79
Pass/fail criteria for numeric values 77
Password 30
Pasting records 22
Pasting statement lines
sequence editor 39
Path
for resource directory 16
Path resource 19
PAUSE_TASK statement 68
Pausing a task 68
Performing sequences 13
Perimeter
calculating blob 288
Perspective correction 85
Picture records 80–81, 228–229
creating 80
Picture taking
waiting on I/O signal 81, 229
Pixel 117
defined 182
Pixel counting
background/object vs. black white
118
Pixels
counting 279
types of counts 118
Point class records 91
Point finder records 254–255
Point to line
measuring 101–103
Point to point
measuring 97–100
Pointing device 9
Polarizing filters 190
Profiles
ruler 276
Prototype finder records 128–129, 234–
235
Prototype model records 120, 232–234
Prototype parameters 125
Prototype training 120
Prototype vs. system parameters 125
Prototypes
creating 120
editing 122
Prototypes and camera calibration 120
Prototyping 120–129
Q
QCLOG.V2
Quick keys
173
record editing 204
sequence editor 209
R
Radius
measuring 104
Read only
option for sequence 34
Recent history 167
changing value of 167
Record
creating 25
finding 23
Record classes 90
circle 92
frame 92
line 91
point 91
test a value 108
test-a-value 93
Record editing
menu bar options 203
quick keys 204
Record types
arc ruler 274
arc/circle finder 256
blob finder 286
camera 74, 82
computed circle 264
computed frame 266
computed line 260
computed point 262
conditional frame 246
correlation window 132
correlation windows 242
frame pattern 244
inspection 74, 76, 222
linear ruler 270
OCR field 136, 238
OCR font 134, 236
picture 74, 80, 228
point finders 254
prototype finder 128, 234
prototype model 120, 232
template 130
value combination 230
vision tool 74
window 278
Recording vision results 171
Records
copying 22
cutting 22
deleting 22
editing 102
293
Index
other aids for creating 25
pasting 22
selecting different 23
Reference frames 140–151
camera 140
tutorial 148
using 140
Relative tool placement 140
Renaming directories 212
Renaming files 212
REPEAT 65
Repeat records
and combination inspections
Repeat trees 231
Resolution
defined 183
Resource module 14
directory 16
options 17
Restoring files 215
Results file 171
Results logging 171
enabling at start up 172
RESUME_TASK statement 68
Resuming a task 68
Retry statement 53
RETURN statement 63
Returning values 28
ROBINI.DB
initialization database 197
Robots
and VisionWare 3
Ruler profiles 276
Rulers
arc 274
graph of results 276
Runtime graphics
displaying 166
S
sample.arc.fdr 102
sample.ln.fdr1 102
sample.window 115
Scrolling 10
Searching for and replacing text
sequence editor 43
SELECT_TASK Statement 69
Selecting 21
Selecting a task 69
Selecting items 13
Selecting modules 15
Sequence
aborting 53
and module utilities 34
294
154
argument types 43
associated module 34
calling another sequence 62
copying/pasting statement lines 39
creating 34
debugging 50, 56
diskfile name 34
editing 37–56
editing during execution 50
execution 48
finding/changing arguments 43
pausing 48, 52
read only 34
read/write options 34
removing statements 39
selecting for edit 35
selecting for task 48
single step execution 50
single stepping 53
starting 48
Sequence control
LOAD 68
PAUSE_TASK 68
RESUME_TASK 68
RETURN 63
SELECT_TASK 69
START_TASK 69
STOP_TASK 69
UNLOAD 69
Sequence control statements 58, 68
Sequence editor
quick keys 40, 209
short cuts 40
Sequence index 35
Sequence resource 19
Sequences
and resource modules 34
and statement tree 45
control 34
importing/exporing ASCII files 19
single step execution 56
Sequences, performing 13
Serial output
vision results 171
Shifted Process Capability Index 173
Signals
negative number 178
soft 177
special 177
Single step execution 53
Single step execution of sequence 56
Single step sequence execution 50
Soft signals 177
Index
Software
installing 192
Source records 74
Speed
setting robot 50
START_TASK Statement 69
Starting a task 69
Starting the system 8
Statement
argument types 43
components 37
retrying 53
selecting in sequence 37
Statement lines
copying and pasting 39
Statement tree 45
options 46
Statements 58–69, 178–180
CALL 62
commenting 39
digital I/O 58
ELSE 64
END 63
EXIT_LOOP 66
FOR 64
IF 63
IO 179, 180
IO_LIST 180
LOAD 68
NEXT_LOOP 66
optional arguments 38
PAUSE_TASK 68
removing from sequence 39
removing temporarily from a sequence
39
REPEAT 65
RESUME_TASK 68
RETURN 63
SELECT_TASK 69
sequence control 58
START_TASK 69
STOP_TASK 69
UNLOAD 69
WAIT_FOR 178, 179
WAIT_UNTIL 179
WHILE 65
Stop on reject
system message 77, 223
STOP_TASK statement 69
Strobe
activating 81, 229
Strobe lighting 189
Structured lighting 189
Sub-pixel grayscale edges
line finder 251, 257
point finder 255
with ruler record 271
System access levels 29
System vs. prototype parameters
Systems
dual-vision 21
125
T
Task
described 54
pausing 68
resuming 68
starting 48, 69
STOPPING 69
Task control panel 48
Tasks
selecting 69
Test a value
tutorial 110, 112
Test running inspections 79
Testable values
list of 108
Test-a-value class records 93
Testing values 110–118
Threshold
defined 185
example 185
setting 81
Tool resource 19
Tree
vision 27
Tree, statement 45
Typing cursor 22
U
UNLOAD statement 69
Unloading modules 69
User accounts
adding 30
editing 30
Users
adding 30
Using prototypes 128
Utilities
backup and restore 215
file manager 212
module 17
V
Value combination records
Variable database 69
Variable resource 19
155, 230–231
295
Index
Vision frame 140
Vision frames
and frame class tools 140
full 141
translational only 141
Vision graphics
displaying all 166
Vision resource 19
Vision results
displaying 167
displaying graphics 166
Vision results file 171
Vision tools
making relative 147
relative placement 140
Vision tree 27–28
Vision window
VisionWare
installing 192
using with MotionWare 8
with a motion device 3
VisionWare initialization databases
Vison record
creating 25
VWAUTO.V2 198
VWINI.DB 197
197
W
WAIT_FOR 178
WAIT_UNTIL 179
Walk thru training 50
WHILE 65
Window features 9
Window records 278–279
and pixel counting 118
Window stats 113–118
Windows 9
closing 10
opening 9
selecting 10
sizing 10
296
Adept User’s Manual
Comment Form
We have provided this form to allow you to make comments about this manual, to point
out any mistakes you may find, or to offer suggestions about information you want to see
added to the manual. We review and revise user’s manuals on a regular basis, and any
comments or feedback you send us will be given serious consideration. Thank you for
your input.
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MAIL TO: Adept Technology, Inc.
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FAX: (408) 432-8707
00713-00230, Rev. A

VisionWare User`s Guide - Adept Technology, Inc.

Transcription

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