Operating instructions. camat Vision Sensor

Transcription

1 Operating instructions

2 1 General notes General product description Product identification Safety notes Performance specs (applications and properties) Special features Technical data Device description Included in delivery Usage conditions Accessories Device views Operating voltage supply Interfaces Digital I/O interfaces RS232 interface USB interface User interface Start-up Mechanical fixing Operating distance and recording area Electrical connection Plug-in power supply Power/PLC cable RS232 cable USB cable User interface Software installation Introduction and description Parametering Parametering via the user interface Activities to be performed first Setting up communication and set exposure time Position tracking Overview of the functions for parts identification Setting up area test function page 2

3 6.1.6 Setting bright part function Setting grey value test function Remove/change function Setting I/O Manager Saving settings, start test mode and end communication Multiple programmes Maintenance and service Finding faults Update Technical support Appendix Technical drawings Dimensions Adapter plate S Description of functions Search pattern and position tracking function Area test function Bright part function Grey value test function Description of the 3964R Protocol Terms used in industrial image processing Test pattern Imprint Contact Version Copyright Index...85 page 3

4 1. General notes Product information These operating instructions include technical information, important instructions for specific startup and use, as well as product information in accordance with the most up-to-date status before going to press. The content of these operating instructions and the product's technical data may be changed without prior notice. Vision & Control GmbH reserves the right to make technical data-related changes and changes to the materials included herein. Warranty and liability The user may neither make changes to the product that go beyond the scope of its intended use nor interfere in any other way with the product. We guarantee the fault-free status of the product as understood by our advertising, the product information published by us, and these operating instructions. Any other product properties not included in these are not approved. We do not accept any responsibility for the product's cost-effectiveness or fault-free functioning with any use for any purpose other than that defined in the section entitled "Proper and intended use". Claims for compensation shall generally be ruled out, with the exception of instances in which proof of intentional or gross negligence on the part of the manufacturer can be proven. We shall not accept responsibility for the consequences of using the product in environments that do not comply with the product's proper and intentional use. Furthermore, we also reject responsibility for any damage to equipment systems in the environment in which the product is used, which can be attributed to a faulty function of the product or an error in the operating instructions. We reserve the right to make changes without any specific or special notice. We do not accept responsibility in any case for any secondary or consequential damages or lost profits that may arise from activities relating to these operating instructions, especially if reference has been made to the possibility of such damage, and knowledge of such was compulsory. We do not accept any responsibility for the violation of patent and other rights of third parties outside the Federal Republic of Germany. Proper and intended use camatvision Sensor is a compact and industry-standard image processing system for quality assurance and process automation. This system is designed for industrial applications. camatvision Sensor provides compact measurements and the right image resolutions and calculation speeds for the right requirements. Any use for any purposes not explicitly specified in these operating in- page 4

5 structions and all other applicable documents shall be excluded. The usage conditions and safety information specified in these operating instructions must be complied with. Should you wish to use camatvision Sensor for any purposes other than those described here, we will be only too happy to assist with the necessary configurations. Please inform your supplier accordingly. Copyright These operating instructions, which are only intended for the operators and their staff, are protected by copyright. If a transfer of rights within the scope of the product license granted is not permitted, the users of the operating instructions may neither reproduce nor distribute the notes and information included in the operating instructions and any other product information, nor may they pass these on to any third parties for any use whatsoever. Infringements may result in civil or criminally liable consequences General product description The camats47 is a flexible image processing system. The Vision Sensor 's components form one lean unit in a compact, robust, tightly sealed industrial-standard housing. Camera, precision lens, LED lighting, analysis electronics, interfaces and high-performance software. The Vision Sensor stands out from the crowd with its high performance and exceptional flexibility and user-friendly operation. Function To perform simple tasks for object localisation with easily differentiated features and contrast-rich objects with the Vision Sensor, you merely have to use the buttons directly on the Vision Sensor (explanations in chapters 5.4 and 6.1). These settings can be optimized and further test functions can be extended via the SensorUI user interface (explanations in chapters 5.5 and 6.2). You can also operate the user interface with a virtual device (simulator). This includes the functionality of the entire sensor, but it cannot take pictures. You do, however, have the option of using pictures from your computer (host computer) with the simulator. Set-up via the user interface With the user interface you can view, optimize and extend the taught-in configuration with additional functions. This requires a USB connection between the PC and Vision Sensor. page 5

6 Use with a PLC After teaching-in, the test process can be started via a digital input (24V). This does not require a connection between the USB or RS232 interface between the host computer and camats47. Easy operation guarantees a fast and uncomplicated upgrading of the camats47 for new applications. Communication The camats47 communicates with the process via the digital I/Os, the respective states of which are signalled by the LED displays. The communication between Vision Sensor and SensorUI (user interface on the PC) is via the USB connection. A measured value output during operation is possible via RS232. The 3964R-Protokoll is used here. You will find a description of the 3964R-Protokoll in the appendix in chapter 8.3. All-in-One Integrated camera, precision lens, extremely high-power LED lighting, analysis electronics SensorUI software, for graphic, dialog-based programming with Windows Autonomous functionality without additional peripherals Compact, fanless and robust housing Precise fixing options Easy installation and handling Efficient image processing commands High-performance High-speed inspection, up to 40 parts per second Resolution of max. 0.1 mm enables precise test object recording Digital signal processor from the manufacturer Analog Devices - optimized for image processing tasks Intelligent Process reliability Large picture areas; up to 129 x 83 mm² Factory prealigned optics; accurate to +/- 1 pixel High resolution 720 x 480 pixels High image rate; 60 fps at full resolution page 6

7 Highly modern Micron CMOS camera for precise picture quality Selectable exposure times LED lighting High illumination levels with numerous high-power LEDs integrated into the Vision Sensor Independent of external light sources; brightness preset Switching operation coupled with image recording Long lifetime with integrated temperature management Can be used in incident light procedures Optional transmitted light operation possible Continuous light and pulse operation coupled for image recording possible Industrial-standard Wide-range voltage input of VDC High housing protection rating: IP67 High EMC compatibility Polycarbonate disk with scratch-proof coating Temperature usage range 0-55 C User friendliness Easy teach-in (auto) ensures automatic detection of objects and saves significant features. Results are visualised on the graphic interface Step-by-step menu guide according to a priciple similar to 'wizard' No previous knowledge of image processing required Intuitive user guidance Easy parametering with auto function of all commands (tools, functions), including exposure time suggestion with auto shutter function Serial transfer of inspection results Easy installation with factory prealignment of optics, lighting and camera, as well as an extensive range of installation accessories Extremely short conversion times Swap-outs without repeat teach-in, when fixing is via guide sleeves page 7

8 Functions Contrast sensor Brightness sensor Position adjustment Area sensor Distance sensor Point sensor Contour sensor Pattern sensor Object sensor Areas of application Automation solutions, particularly in the industries: Electronics Automotive Pharmaceutical Packaging Food Applications As a "seeing picker" optical sensor system for pick & place tasks with position invariants and flexible objects (cables, tubes, etc.) Completeness and presence checks of mechanical components (e.g. pins, rings, nuts, screws, other metal and plastic parts) Pattern search (x, y rotation position, degree of concurrence) Periodicity of objects is taken into account Installation and feature controls Detection of disruption edges Packaging checks Faulty parts sorting out Formed parts verification page 8

9 Functional inspection Liquid fill heights Seal and label positions Print and symbol checks Display inspection Tracing and documentation as understood by continuous quality assurance User interface Configurations can be entered on laptops or PCs with the integrated SensorUI graphic user interface. The user is taken step-by-step via the menu guide through the operating programme. With the SensorUI user interface the user has the most diverse additional default functions: The details of the processing time of every command are used for optimizing and estimating times during the integration phase. Images can be saved for statistics during the test process on a hard disk. These can then be opened and visualised in the graphic interface. The auto teach-in function offers automatic brightness adjustment for optimised image acquisition Up to 100 different test functions per application can be parametered, and are saved in a test file. Some 100 different test files can be saved on the Vision Sensor and selected via RS232, digital input or parametering interface. Interfaces The Vision Sensor can be parametered application-specific via USB 2.0 as required. Live and diagnostics images can be transferred via the interface for documentation. USB 2.0 interface for configuring and operating the Vision Sensor RS232 for serial transfer of measured values for measured value statistics and start-up; baud rate can be configured for up to 38,400 kbit/s An analogue output for measured value transfer Digital I/O interfaces: Three IN, three OUT Option of job selection, triggering, teach-in, issuing status messages and measured values in 3964R-Protokoll page 9

10 Digital I/Os are short-circuit-proof Four different measurement results can be coded with two OUTs (one additional OUT = ready/ waiting - pulse time can be configured; one IN = trigger, two more IN = sensor control) Interfaces for the process for communication with external systems (industrial standard PC, robot control, PLC, µc, etc.) Wide-range voltage input of VDC Uncompressed image transfer in less than 50 ms Robot-suitable cables optionally available page 10

11 1.2. Product identification Product group: Vision Sensor S47 = Vision Sensor with integrated optics and lighting Model name Working distance Lighting colours S R 150 Red S BL 150 Blue S IR 150 Infrared S R 300 Red S BL 300 Blue S IR 300 Infrared S R 450 Red S BL 450 Blue S IR 450 Infrared Table 1: Product identification page 11

12 2. Safety notes CAUTION Data loss with operating errors! Do not interrupt the device's power supply while the RAM content is being saved in the FLASH-ROM! CAUTION Data loss with ground loops! Avoid ground loops! They can cause data loss and device defects. CAUTION Data loss with voltage interruptions! The inputs and outputs become inactive immediately if the operating voltage is switched off or fails. Parameters that are not already saved in the Flash ROM are lost. CAUTION Damage caused by short-circuits! The simultaneous short-circuits of more than one output damage the outputs. Overloaded outputs can generate dangerous heat. CAUTION Damage caused by insufficient earthing! Operating voltages and input voltages over 36 V damage the device and the inputs/outputs. page 12

13 3. Performance specs (applications and properties) The camatvision Sensor enable optimum integration of the image processing into the process environment. They are the preferred choice in all areas of automation technology. The following application areas can consequently be reliably covered: Localization Inspection Presence checks Surface checks Completeness checks Rotation position detection Classification Many years of experience in developing and producing numerous components for industrial image processing and a multitude of system solutions based on a tried, tested and proven image processing library form the basis for the Vision Sensor produced by Vision & Control GmbH. The camatvision Sensor are based on proven lighting, optics and vision systems. In addition to a variety of sensor functions, camatvision Sensor also feature the easiest possible operability. The camatvision Sensor boast a specialized range of functions for performing specified tasks and classes of task. camatvision Sensor specialize in the analysis of a general object property or in the detection of industry-specific features Special features Optics, LED lighting and image processing software are perfectly harmonised in a compact housing "Transmitted light" option, for which separate illuminations can be used The integrated shutter automatically adjusts to the ambient brightness during parametering The compact and tightly sealed housing ensures both very little influence from external light and high EMC resistance IP67 is guaranteed Variety of interfaces: The camatvision Sensor supports digital I/Os with 24 VDC, RS232 and USB 2.0 Quick, easy and convenient parametering with SensorUI page 13

14 3.2. Technical data Name/ ident. no.. S R / S R / S R / S BL / S BL / S BL / S IR / S IR / S IR / Features Processor Analog Devices Blackfin 500 MHz RAM 64 MB SDRAM ROM 8 MB Flash Interfaces Communication USB 2.0, RS232 Digital inputs 4 universal inputs; 24 VDC; galvanically decoupled Current inputs Max. 1.0 ma per input Digital outputs 4 universal outputs; 24 VDC; galvanically decoupled Current outputs Max. 150 ma per output Typical cycle times 50 to 300 ms General Operating voltage 20 to 36 VDC Power Lighting turned off: 3 W / Lighting turned on: 6 W Earth 430 g Dimensions (W x H x D) Fixing Operating distance 63 x 63 x 75 mm³ 1x thread 1/4" UNC, each side 2 x M4 with centering ring 6h7, with 30 mm spacing 150 mm 300 mm 450 mm Image field size approx. 75 x 48 mm² approx. 112 x 73 mm² approx. 129 x 83 mm² Pixel resolution 0.10 mm/pixel 0.15 mm/pixel 0.18 mm/pixel Protection rating IP67 Housing material Aluminium alloy Operating temperature Storage temperature Humidity Operating displays Settings/parametering Functions Number of test objects 0 to 55 C -25 to 60 C Operation: 20% to 80% / Storage: 20% to 95%; no condensation permitted 2 green power LEDs on housing rear Host computer; SensorUI Search pattern; count pixels; bright part; grey value test / position tracking 360 with pattern detection With one setting differentiation of up to 4 test objects by coding the digital outputs or differentiation of up to 1024 test objects by coding the analogue output; unrestricted number of settings can be reloaded Camera Sensor Resolution Pixel shape Pixel size Frame rate (fps) Shutter page 14 1/3" wide VGA CMOS; b/w; global shutter 720 x 480 pixels Square 7.4 x 7.4 µm 60 fps maximum 56 to µs

15 Name/ ident. no.. S R / S R / S R / S BL / S BL / S BL / S IR / S IR / S IR / Lighting and optics Lighting Integrated ring illumination (incident light) Wavelength illumination 630 nm (red), 470 nm (blue), 880 nm (infrared) Lens focal distance 10 mm 12 mm 16 mm Sharpness (blur = 2 pixels) -11 mm, +13 mm -19 mm, +22 mm -36 mm, +43 mm Table 2: Technical data page 15

16 4. Device description 4.1. Included in delivery Figure Name Quantity camats47 with integrated lighting and lens 1x power/plc cable, 2.5 m 1x serial RS232 cable, 1.8 m 1x USB cable, 1.8 m 1x plug-in power supply; 1.8 m, not IP67; temperature range: 0-40 C; 3 KVAC ESD rating 1x CD-ROM with: SensorUI software, operating instructions camats47(pdf format) 1x Table 3: Included in delivery page 16

17 4.2. Usage conditions The following usage conditions for operation and storage apply for the camats47 : Operation Storage Temperature 0 C to +55 C -25 C to +60 C Humidity 20 to 80% 20 to 95% Condensation Not allowed Not allowed Table 4: Usage conditions The warranty not longer applies with non-compliance of the usage conditions. The usage conditions apply exclusively for the camats47 and not for accessories of any kind. For the respective accessories please see their specific details. The camats47 protection rating is IP Accessories The following accessories and replacement cables are available for the camats47: Figure Name Cable length Order no. Power/PLC cable 2.5 m Serial RS 232 cable 1.8 m USB cable 1.8 m X-XX-XXX Plug-in power supply, not IP67; temperature range: 0-40 C; 3 KVAC ESD rating 1.8 m X-XX-XXX Table 5: Accessories 4.4. Device views Detailed technical drawings with all dimension details and fixing options are provided in the appendix in chapter 8.1. page 17

18 Image 1: Front view with lens and lighting No. Description 1 Integrated lens 2 Integrated lighting (with the SRV-150-R, SRV-300-R, SRV-450-R and SRV-150-IR models there is a diffuser cover in front of the lighting instead of the clear cover) Table 6: Figure details - Front view with lens and lighting Image 2: Rear view with elec. connections and display elements No. Description 3 Connection port for power/plc cable 4 Connection port for USB cable 5 Connection port for RS232 cable 6 Display elements (green LED) for operating voltage statuses (PWR-P for power PLC and PWR-C for power camera) 7 Display elements (red LED) for the status (HIGH/LOW) of the READY signal, the digital outputs (OUT-2 to OUT-3), of the OK confirmation and the lighting status (ON/OFF) A detailed description of the display elements is provided in chapter Table 7: Figure details - Rear view with elec. connections and display elements page 18

19 Image 3: Side view with fixing options No. Description 10 Two countersinks each on all four sides of the base plate 6 H7 (depth: mm) at a spacing of 30 ± 0.02 mm. Congruently, two metric threaded M4 drill holes each with a maximum screw-in depth of 10 mm from the base of the countersinks at a spacing of 30 ± 0.05 mm. These screw-in features include the use of guide sleeves to ensure precise position mounting (reproducible). 11 I 1/4" UNC thread in the centre of the underside of the base plate Table 8: Figure details - Side view with fixing options 4.5. Operating voltage supply Operating voltage parameters Properties Operating voltage 20 to 36 VDC Maximum operating voltage Voltages over 36 V damage the device Requirements for voltage source Voltage interruptions are not permitted and cause data losses Voltage supply with contact protection and earth Input current (power) 1 A at 24 VDC Integrated switching power supply properties Voltage regulation Isolated voltage supply for digital I/O interfaces (PWR-P) and image processing unit (PWR-C) Inverse-polarity protection for external voltage with diode Table 9: Requirements for voltage supply page 19

20 4.6. Interfaces Connection Power/PLC port Function/special features Operating voltage supply, galvanically isolated Three PLC compatible digital inputs, 24 VDC Three PLC compatible digital outputs, 24 VDC Use of digital input 1 for externally triggering the image processing system Digital output 1 is the ready signal RS232 port Connection to process environment via the 3964R-Protokoll Communication with other systems Process data transfer (measurement data) USB port Vision Sensor configuration and operation Transferring live and diagnostics images 8 x M4 and 1 x ¼" UNC mounting thread Mechanical fixing Table 10: Interfaces page 20

21 Digital I/O interfaces The camats47 has four digital inputs and four digital outputs for communication, among others. These I/Os are very robust and work at PLC voltage levels. Inputs Properties Quantity 4 Input voltage 0 to 24 VDC Maximum input voltage Voltages over 24 VDC cause damage Input current 1.0 ma at 24 VDC operating voltage Input impedance Approx. 100 kohm Trigger threshold / high signal detection 8 V (hysteresis-free) Internal inputs signal delay with level change 40 µs Min. pulse width on input 2.5 µs Response time to input signals > 1 ms Input decoupling Galvanically isolated by digital isolators (1 kv isolation voltage) Input overvoltage protection Internal protection diodes Table 11: Digital input parameters Outputs Properties Quantity 4 Input voltage 24 VDC Maximum input voltage Voltages over 24 VDC cause damage Output decoupling Galvanically isolated by digital isolators (1 kv isolation voltage) Connected potential Positive operating voltage; the ground connection is not interrupted Ampacity Max. 150 ma per output Ampacity limit value 1 A; higher currents can cause damage Protective circuit fuse Fuse for 1 A currents, when only one output is short-circuited. If more than one output is short-circuited, the outputs will be damaged. Switching capacity Max. 9.6 W (24 V, 400 ma) Inverse-polarity protection For external voltage source with diode Internal protective circuit Enables inductive and capacitive loads to switch Pull-down resistance 47 kohm Table 12: Digital output parameters page 21

22 RS232 interface The camats47 has an RS232 interface for serial communication. The baud rate is set at the factory to 9,600 kbit/s. A changeover via the SensorUI is possible. Serial interface properties: Name Parameters Baud rate 1,200-38,400 kbit/s Number of bits 8 Number of stop bits 1 Parity None Flow control None Table 13: RS232 interface parameters USB interface The USB 2.0 interface is used for configuring and operating the Vision Sensor. Live and diagnostic images can be transferred via the USB interface for documentation. Name Parameters Standard USB 2.0 (USB 1.1 compatible) Max. data transfer rate 480 Mbit/s Device mode The PC is the host Table 14: USB interface parameters User interface Operation is via: Parametering the image processing modules integrated in the camats47 via the SensorUI. This suitable for users without any special programming knowledge. page 22

23 5. Start-up 5.1. Mechanical fixing Detailed technical drawings with all dimension details and fixing options is provided in the appendix in chapter 8.1. Image 4: Fixing options No. Description 9 Two countersinks each on all four sides of the base plate 6 H7 (depth: mm) at a spacing of 30 ± 0.02 mm. Congruently, two metric threaded M4 drill holes each with a maximum screw-in depth of 10 mm from the base of the countersinks at a spacing of 30 ± 0.05 mm. These screw-in features include the use of guide sleeves to ensure precise position mounting (reproducible). 10 1/4" UNC thread in the centre of the underside of the base plate Table 15: Figure details - Fixing options 5.2. Operating distance and recording area Image 5: Operating distance and recording area No. Description 1 Operating distance*: Depending on Vision Sensor used, 150mm, 300 mm or 450 mm 2 Recording area in X and Y direction*: Depending on Vision Sensor used (X x Y): 75 x 48 mm, 112 x 83 mm or 129 x 83 mm page 23

24 3 Test object 4 Light direction of the integrated lighting (incident light) * The precise assignment of the operating distance and the recording area for the respective Vision Sensor can be found in chapter 3.2. Table 16: Figure details - Operating distance and recording area 5.3. Electrical connection When connecting the camats47 it must be ensured that the camats47 and the power/plc cable are earthed. Unused connection ports on the rear of the camats47 must be provided with mounted cover caps include in delivery. Three variants are available for the camats47 voltage supply: Voltage supply with plug-in power supply without using the digital I/O interfaces Voltage supply via power/plc cable with use of the digital I/O interfaces Voltage supply via power/plc cable without use of the digital I/O interfaces Plug-in power supply If the plug-in power supply included with delivery is used, its mains plug must be plugged into a 230 V (AC) socket before the electrical connection to the Vision Sensor can be made. The camats47 connection with the voltage supply is made with the plug-in power supply. The plugin power supply included with delivery must be connected to a socket (230 VAC) for this. When using the plug-in power supply as voltage supply, the digital I/O interfaces cannot be used. Image 6: Plug-in power supply electrical connection Power/PLC cable The camats47 is connected to the voltage supply and to the digital inputs and outputs of a control unit via power/plc cable. The power/plc cable included with delivery must be wired according to the following connection assignment for this: page 24

25 Image 7: Power/PLC cable electrical connection Hirose plug Colour Assignment Open cable end 1 White PLC OUT 1 Digital output 1 (ready signal) 2 Grey/pink PLC GND Digital I/O interfaces GND 3 Red PLC PWR Digital I/O interfaces +24 VDC 4 Brown PLC OUT 2 Digital output 2 5 Grey PLC IN 1 Digital input 1 (trigger) 6 Yellow VA 2 Analogue output 2 7 Red/blue CAM PWR Image processing unit +24 VDC 8 Green PLC OUT 3 Digital output 3 9 Purple VA 1 Analogue output 1 10 Black CAM GND Image processing unit GND 11 Pink PLC IN 2 Digital input 2 12 Blue PLC IN 3 Digital input 3 13 Shielding Shield Cable shielding Table 17: Power/PLC cable terminal assignment Power/PLC cable properties: camats47 -side cable end: 12-pin HIROSE plug Other cable end: open cable end with wire end sleeves Cable shielded External diameter: max. 7 mm RS232 cable The camats47 connection to the host computer is made with RS232 cable. The serial RS232 cable included with delivery must be connected with a free serial interface (COM) of the host computer for this. page 25

26 Image 8: RS232 cable electrical connection Hirose plug Colour Assignment D-Sub plug(w) 1 Shield Shield Shield 2 White RS TX 2 3 Brown RS RX 3 4 NC NC NC 5 Grey GND 5 6 NC NC NC NC = Not connected Table 18: RS232 cable terminal assignment RS232 cable properties: camats47 -side cable end: 6-pin HIROSE plug Other cable end: 9-pin Sub-D plug Cable shielded External diameter: max. 5.2 mm USB cable The camats47 connection to the host computer is made with USB cable. The serial USB cable included with delivery must be connected with a free USB interface (USB 2.0) of the host computer for this. The USB 2.0 driver on the CD-ROM included must be installed with the first connection. Image 9: USB cable electrical connection page 26

27 Hirose plug Colour Name USB plug 1 Shielding USB shield USB shield 2 Shielding USB shield USB shield 3 White D- 2 4 Green D+ 3 5 Black GND 4 6 Red VCC 1 Table 19: USB cable terminal assignment USB cable properties: camats47 -side cable end: 6-pin HIROSE plug Other cable end: USB plug, type A Cable shielded External diameter: max. 5.2 mm 5.4. User interface Software installation The software for the S47 is on the CD ROM included with delivery. Execute the setup.exe and follow the displayed instructions. The software optionally installs an icon on the Windows desktop and creates entries in the start menu. During the installation process, a device driver is also copied on to the hard disk. When you exit and start the camats47 for the first time on a PC, you must first install the required driver. To do this, in the Wizard for searching for new hardware select the "No, not this time" option and confirm with the Next button. page 27

28 Image 10: First dialog bix in the Wizard for searching new hardware In the next dialog box you select Install software from a list of specific sources (for advanced users) and confirm with the Next button. Image 11: Second dialog bix in the Wizard for searching new hardware In the next dialog box select Search these sources for the most suitable driverand click on the Also search following sources checkbox, and after pressing the Search button select the driver directory in the Search folders window. If you have not given any separate directory with the installation, the driver directory is located at: C:\Programme\Schunk\Vision Sensor SRV GUI\Driver. page 28

29 Confirm the driver directory by pressing the OK button. Depending on the operating system used, select Win2k for Windows2000 or WinXP for WindowsXP or Windows Vista. Image 12: Third dialog box in the Wizard for searching new hardware and the Search folders window You confirm the following dialog box with the Continue installation button. page 29

30 Image 13: Hardware installation window and the fourth dialog box in the Wizard for searching new hardware Confirm the last dialog box with the Finish button. The driver for the camats47 is now installed. System requirements Medium power class PC, from Pentium III Operating systems: Windows 2000 (SP4), Windows XP (SP2), Windows Vista (Windows operating systems with 64 bits are currently not supported, please ask about further supported versions) USB interface (USB 2.0 recommended) 350 MB hard disk space (.NET installation) Min. 256 MB RAM Serial interface (optional for receiving the function results via RS232 during the test).net 2.0 page 30

31 Starting and closing sensor interface Start the SensorUI by double-clicking on the SensorUI icon or from the menu bar with: Start Programme Schunk SensorUI Schunk SRV GUI. Close the SensorUI with ALT+F4 or by pressing the X (close window) in the top right corner of the window SensorUI. Note A USB connection to the host computer is required for parametering with sensor interface. The computer is automatically disconnected when it goes to standby or idle mode Introduction and description General operation Setting options on the start screen When you start the SensorUI you are in the main interface. In this status you are not connected with the Vision Sensor. Only the Connect and Settings buttons are active on the start screen. The other areas are still inactive. The interface areas are named as follows: Area1 Sensor image area Area 2 Function results Area 3 Control Area 4 Parametering page 31

32 Image 14: User interface start screen Connect You define the device that you want to communicate with as follows: In the selection list on the right beside the Connect button select a connected device or the simulator. The simulator is a virtual device. It includes the functionality of the entire Vision Sensor, but it cannot take any pictures. You can, however, load saved pictures on your PC into the simulator. You can then make the connection with the Connect button. page 32

33 Image 15: User interface after connecting Following successful initialization, several areas are active on the SensorUI. The actions/settings that can be performed in these areas are explained in the following. Control Settings The language for the SensorUI can be set in the Settings window. The language settings of your Windows operating system are accepted when you select the Accept Windows settings option. When you have selected the language you want, it is only first accepted after the programme restart. You can also specify a directory in which the SensorUI is to save the error images for the respective current programme. A sub-directory, in which the images for the types specified in the I/O Manager are saved, is created here with the name of the respective programme. Connect/disconnect page 33

34 You establish a connection with the Vision Sensor with the Connect button. Once the connection has been set up, the button's function changes to Disconnect. If there is an error you are shown: Check that the camats47 is correctly connected and the power supplying current. Check that the Vision Sensor has finished initializing. This is identified by lit RUN-LED and unlit TEACH-LED. Check that the Vision Sensor is not in the teach mode (via the function buttons). Try to establish a connection to the Vision Sensor again by pressing the Connect button. Check that the programme has been opened for the second time and a connection to the Vision Sensor has been established. Activate live image Activating the Activate liveimage option with an existing communication between SensorUIand camats47 shows the live sensor image in the sensor image area. If required, a physical re-alignment of the camats47to the visible recording area can now be made. The Activate live image option must be deactivated to parameter the camats47. "Overall test" button With the Overall test button you start the complete test process of the Vision Sensor. The current image is shown in the sensor image area. The measured values are shown in the Function results area. Note Ensure that the Take new picture checkbox is clicked if you want to take a new picture of the Vision Sensor for this test. page 34

35 Test process The complete test process is parametered via the Camera, Tracking, Functions, Inputs/outputs tab. A description of the individual tabs and their control elements is provided in the following. You will find the explanations for parametering the individual test functions in chapter 6.2. You will find explanations for the mode of functioning of the individual functions in chapter 8.2. Parametering Camera tab The settings in the Camera parameters area are described in the following. Image 16: Camera parameters area General information page 35

36 Information on the Vision Sensor is provided in the "General information" section. This includes: Sensor name, serial number, software version, as well as camera resolution and type. Exposure time The exposure time is specified in this area. The setting is made via a logarithmic sliding controller or via direct value entry. After pressing the Test button the set exposure time can be evaluated on the basis of the sensor image or during the live image inspection. Alternatively a suggestion for the exposure time can also be provided by pressing the Auto button. The value range of the adjustable exposure times is between 56 and 40,000 µs. Selecting the lighting control Three modes can be selected for the lighting: Modes State On The lighting is always on Off The lighting is always off Automatic The lighting is generally off and is only switched on for the period of the image recording. If the Automatic option is selected, a lower demandon the lighting prevents heat buildup and the lifetime of the LEDs is extended. Activate the "Take picture" checkbox With the Activate picture checkbox you decide whether a new picture of the Vision Sensor is to be taken for the test. This overwrites the last picture taken. A picture is only taken with a test of the complete test process (Test button in the control area). A picture is generally not taken with individual tests. Deactivate this checkbox if you want to work with saved images from the hard disk, or you want to make the setting just made on the same image again. The trigger input is then also deactivated and the Vision Sensor does not perform any tests on external trigger signals. "Take picture" button With the Take picture button you immediately take a picture. A trigger signal is not waited for here and the status of the Activate picture checkbox is not taken into consideration. "Load picture" button page 36

37 With the Load picture button you can transfer a saved picture from the hard disk to the Vision Sensor in order to perform sensor functions directly on this picture. The "bmp", "png" and "jpg" file formats can be used. The Activate picture checkbox is automatically deactivated when a picture is loaded in the Vision Sensor. "Save picture" button The Save picture button allows you to save the picture of the camats47currently being displayed in a file on your computer. "Tracking" tab The position and the rotation position of an object can be determined in the Tracking area. A pattern is taught in for this. All commands on the Functions tab are then relative to the position of this pattern. You can therefore adjust the position and rotation changes of an object for the following test commands. You will find an example for this in the annex in chapter Note The position tracking should be set up before functions are added. page 37

38 Image 17: Setting up the tracking You use the Activate position tracking checkbox to activate the position tracking for all subsequent functions. If the checkbox is not active, no functions are tracked. If the position tracking is active, but not performed successfully, none of the subsequent functions are performed. The parameters of this function correspond with the Search pattern function. (See chapter 8.2.1) "Individual test" button With the Individual test button, when a pattern is taught in, only the position tracking function is performed. All other functions are not executed. A new picture is not taken with this test. The position of the localised pattern is identified in the picture with a blue arrow. Image 18: Blue arrow identifies the localised pattern page 38

39 Teach-in window/search window type Various geometrical shapes of the search and teach-in window can be selected on the basis of the object's shape. Rectangle, ellipse (circle) and ellipse ring segment are available. Teach-in button The object that is marked off with the teach-in window is taught in with the Teach-in button. The taught-in pattern is displayed adjacent in the window. Pattern display Here you can select whether the taught-in pattern is to be displayed in the lowest, highest or original resolution. The lowest resolution here represents the pattern with the coarsest search accuracy. This serves to determine if the pattern to be searched for is still detectable. Search accuracy How finely or "coarsely" the taught-in pattern in the image is to be searched for can be set with this control element. The search accuracy can be set in steps from very coarse to very fine. The finer the search is set, the longer the processing time, but very finely structured patterns will be found so much better. Search range increment This sliding controller (logarithmic division) sets the angle increment in which the taught-in pattern is to be searched for. Search object is periodic With this checkbox you decide if the taught-in object is angle-symmetric. You will find an example of an angle-symmetric and rotation-symmetric object in the annex in chapter This option must be activated with a complete 360 search. Search angle range This control element allows the angle range in which the object can be found in the picture to be set. If an object rotation is not possible, this can be selected very low. If the object can be in every rotated position in the picture, the full angle range must be selected. The angle range refers to the position of the taught-in object. The range can be specified by dragging the red and green setting elements. A direct value can also be entered in both fields on the right. Minimum concurrence page 39

40 In this field you enter the minimum degree of concurrence in percent, from which the position tracking is still to rate the found object as "good" (object was found). Functions tab Test functions are added, edited and deleted on this tab. The generated functions appear in the list of functions. Image 19: Functions parameter area Add button With the Add button you can add a new function to the list of functions. The following functions can be selected: Area test Grey value test Search pattern Bright part The precise description of these functions with examples is provided in the appendix in chapter page 40

41 Image 20: "Add function" window A function name is suggested in the Select function name field, which corresponds with a consecutive number. You can, however, also enter a suitable name so that you have a better overview of the functions later on. Confirm your selection with the OK button. Remove button The Remove button deletes marked functions in the function list. "Individual test" button The currently selected function is executed when you press the Individual test button. The results are shown in the Function results area. A function is selected by clicking on it with the cursor. The parameters dialog box of the respectively selected or cursor-marked function appears automatically and adjusted to the function in the Function parameters area. Note A detailed description of the parameter settings of the individual functions is provided in chapter 6.2. Input/output tab The I/O Manager on this tab is used for finding the overall results from the individual function results. The test results can be issued via the camats47 outputs. Programmes can also be changed via digital inputs/outputs (see section: Change programmes with digital inputs/outputs). Two basic output modes are available: Defect type mode: This mode enables the configuration of the digital outputs via the I/O Manager. The digital I/Os can signal good/bad respectively. page 41

42 Image 21: Input/output parameters area Activate the "External trigger input" checkbox With the External trigger input checkbox you specify if the camats47 is to respond to trigger signals on the input. This option is only effective when the Vision Sensor is connected with the SensorUI. If there is no connection, the external trigger input is always activated. Activate the "Device buttons" checkbox The Activate device buttons checkbox activates the Mode and Start buttons on the rear of the camats47. Signal mode for ready signal Four signal types can be selected for the ready signal: High active level: The Ready-OUT is set from Low level to High level Low active level: The Ready-OUT is set from High level to Low level The active levels are maintained as long as the sensor is in the ready status. High active pulse: A high pulse is created on the Ready-OUT page 42

43 Low active pulse: A low pulse is created on the Ready-OUT. Pulse length In the Pulse length text box you specify the length of the ready pulses in milliseconds (ms). This option is only activated when you have selected a pulse as signal type. Send function list for results In this list you can select the function that the results are to be sent for per RS232 interface by checking the box in front of the function name. The result of the overall test is sent by selecting Overall results (see annex: 3964R-Protokoll ). Numbering of the individual function types when sending via RS232: Overall result 0 Area test 1 Bright part 2 Grey value test 3 Search pattern 4 I/O Manager button Pressing the I/O Manager button opens the I/O Manager dialog box, in which the evaluation of the individual functions for the output assignments can be made. Settings button The various settings for communication via the RS232 interface for the 3964R-Protokoll can be made here. In addition to the transfer rate (baud rate), the ID and the group, the unit of measurement (unit system) in which the measured values are to be sent, can also be set. The communication can be engaged and disengaged (connect/disconnect Vision Sensor from the bus), and sending the measured values (spontaneous reportings) can be activated and deactivated. page 43

44 Image 22: 3964R protocol settings window I/O Manager output encoding The function results can be assigned output combinations with the I/O Manager. (See chapter 6.2.9) Image 23: I/O Manager with example setting page 44

45 The created functions of the active programme are shown in the top left of the dialog box. Included here are the digital outputs and the analogue output. There are also the options: Save picture and Delete type New types can be added via the Add type button. To define a type via the functions, simply click with the cursor in the respective field. "+": this function must be rated as GOOD. "-": this function must be rated as BAD. " ": this function has no influence on this type. The assignment of the digital outputs can also be set by clicking. An H here stands for a high level and L for a low level at the respective output. As soon as a type is selected after a test with the function results, the set levels are present on the outputs. If several types concur with the function results (by selecting " ", no influence on this type), the type that concurs the most is selected. A current in ma that is to be present for this type at the analogue output can be entered in the field for the analogue output by entering a value. The values for the analogue output can only accept specific values on the basis of the system. The entered values are rounded off to the next possible value on leaving the entry field. You can define the output assignments of the digital and the analogue output in the Other field in case the results of a test could not be assigned to the other types. In this case pictures can also be saved. With the Save picture option you can specify for each type whether the associated pictures are to be saved or not. Saving is only performed when the Vision Sensor is connected with the SensorUI. The pictures are selected on your PC in the directory selected in the setting dialog box in the Control area. If you want to remove a type, simply click on Delete. "Save picture" settings Picture format used: You can choose here between jpg, bmp and png for the format that the pictures are to be saved in on the hard disk. It must be ensured here that the pictures are saved in the bmp format uncompressed and loss-free; in jpg, compressed but lossy; and in png, compressed and loss-free. JPG quality: If you select the jpg picture format, the picture quality can be set here using the compression rate. Number of pictures to be saved: By entering the number of pictures, you specify the maximum amount of pictures that are to be saved for the current programme. Once this number is reached, the oldest pictures be will deleted when new pictures are saved. If the number is reduced, the respective pictures will also be deleted (change from 10 to 5 -> only the 5 newest pictures will be kept). The image files are named according to the name of the programme, the assigned type and the date and time at which the picture was taken. page 45

46 Programmes tab On the Programmes tab you can upload sensor programmes onto the system or download them onto your PC. You can also manage the existing programmes on the camats47. The properties of all programmes on the Flash are listed. Image 24: Programme parameters area Activate button With the Activate button the programme selected in the list is loaded by Flash and activated in the sensor. "Start programme" button Specifies the programme selected in the list as start programme. This programme is the active programme after the Vision Sensor restart and it is then executed. page 46

47 Save button Pressing the Save button saves the currently active programme on the sensor's Flash memory. The global sensor settings, Set start programme Device buttons activated/deactivated Signal mode for the ready signal Pulse length RS232 settings Output mode are also saved. "New" button Clicking on the New button creates a new, empty programme on the Vision Sensor. Upload / Download buttons By clicking on the Upload or Download button you can upload programmes from your PC to the Vision Sensor, or save the programme currently marked in the programme list from the Vision Sensor on to your PC (download). Note When uploading you can specify a programme name, under which the programme is to be saved on the Vision Sensor. If a programme already has this name, the programme can be saved with the same name but another PLC ID, or the already existing programme can be overwritten. "Delete" button The programme selected in the list is deleted by clicking the Delete button. Note If you deleted the programme selected as the start programme and do not set a new start programme, a new, empty programme is created and used as the start programme after the next sensor restart. The name of the active programme (in bold) can be changed again by highlighting and clicking. Key page 47

48 The programme status indicators that there are in front of each programme are explained in the key. There are two of these indicators in front of each programme. The first indicator is grey when the programme is on the Flash memory of the Vision Sensor. If it is red, green or blue, this is the currently active programme. The colours have the following meanings: Colour Meaning Explanation Not yet saved Shows that the programme is not yet saved on the Flash memory. Saved Shows that the programme is saved in the current form. The second identifies the programme specified as start programme: Colour Meaning Explanation Set as start programme Indicates the programme that is specified on the camats47 as the start programme. Change programmes with digital inputs/outputs With the digital inputs/outputs of the camats47 it is possible to activate a saved programme. There is also the option of setting the programme via two modes: Direct programmes change The direct change can only be made for the programmes with PLC ID 1 and 2. Activation is by creating the following bit pattern: IN2: LOW / IN3: HIGH -> programme with PLC ID 1 IN2: HIGH / IN3: LOW -> programme with PLC ID 2 and activating the trigger (IN1). As soon as Vision Sensor recognises the change, a check is made to see if the programme exists and a change is made to the new programme. A successful programme change is signalled by setting the OUT2 and OUT3 outputs to the IN2 and IN3 values (just like the input). If an error occurs, it is indicated by setting the outputs to LOW. A ready signal is outputted when the programme change is finished. A test cycle for the trigger is only performed when the input assignment corresponds with the number of the current programme. Change with bit-shifting The programme change with bit-shifting can be made for all programmes on the camats47. To start the programme change, a trigger must be activated and a HIGH level set on the digital inputs, IN1 and IN2. The Vision Sensor confirms this by setting the input assignment on the outputs. The number of the programme that is to be changed to can now be entered with IN2 and IN3. IN3 represents the respective bit of the programme ID here. The change of a LOW-HIGH flank on IN1 is page 48

49 signalled by a valid bit. IN2 must stay on HIGH during this process. By activating the trigger, the value of input 3 is accepted, the outputs are set to the input assignment and a ready signal is outputted. The bits transferred to IN3 are combined into the PLC ID (first shifted-in bit is the highest value bit). If the programme number is complete, input IN2 must be set to LOW and a trigger (IN1) must be activated. Example for activating the programme with the PLC ID 7 (corresponds with binary: 0111): Original state Trigger IN1 LOW Transfer mode IN2 LOW PLC ID IN3 LOW Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 HIGH PLC ID IN3 HIGH Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 HIGH PLC ID IN3 LOW Signal transfer Transfer first bit of the PLC ID (0 of 0111) Transfer second bit of the PLC ID (0 of 0111) Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 HIGH PLC ID IN3 HIGH Transfer third bit (1 of 0111) Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 HIGH PLC ID IN3 HIGH Transfer fourth bit (1 of 0111) Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 HIGH PLC ID IN3 HIGH Trigger IN1 LOW -> HIGH -> LOW Transfer mode IN2 LOW PLC ID IN3 LOW Close transfer If a programme with this PLC ID exists, the camats47 changes to this programme. This is displayed by setting the OUT2 output to LOW, OUT3 output to HIGH and setting the ready signal. If an error occurs, output OUT3 is set to LOW. page 49

50 Sensor screen area The last picture taken by the Vision Sensor is shown in this area. It is also used for parametering the functions via the recording and teach-in areas. Search, test, teach-in and detection area (image processing functions display) There are three colours for differentiating the various areas/windows. For showing the recording area (red), for highlighting the test object to be taught in (green), and for checking the image processing functions (blue). The function to be parametered must first be selected on the Functions tab or the Tracking tab must be activated. The search window and teach-in window for the respective function then appear automatically in the sensor image. The search area (red) and teach-in area (green) can each be changed in size, position and rotation position with the cursor. If the cursor is on a border, the size and appearance of the border can be changed by dragging the corners or sides. An area is moved by keeping the left mouse button pressed and moving the area to the desired position. Image 25: Move area The area can be rotated by keeping the right mouse button pressed. Image 26: Rotate area If the cursor is on an area, the geometrical shape, the (X, Y) position of the centre point, the X and Y expansion and the size of the area of this area in pixels are given directly beside the cursor. page 50

51 Image 27: Area with information display Search/test area The red border shows the camats47 search/test area. The test object in its entirety is in this area during the teach-in and in the actual test mode. The size of the border has an influence on the camats47 processing speed. The border should be as optimally adjusted to the search/test area actually required as possible. The border coordinates are displayed in pixels during the border adjustment with the cursor. Teach-in window The green border (only with the functions Search pattern and Position tracking) shows the camats47 teach-in window. The test object in its entirety is in this teach-in window during the teachin. The size of the border has an influence on the camats47 processing speed. The border should be as optimally adjusted to the required teach-in area as possible. The border coordinates are displayed in pixels during the border adjustment with the cursor. Detection area The function results of the camats47are shown in blue. The Area test function marks all pixels found in the searched area. The position tracking and the Search pattern function identify the found pattern with a blue arrow. Function results The function results are issued in this area after a successful individual or overall test. page 51

52 Image 28: Example of function results display Positively rated functions are identified with a green bordered checkmark. Negatively rated functions are identified with a red bordered X. The name of the function and the function type are shown after the respective sign. The required execution time and the type evaluation (good/bad) are also given. The results are shown under each function, e.g. the position, angle of rotation or degree of concurrence. The measured values are given in the units of measurement, pixel, degree and millimetre (and square millimetre), and depend on the function. These units of measurement are calibrated at the factory. Coordinates system The coordinates system of the found positions in pixel values has the same orientation as the image coordinates system. The top left picture corner is the coordinates origin (0.0), the picture centre point is at X = 360 and Y = 240 pixels and the bottom right picture corner is at X = 720 and Y =480 pixels. The position details in global coordinates are given in mm. The alignment of the axes of the global coordinates system corresponds with the picture coordinates system. If a position tracking is activated, the positions of the tracked search pattern functions are issued relative to the found position tracking point. This point is the origin here of a new coordinates system, which is rotated on the basis of the rotation position found. page 52

53 6. Parametering 6.1. Parametering via the user interface Activities to be performed first You have made the physical connection taking the operating distance and alignment with the recording area into account You have set up the electrical connection You have installed the SensorUI operating software on a host computer and can execute it You have connected camats47 with a host computer Setting up communication and set exposure time Steps for setting up communication and setting the exposure time No. Instructions 1 Figure Start thesensorui user interface Double click on the SensorUI icon on the desktop or via the menu click on the buttons: Start Programmes SensorUI SensorUI. 2 Select device Select a device that you want to connect to from the selection list beside the Connect button. The simulator enables you to map the full functionality of the Vision Sensor without a connected device. This is suitable, for example, for tests on existing test pictures. 3 Set up communication Press the Connect button. The interface connects to the device and is activated. 4 Switch on Live Picture Activate the Live Picture checkbox. The sensor image is then displayed on the interface. 5 Position test object (test pattern) Position an example test pattern in the centre of the camats47 recording area. 6 Set exposure time 1. Deactivate the Activate Live Picture checkbox: The automatic lighting setting is activated again. 2. Press the Auto button. The exposure time is determined automatically. page 53

54 No. Instructions Figure 3. If the sensor image does not show a good contrast between test pattern and picture background after the automatic setting, you can adjust the exposure time via the sliding controller or direct value entry. To do this you can activate the Live Picture again in order to be able to estimate the settings immediately. Table 20: Set up communication and set exposure time Position tracking Introduction The position tracking on the Tracking tab (which corresponds with the Search pattern function) compares a taught-in reference pattern with a pattern of the recorded picture. The position and rotation position of the pattern found is then used for the subsequent commands as position tracking. Steps for parametering the position tracking No. Instructions 1 Figure Activate position tracking Change to the Tracking tab. Activate the Position tracking checkbox. The parameters area of the position tracking is activated, and with an overall test the position tracking is always executed first. 2 Define teach-in area and teach in pattern 1. Define the teach-in area (green border). Handling the border positioning is described in chapter The teach-in area should be selected so that the object is surrounded as well as possible by the border. To do this you can choose between three different geometrical shapes (rectangle, ellipse, ellipse ring segment) under Teach-in window type. 2. Press the Teach-in button. The highlighted pattern is taught-in and displayed in the pattern window. 3 Define search area 1. Define the search area (red border). The search area should cover as many points as possible in the object field that the object is in. Here too you can also choose between three geometrical shapes for the border under Search window type. 4 Parametering position tracking page 54

55 No. Instructions Figure 1. Define the minimum concurrence by entering the value in the Min. concurrence field. The setting defines the minimum concurrence in percent between the taught-in test pattern and the test object. Existing industrial applications have required typical values of between 60 and 80% here. 2. Set how fine the search grid is to be with the Search accuracy sliding controller. The setting determines both the accuracy and the speed of the position tracking. A finer search requires more time, but it always finds more detailed patterns in the picture. You can also have the finest pattern displayed under "Fine search". 3. Set the Search angle range. This angle range defines the angle of rotation the object is to be found in. The angle range is defined with the red and green setting elements and can also be provided with values for fine adjustment. 4. With the sliding controller define the search angle increment in which the pattern is to be searched. 5. Activate the Search object is periodic checkbox if the object is periodic with regard to the rotation position (symmetrical). 6. Press the Teach-in button. The pattern is taught in after the search and teach-in areas have been defined and the parameters of the position tracking have been selected. The taught-in pattern is displayed beside the Teach-in button after the successful teach-in process. 5 Test position tracking 1. Press the Individual test button. The coordinates of the test object, the percentage concurrence with the taught-in test pattern and the good/bad evaluation are given in the function results list. The time for performing the function is also displayed. 2. Change the position of the test object inside the search area. Press the Overall test button. Check the results for accuracy Table 21: Setting up position tracking page 55

56 Overview of the functions for parts identification Introduction Various functions are available in camats47 for parts identification. These functions can be selected in the teach-in interface, Parameters area Functions area An example of how to parameter the individual functions for parts identification, with the exception of the Search function (chapter 6.2.3), is described in the following. An automatic parametering of each function can be performed by pressing the Auto button. The parameters of the functions determined as a result must not be the optimum values for all application areas. They are used for determining favourable output values. Selection aid for image processing functions for parts identification Search pattern Task: Search a taught-in pattern in a search window Application: Differentiating component shapes The pattern detection is used to classify objects in any kind of developed environment. To do this, characteristic features must first be extracted (feature extraction), before comparison and classification are possible. The objects are stored as a digital pattern. The features included are compared by a search process (correlation). Pattern searching enables both the positions of previously taught-in reference objects to be determined, and statements on the quality or presence of patterns to be made on the basis of the degree of concurrence. The degree of concurrence is not influenced by the brightness in the test window. 100% means exact concurrence; 0% means absolutely no concurrence. Robust settings practically proven in everyday industrial work are 70-90%. The search is made with a specific search accuracy. The finer the search, the more computationally intensive the process but it finds more detailed patterns. Bright part Task: Definition of the amount of bright pixels in % in the search window Application: Contact control, component checks, presence Grey value test Task: Definition of the mean grey value in the search window Application: Presence checks, detecting test (bright, grey, dark part), lighting test with every test run page 56

57 Area test Task: Definition of the number of pixels in a specific grey value range in the search window Application: Differentiation of components, differentiation of features Setting up area test function Introduction With the Area test function, the number of pixels that are in a pre-defined grey value range in a defined area is established. The area test can be very effectively applied for a series of simple applications (presence checks, attributive test). A detailed description of the Area test function is provided in the appendix. Steps for parametering the area test function No. Instructions 1 Figure Add function 1. Press the Add button. The Add functionwindow appears 2. In the Add function window, select the Area test function and give it a name in the Select function name field. Confirm your selection with the OK button. The search window (red border) automatically appears in the sensor image. The parameters dialog box of the Area test function appears automatically in the parameters area. 2 Define search area 1. Select a geometry of the search area: In the parameters dialog box you can select under Search window type between a rectangle, an ellipse or an ellipse ring segment. 2. Define the search area (red border). Handling the border positioning is described in chapter Adjust the search window to the shape and size of the test pattern. 3 Parameter the area test function page 57

58 1. Set the upper and lower grey value threshold. The total grey value range is between Depending on the brightness of the object, for dark objects you should select a low range and for bright objects you should select a high range. 2. Define the upper and lower threshold of the number of pixels to be found. Orientate yourself here toward the number of pixels found that is shown in the results display with the results of the individual test. 3. Press the Individual test button. You can evaluate the set grey value thresholds on the basis of the displayed overlay (blue). If only the test object is shown completely blue, the settings are in a suitable range. If, on the other hand, the background is marked blue or parts of the test object are not marked blue, the grey value thresholds must be adjusted. (Repeat step 1 and 2 of the parametering) 4 Test the area test function Press the Individual test button. Check that the "Good" function result is displayed and the pixel number is well into the given pixel number range. Table 22: Setting up area test function Setting bright part function Introduction With the Bright part function the amount of pixels that have a grey value above a set grey value threshold is determined in percent in a search window. A detailed description of the bright part function is provided in the appendix. Steps for parametering the bright part function No. Instructions 1 Figure Add function 1. Press the Add button: The Add function window appears page 58

59 2. In the Add function window, select the "Bright part" function and give it a name in the Select function name field. Confirm your selection with the OK button. The search window (red border) automatically appears in the sensor image. The parameters dialog box of the Bright part function appears automatically in the parameters area. 2 Define search area 1. Select a geometry for the search area: In the parameters dialog box you can select under Search window type between a rectangle, an ellipse or an ellipse ring segment (example). 2. Define the search area (red border). Handling the border positioning is described in chapter Adjust the search window to the shape and size of the test pattern. 3 Parameter bright part function 1. Define the grey value threshold: pixels that have a grey value above this are evaluated 2. Define the upper and lower limits: on the basis of the function results of the test you can estimate the amount (in percent) of pixels that are above the selected grey value threshold. 3. Press the Individual test button. On the basis of the overlay (blue), check that the test area that you want to evaluate has been found adequately. If the area has not been adequately detected, repeat steps 1 und 2 of the parametering. 4 Test bright part function Press the Individual test button. Check that the test result has been rated "Good" and that the result is adequately in the selected range Setting grey value test function Introduction The Grey value test function is a quick and easy command for determining the mean grey value within a defined area (search window). The grey value test can be applied very flexibly, for example: For presence checks of simple objects (grey value difference between background and object) page 59

60 For attributive tests (bright, grey, dark part) A detailed description of the Grey value test function is provided in the appendix. Steps for parametering the grey value test function No. Instructions 1 Figure Add function 1. Press the Add button: The Add function window appears 2. In the Add function window, select the "Grey value test" function and give it a name in the Select function name field. Confirm your selection with the OK button. The search window (red border) automatically appears in the sensor image. The parameters dialog box of the "Grey value test" function appears automatically in the parameters area. 2 Define search area 1. Select a geometry for the search area: In the parameters dialog box you can select under Search window type between a rectangle, an ellipse or an ellipse ring segment (example). 2. Define the search area (red border). Handling the border positioning is described in chapter Adjust the search window to the shape and size of the test pattern. 3 Parameter grey value test function 1. Press the Individual test button. The determined grey value for the selected search area is displayed in the function results area. 2. Enter the upper and lower grey value threshold. Determine the limits on the basis of the grey value determined in the test. 4 Test grey value test function Press the Individual test button. Check that the test result has been rated "Good" and that the determined grey value is adequately in the selected grey value range. Table 23: Setting grey value test function page 60

61 Remove/change function Steps for removing a function No. Instructions 1 Figure Remove function 1. On the Functions tab, highlight the function to be removed by left-clicking on it (selection in example: Bright part) 2. Press the Remove button. The bright part function is removed from the functions area. Table 24: Remove/change function Setting I/O Manager Introduction On this tab you can configure the two digital outputs and the analogue output of the camats47. There are two options for using the Vision Sensor 's analogue output. In the Defect type mode a current, in ma, can be set for every type, which is to be present with this type on the analogue output. In the Position (analogue) mode, specific results (e.g. the rotation position) are issued on the analogue output with an input assignment of the digital inputs. Steps for setting the I/O Manager No. Instructions 1 Figure Activate trigger input Activate the Activate external trigger input checkbox. 2 Select the signal mode for ready signal Select the High active pulse option. When the Vision Sensor is ready, a high pulse is issued at the ready output. 3 Enter pulse length for ready signal Enter 20 ms in the Pulse length field: The high pulse at the ready output now has a length of 20 milliseconds. 4 Select functions page 61

62 Select the Position tracking function with a checkmark. The function results of the position tracking are now sent via the RS232 interface of the camats47. 5 I/O Manager 1. Press the I/O Manager button. 2. By clicking, for the first type select the first three functions with a + and the last function with a -: When the first three functions are rated as "Good" with a test, and the fourth as "Bad", this test is assigned "1". 3. Now select the required output assignment for this type by clicking. 4. Further types can be created with the Add type button and defined as before. 5. By selecting the Save picture field with a Yes, all pictures that correspond with this type are saved on the host computer. This is only possible when the interface is connected with the Vision Sensor. 6. Accept the settings made by pressing the OK button. Table 25: Setting I/O Manager page 62

63 Saving settings, start test mode and end communication Steps for saving settings, starting the test mode and ending the communication No. Instructions 1 Figure Save settings Change to the Programmes tab and select the programme (the Save button is active). Press the Save button. The programme with its functions, settings and patterns is now saved in the Flash memory of the camats47. 2 Start test mode The camats47 can now be switched via a PLC (see...todo... section). With existing communication the measured values continue to be transferred to the SensorUI user interface for display. 3 End communication Press the Disconnect button. The camats47 can now be switched via a PLC and the output signals (OUT 2-3) can be evaluated. Table 26: Saving settings, start test mode and end communication Multiple programmes Introduction The camats47 supports the creation of multiple programmes and their storage on the Vision Sensor. It is also possible to save created programmes on the host computer, and load and start them again on the Vision Sensor. To do this you must have selected the Programmes area in the Parameters area. page 63

64 Steps for creating, saving, downloading, uploading, activating and deleting programmes No. Instructions 1 Figure Create programme 1. Press the New button: The New programme window appears. 2. Enter the programme name you want in the "Programme name" field. Confirm with the OK button. A new programme is created with this name. 2 Save programme Select the currently active programme and press the Save button. The currently active programme is saved under its programme name on the Flash memory of the camats47. 3 Download programme 1. Select the programme that is to be downloaded and press Download. The Save as window appears. 2. Select the directory and enter a file name that the programme is to be saved under. 3. Press the Save button. The sensor programme is saved on the host computer's hard disk. 4 Upload programme 1. Press the Upload button. The Open window appears. 2. Select the programme file that is to be uploaded. Press the Open button. The selected programme is uploaded on the Vision Sensor. page 64

65 5 Activate programme 1. Select the programme that is to be activated from the Programme list. 2. Press the Activate button. The selected programme is now active and can be edited. 6 Delete programme 1. Select the programme that is to be deleted from the programme list. 2. Press the Delete button. The selected programme is deleted. Table 27: Multiple programmes page 65

66 7. Maintenance and service 7.1. Finding faults Fault Cause No connection possible Operating voltage camats47 is not switched on Check operating voltage RS232 serial interface Serial: Baud rate is not set to 9600 COM interface is not right Black picture Shutter is set too low Lighting is switched off or has dropped out White picture Overexposure because shutter time too long Table 28: Overview of possible fault sources 7.2. Update The most up-to-date version of the SensorUI user interface can be downloaded from the Vision & Control GmbH website ( ) Technical support If you have any technical questions about our products, simply contact our technical support, where our competent employees are ready to listen to your problems, questions and suggestions. We are at your service from Monday to Friday from 8 am to 5 pm. You can reach us at: +49 (0)3681/ page 66

67 8. Appendix 8.1. Technical drawings Dimensions Image 29: Technical drawing page 67

68 Adapter plate S27 The adapter plate S27 gives you the possibiliy to mount a camats47 to an existing S27 mounting plate. So a change of the sensor mounting plate in the machine isn't necessary. Image 30: Adpater plate S Description of functions Search pattern and position tracking function Introduction With the Search pattern function a known picture detail (pattern) is searched for in a recorded image. If a pattern with a sufficient degree of concurrence is found, the function is rated as successful; otherwise it has failed. If the Position tracking function is activated, the position of the found pattern is used for the subsequent functions as position tracking, i.e. subsequent functions are tracked relative to the found position. If search pattern functions are added to the function list in addition to an active position tracking, the determined positions and rotation positions refer to the position tracking point and the rotation position of the position tracking. The position details are given relative to the position tracking point. page 68

69 Example: If the object is at point 300, 200 with 40 rotation position and the pattern in the picture at position 350, 200 with 45 rotation position, the relative position 50.0 and angle 5 are given as the result. Fluctuations in X and Y directions and rotations of the object feed can therefore be adjusted with the position tracking function. This function consequently detects changes in the position. If the Search pattern function is added to the list of functions, the determined position has no further effect on the other functions. Object identification example application The Search pattern function can be used to check if a specific object is in the search area. The object can be in any rotation position. Image 31: Example - Object identification with "Search pattern" No. Description 1 To teach in the pattern, select the object with the teach-in window and press the Teach-in button. 2 Right object: The blue arrow identifies the found object. 3 Wrong object detection: the taught-in pattern was not found. The Search pattern function shows "failed". Table 29: Figure details - Object identification with "Search pattern" Installation check example application The Search pattern function can be used to check if, for example, the right buttons are installed with the respective fittings or fixtures. Image 32: Installation checks with "Search pattern" No. Description 1 To teach in the pattern, select the symbol to be searched for with the teach-in window and press the Teach-in button. page 69

70 No. Description 2 Correctly installed button: the blue border identifies the found symbol 3 Wrong installation detection: the taught-in pattern was not found. The Search pattern function shows "failed". Table 30: Figure details - Installation checks with "Search pattern" Completeness check example application Position tracking for completeness checks on electronic components Image 33: Completeness checks with position tracking No. Description 1 To teach in the pattern, select the prominent structure with the teach-in window and press the Teach-in button. 2 Test: The component is now found with the position tracking function. 3 With the position tracking function the subsequent area test function is then performed in its position relative to the found position. 4 The area test function checks the presence of the electronic component. The position is calculated anew with each test in accordance with the position tracking function. Table 31: Figure details - Completeness checks with position tracking Search pattern function setting elements The "Pattern display", "Search accuracy", "Search angle increment", "Search object is periodic", "Search angle range" and "Minimum concurrence" parameters can be set in the Search pattern and Position tracking dialog boxes. Pattern display Here you can select whether the taught-in pattern is to be displayed in the lowest, highest or original resolution. The lowest resolution here represents the pattern with the coarsest search accuracy. This serves to determine if the pattern to be searched for is still detectable. Search accuracy The finer the accuracy is set, the better fine-structured objects will be found. The processing time will be longer with finer searches. You will find the optimum setting by trying out different levels of fineness. The search algorithm begins its calculations on a very coarse picture. The positions of page 70

71 the pattern found here are followed up in a specific area in a somewhat finer picture. The factors for the coarsest scaling and the finest scaling are set by the search accuracy. With a very fine setting the determined position is accurate to the pixel. On the other hand the emerging position can only be determined in specific increments. The processing time, however, is significantly reduced because of the reduced data volume. The detectability of the searched pattern can be estimated in the finest and coarsest search level with the two display elements: Fine search and Pre-search. The search accuracy setting should be verified with different rotation positions of the pattern. Search range increment This value allows the setting of the increment that the Vision Sensor searches for the taught-in pattern with in the given search angle range. The lowest setting is 1. This means that the pattern is rotated in 1 steps and searched for in the selected search area of the picture. Search object is periodic (circle-symmetrical) The Search object is periodic parameter allows you to improve the accuracy of the found rotation position with circle-symmetrical objects (see following figure). If this option is activated, after a rotation position is found, a check is made again to the left and right in the given search angle range to see if a better concurrence can be achieved, so that a more exact rotation position can be determined. The option must be activated in order to find objects with 180 rotation position with a complete 360 search. Search angle range This parameter provides an angle range in which the pattern is to be found. This ensures that an object is only detected in a specific rotation position or it is only tested in a specific process-conditional rotation position. As all possible positions and angles of rotation of the pattern are searched for in the picture with the implemented pattern search, the amount of possible combinations plays a decisive role for the execution time. With twice as big a search area and twice as big an angle range, you therefore generally get twice the processing time. Furthermore with circle-symmetrical objects the pattern must also be found in a complete 360 search. The processing time can therefore be reduced with a smaller search angle range. page 71

72 Image 34: Example for a circle-symmetrical object In this example you can see that the green angle range is symmetrical to the red angle range. As the object consists of 16 such areas, a search must now only be made in the angle range 360 /16 = Minimum concurrence The minimum concurrence provides the degree of similarity that must be achieved so that the pattern will be found. The information is in percent and can deviate with strong brightness fluctuations in the object field from the degree of concurrence of the taught-in test object. Values of more than 75% are proven settings in everyday industrial work. Teach in pattern With the Teach-in button you must teach in the pattern selected with the teach-in window as reference pattern. This reference pattern is then subsequently compared with the patterns determined from the picture. Note! The detection reliability for the selected setting of the Search pattern function must be verified with practical tests. The algorithm tolerates brightness fluctuations. This is an advantage with alternating object materials, object surfaces and non-homogenous or fluctuating lighting. You should therefore check that no unintentional mix-ups with similar objects with another brightness occur. With a relatively low concurrence level (< 80%), faulty detections can in particular occur with symmetrical objects with settings that are too coarse. page 72

73 You can improve the search accuracy with the Angle increment and Search accuracy controllers. With the setting with the Pattern display: lowest search resolution you can display the lowest resolution search pattern. If the main structure of the pattern can no longer be detected, you have set the Search accuracy setting too coarse. With the Search angle range controller you can reduce the execution time if you expect the object from only one direction Area test function Presence check example application With the Count pixels function you can, for example, check to ensure washers and screws are present. Image 35: Example - Presence checks with "Count pixels" No. Description 1 Original picture: Screw with washer 2 Screw head detection: grey value range from 200 to Washer detection: grey value range from 40 to 80 Table 32: Figure details - Presence checks with area test Surface check example application With the Count pixels function, for example, you can check the synthetic seal on a surface. Image 36: Example - Surface checks with "Count pixels" No. Description 1 Original picture: Plastic sealed surface page 73

74 2 Surface with surface defects 3 Surface defect detection with bright pixel detection Table 33: Figure details - Surface checks with "Count pixels" Area test function setting elements The options, "Grey value range - upper limit", "Grey value range - lower limit", "Number of pixels top threshold", "Number of pixels - bottom threshold" and "Search window type" can be set in the Area test parameters dialog box. Grey value range With the Area test function the number of pixels in a defined grey value range are counted. The grey value range setting allows a upper and lower limit here. The minimum value that can be set is 0. The highest value that can be set corresponds with the maximum brightness (255) Example: With a set grey value range of 140 to 255, the 9 pixels from Region 1 are counted in the search area, as these are in the given grey value range. With a set grey value range of 40 to 140, the 12 pixels from Region 2 are counted in the search area. The grey values of the Region 1 pixels are above the 140 threshold - therefore they are not counted. With a set grey value range of 40 to 255, all 21 pixels from Region 1 and Region 2 are counted in the search area. Image 37: Grey values of two regions No. Description 1 Region 1: Grey value range with a mean grey value of Region 2: Grey value range with a mean grey value of Region 1: Grey value range in the detailed display of the individual pixels (9 pixels). 4 Region 2: Grey value range in the detailed display of the individual pixels (12 pixels). Table 34: Figure details - Grey values of two regions page 74

75 Number of pixels The minimum number of pixels is the amount of pixels from which the function is to be rated as "good". The maximum number of pixels is the amount of pixels up to which the function is to be rated as "good". With pixel numbers below or above the reference value the function is rated as having "failed". The command is therefore always successful, when: Determined number >= minimum number of pixels and Determined number <= maximum number of pixels The maximum reference value that can be set corresponds with the number of pixels of a VGA image (720 x 480 = 345,600). Search window type The search window type provides the shape of the search area. A selection between rectangle, ellipse and ellipse ring segment is possible here. Defining search area In the parameters dialog box of the Area test function, in the Search window type area you can select between a rectangle, an ellipse or an ellipse ring segment. The search area (search window with red border in the sensor image) can be selected with the cursor. If the cursor is on the red border, you can left-click and drag the corners or sides of the border to adjust the size and position of the test object. If the cursor is inside the red border, left-click to drag the position of the border to the selected search area on the test object. When the cursor is inside, the border can be rotated by right-clicking and dragging Bright part function Surface check example application Porous structures, for example, can be evaluated with the Bright part function. Image 38: Example - Surface checks with bright part No. Description page 75

76 1 Surface of a plastic material: The colouration of the pores depends on their depth 2 Surface with search window 3 Detection of brighter (shallower) pores Table 35: Figure details - Surface checks with bright part Bright part function setting elements The options, "Grey value threshold", "Upper limit", "Lower limit" and "Search window type" can be set in the Bright part function parameters dialog box. Grey value threshold With the grey value threshold you can define the grey value from which a pixel is counted as "bright". The result of the function is: A = bright number of pixels / total number of pixels The maximum grey value threshold that can be set corresponds with the highest grey level (255). Example: With a set grey value threshold of 140, 9 pixels from region 1 are rated as bright pixels. These are above the grey value threshold. With an overall area of 120 (12*10), this therefore produces a bright part of approx. 8% (9 / 120). With a set grey value threshold of 40, the 12 pixels from Region 2 and the 9 pixels from Region 1 are counted as bright pixels. This therefore results in a bright part of approx. 18% ((9+12) / 120). Image 39: Grey values of two regions No. Description 1 Region 1: Grey value range with a mean grey value of Region 2: Grey value range with a mean grey value of Region 1: Grey value range in the detailed display of the individual pixels (9 pixels). 4 Region 2: Grey value range in the detailed display of the individual pixels (12 pixels). Table 36: Figure details - Grey values of two regions page 76

77 Upper and lower limits The upper limit provides the maximum percentage of the bright pixels that have to be found for the function to be considered successful. The lower limit provides the minimum percentage of the bright pixels that have to be found for the function is considered successful. If the percentage is above or below these limits, the function has failed. The command is therefore always successful, when: Percentage of bright pixels >= lower limit and Percentage of bright pixels <= upper limit The maximum percentage that can be set is 100% Search window type see Search window type Define search area Defining search area, page Grey value test function Installation check example application Cable assignments, for example, can be checked with the grey value test function. With a test window you can verify with every cable that the right cable colour is at the right position. Image 40: Example - Installation checks with grey value test No. Description 1 Original picture: Plug connector with correct cable colour assignment 2 Plug connector with search window 3 Bad part: Wrong cable colour assignment Table 37: Figure details - Installation checks with grey value test page 77

78 Grey value test function setting elements The options, "Upper grey value threshold", "Lower grey value threshold" and "Search window type" can be set in the Grey value test parameters dialog box. Grey value thresholds The "Lower grey value threshold" value is the minimum mean grey value for which the function is still rated as "Good". The "Upper grey value threshold" value is the maximum mean grey value up to which the function is still rated as "Good". The function is therefore always successful, when: Mean grey value >= lower grey value threshold and Mean grey value <= upper grey value threshold The maximum grey value that can be set corresponds with the highest grey level (255) = white. The minimum grey value that can be set corresponds with the grey level (0) = black. Search window type see Search window type Define search area see Defining search area page 78

79 8.3. Description of the 3964R Protocol The 3964R protocol is used to securely transfer data to automation devices. It is a transfer protocol based on simple, asynchronous interfaces. The control characters of the protocol are taken from the DIN norm for 7-bit character encoding (computer code derived from ASCII code). Data transfer with the 3964R Protocol Description First, the transmitter sends an STX (start of text) to the receiver to check whether it is ready to receive. If the receiver is ready to receive the telegram, it returns a DLE (data link escape) to the transmitter. If the transmitter has received the go-ahead in this manner, the data are transferred over the line. The telegram is concluded by the two characters DLE and ETX (end of text) and a following checksum (BCC = block check character). page 79

80 When receipt of the block checksum <BCC> has been acknowledged, the connection is considered terminated, so a connection must be initiated for each block of data. If the block receiver responds to the attempt to make a connection with a character other than <DLE>, or does not respond within the ACK timeout of 550 ms, the block sender repeats the <STX> character up to five times (= six attempts) in order to establish a connection. Once a connection is established, the block transmitter transmits the data; a DLE contained in the data is transmitted in duplicate. The data block may contain up to 138 characters (without duplication). The data are followed by the characters <DLE><ETX> as block end identifiers and then the block checksum <BCC> as an XOR sum of all characters contained in the telegram except the start control character <STX>. During data transmission, the block receiver expects further characters within the character timeout of 220ms until it receives a <BCC> character; otherwise it terminates reception, sends a <NAK> (negative acknowledge) character and returns to its initial state. After sending <BCC>, the block transmitter expects a response from the block receiver within the ACK timeout. If the block receiver responds with a character other than <DLE>, especially <NAK>, or does not respond within the ACK timeout, the block sender repeats the attempt to transfer the data block up to five times (= six attempts). If both sides attempt to establish a connection simultaneously, the side without priority will fail. The side with priority then begins to transfer the data as described. As the timeout periods for this protocol are fixed (see timeouts), priority in the event of conflicts is set via the output timeout. If it is set to the value -1, the driver operates with no priority. Transmission priority is part of the interface parameters. If you wish to communicate with a SIEMENS SPS using the 3964R protocol, you must adhere to a number of conditions regarding timeout behaviour, number of repetitions, packet size, checksum, handshakes and resolution of transmission conflicts before the SPS will accept your data (read/write, addresses, values)! 8.4. Terms used in industrial image processing Exposure time The exposure time is the time that the camera is made light-sensitive for. The time is set electronically in industrial cameras. page 80

81 Contrast In terms of "image processing", this is the grey value difference between the brightest and the darkest pixels in the whole image or in a restricted area. High-contrast pictures are a prerequisite for successful image processing, because image processing algorithms "live" off contrast. If the picture is too dark, this will result in a low contrast. An over-exposed picture also has a low contrast. The best contrast is achieved when the entire spread of the possible grey values (at 8 bit 256) is used for the image. A low contrast extends the computing time, reduces the achieved accuracy and the reliability in detecting details. Image 41: Various contrast ratios Test object Recording area Optimum contrast Good contrast Bad contrast Table 38: Figure details - Various contrast ratios Object size The object size provides the maximum enlargement of the test object, which is registered by the sensor. It is determined by the camera and the optical setup. page 81

82 Image 42: Various object sizes Test object Recording area Optimum object size Good object size Recording area too small Table 39: Figure details - Various object sizes Pixels Word made up from "picture" and "element". Defines a picture point on the camera, or on a monitor etc., with line and column coordinates x, y, amongst others. Grey value Term for the brightness value of a pixel. With 8-bit cameras the minimum grey value (0) is reached with absolute darkness and the maximum grey value (255) identifies saturation. The grey value is proportional to the product of exposure time and illumination intensity for the individual pixels of the camera. The illumination intensity is proportional to the object brightness. Grey value range Refers to the minimum and maximum possible/tolerated value of the grey value. The grey value range information is used by some image processing functions, such as pixel counting. page 82

83 Image 43: Pixels and grey value (GV) 1 2 Area with grey value 255 Area with grey value Area with grey value 255 Area with grey value 150 Digital picture* 6 Pixels * Matrix with X lines and Y columns; matrix elements are called pixels; matrix values from 0 (black) to 255 (white); a pixel value is called a grey value (GV) Table 40: Figure details - Pixels and grey value (GV) Threshold value The threshold value provides the criterion for separating a value area (grey values, colour values) into two subsets. Thresholds are used for binarising images (binary threshold), amongst other functions. A histogram analysis is used here to calculate the optimum threshold. Thresholds can be fixed, variable (dynamic threshold), apply to the entire image (global threshold), or just to image sections (local threshold) Test pattern Setup aid and test pattern as an example An already printed test pattern is provided in the camats47 packaging. page 83

84 Image 44: Test pattern as set-up aid 8.6. Imprint Authorized representive as managing director: Dr. Juergen Geffe Registration court: Jena County Court Register number: HRB VAT No: DE Contact Should you have any questions, suggestions, etc., please contact the following address: Version Version number: Vision & Control GmbH reserves the right to make changes without prior notice Copyright Vision & Control GmbH All rights reserved. This publication or parts here of may not be copied or made accessible to third parties without the explicit consent of Vision & Control GmbH. Manuals are for personal use only. page 84