Camera System SBRD. Manual [ ]

Transcription

1 Camera System SBRD Manual [ ]

2 SBRD Translation of the original instructions SBRD-EN Identification of hazards and instructions on how to prevent them: Danger Immediate dangers which can lead to death or serious injuries Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries Other symbols: Material damage or loss of function Recommendations, tips, references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations: Activities that may be carried out in any order 1. Activities that should be carried out in the order stated General lists Result of an action/references to more detailed information 2 Festo SBRD-EN

3 SBRD Table of Contents SBRD Information regarding this description... 5 Product identification, versions... 5 Product label... 5 Service... 5 Product specific terms and abbreviations Safety General safety information Intended use Range of applications and certifications Training of skilled personnel Range of application and certifications Further information System overview Design and mode of operation of the SBRD camera system Components Areas of application Functional principle Variants Software packages Accessories Assembly Mounting of the camera system Mounting of the SBRD-Q controller Mounting of SBPB camera head Mounting of NEBC connecting cable Dimensions of SBRD camera system SBRD-Q controller SBPB camera head Installation General installation instructions Selecting the power pack Electrical connections Connection of the operating voltage supply and the I/Os Connecting the Ethernet interface Connecting the camera Festo SBRD-EN English 3

4 SBRD 6 Commissioning Information on commissioning Firewall settings on the PC Selection of the evaluation mode I/O process with triggered evaluation mode I/O process with free wheel unit evaluation mode Connection to higher-order controller General information on use of inputs Use of the Ethernet interface with Telnet Telnet commands Messages and error descriptions Use of the Ethernet interface with Telnet streaming Use of the Ethernet interface with Telnet XML s for operation Diagnostics and error handling General diagnostics options Status indication Error handling G.2 Cleaning and maintenance G.3 Siemens star A Technical appendix A.1 Technical data A.2 Error messages A.3 Address table for Telnet and Telnet-XML A.3.1 Input register A.3.2 Output register A.3.3 Quick access to input and output register A.3.4 Extended system status/system information A.3.5 System time of the device A.3.6 Overall tolerance of the type in the current job A.3.7 Basic results of the last test A.3.8 Freely usable flag words (not remanent) A.3.9 Configure cameras A.3.10 Characteristics results of the last test A.3.11 Job parameter Festo SBRD-EN English

5 SBRD Information regarding this description For all available product documentation Product identification, versions This documentation refers to the following versions: Software Firmware SBRD-Q Camera Configuration Studio CCS Festo Field Device Tool Version Version and higher Version 1.0 and higher Version 2.7 and higher Tab. 1 Hardware and software versions This description contains general basic information on mounting, installation and operation of the camera system. Further information on commissioning, parameterisation and diagnostics can be found in the help system of the software package and at Type Title Table of contents Description of electronics Description of SBRD camera system Mounting, installation and commissioning of the camera system Help system Help for CCS software Functional description and operation of CSS software Help system Help for FFT software Software package for setting the network characteristics and downloading of firmware Tab. 2 Documentation for the camera system Product label The following warning symbols are located on the front side of the product: Observe corresponding information in the documentation. Service Contact your regional Festo contact if you have technical questions Festo SBRD-EN English 5

6 1 SBRD Product specific terms and abbreviations The following product-specific abbreviations are used in this description: Term/abbreviation Auto MDI-X Bus node CCS Camera Configuration Studio Depth of field Depth of focus Edge controlled Ethernet EtherNet/IP Exposure time Falling edge Feature FFT Festo Field Device Tool Focal length I Image sensor I/Os Job Logic 0, logic 1 Meaning Detects the Ethernet configuration of the remote station and automatically adjusts the transmission and reception cable of a network connection. Provide the connection to specific fieldbuses. Transmit control signals to the connected modules and monitor their ability to function PC software for configuration, commissioning and creation of jobs Depth of focus Space before and behind the object focused on that is also still perceived as depicted sharp (also called depth of field). Depth of focus depends on the focal length of the lens and the set orifice. Short focal lengths with small orifice openings result in larger depth of focus. Detection of a signal (e.g. input) reacts to the rising or falling edge. Physical protocol and network for connecting various devices Communication standard via TCP/IP in automation technology Time in which the sensor is subject to light in image acquisition. The longer the exposure time is, the more light that penetrates. Selection of the exposure time depends, for example, on the speed of movement, the available light and the light-sensitivity of the sensor. For moving objects, exposure times that are too long cause blurred images. Transition from logic 1 to logic 0 (falling) Tools of a job determine characteristics in a photo. A characteristic result can be a number, text or an image. Software package for setting the network characteristics and downloading of firmware Long focal lengths generate a large image, while short focal lengths create a wide-angle image. Lenses with changeable focal length are designated zoom lenses. Lenses with longer focal lengths normally have a lower sharpness and lower light intensity. Digital input Sensor Digital inputs and outputs Configuration of a testing task. Contains the settings performed by the user of the cameras, tools, I/Os and job parameters used. Status of the input or output: logic 0 = 0 V, logic 1 = 24 V. (factory setting, logical status Section 3.1.3). 6 Festo SBRD-EN English

7 1 SBRD Term/abbreviation Meaning O Orifice PLC/IPC Protocol-based I/O Rising edge Sensor Digital output Opening through which light reaches the sensor through a lens element. The larger the opening or orifice, the more light reaches the sensor. Opening the orifice lowers the depth of focus. The depth of focus increases as the orifice is closed (larger number of orifices). Smaller orifice openings make longer exposure times necessary. Short exposure times require larger orifice openings. Programmable logic controller/industrial PC Output of selected results for communication with controllers or robots for graphic display or recording of production data Transition from logic 0 to logic 1 (rising). Optoelectronic image sensor (e.g. CMOS image sensor), which converts light signals into electrical signals. Besides the pure sensor function, additional functions for image conversion, such as lighting control and contrast correction, can be integrated directly into the chip. Status-controlled Detection of a signal (e.g. input) reacts to a logic 1 or logic 0. TCP/IP Combination of the protocols TCP and IP, the most-used protocol for communication via Ethernet. Telnet Client-server protocol for general, bidirectional communication, using TCP. Telnet is normally used to offer users access to Internet research through the command line. Tool Tools determine selected characteristics in a photo. XML Extensible markup language; Markup language for representation of hierarchically structured data in the form of text data Tab. 1 Product-specific terms and abbreviations Festo SBRD-EN English 7

8 1 Safety 1 Safety 1.1 General safety information In commissioning and programming, the safety regulations in this manual and in the documentation for the controller used and for the other components must always be observed. Electrostatically sensitive devices! Electrostatic charges can damage the internal electronics. Never unplug or plug in a product when it is energised! Observe the handling specifications for electrostatically sensitive devices. Before mounting and installation work, switch off supply voltage. Only switch on the supply voltage again when mounting and installation work are complete. The product can generate high frequency malfunctions, which may make it necessary to implement interference suppression measures in residential areas. 8 Festo SBRD-EN English

9 1 Safety 1.2 Intended use The SBRD camera system is intended for installation in a machine or automated system. It is used to analyse parts for quality and position, detect their rotational position, pick & place, measuring, reading of bar codes and data matrix codes (1D and 2D codes), reading of plain text (optical character recognition). Use the SBRD camera system only as follows: As intended In its original state without unauthorised modifications. Only with accessories released by Festo. In excellent technical condition. When connected with commercially available components, such as sensors and actuators, the specified limits for pressures, temperatures, electrical data, torques etc. must be observed. The device is intended exclusively for use in an industrial environment. Measures for interference suppression may be required in residential areas Range of applications and certifications Standards and test values, which the product complies with and fulfils, can be found in the Technical data section ( Appendix A.1). The product-relevant EC directives can be found in the declaration of conformity. Certificates and the declaration of conformity for this product are contained in separate documents Training of skilled personnel Only qualified personnel may carry out installation, commissioning, servicing and removal of the product. The qualified personnel must be familiar with installation of electrical control systems. 1.4 Range of application and certifications The product fulfils the requirements of EC directives and is marked with the CE marking. Festo SBRD-EN English 9

10 2 Further information 2 Further information Accessories Spare parts 10 Festo SBRD-EN English

11 3 System overview 3 System overview 3.1 Design and mode of operation of the SBRD camera system Components The SBRD camera system consists of the following pneumatic components: Machine vision controller SBRD-Q SBPB camera heads NEBC connecting cables Areas of application The SBRD camera system can be used for the following problems: Position and rotational position detection Pick and Place Quality inspection Measurement Reading of bar codes and data matrix codes (1D and 2D codes) Reading of plain text (OCR) Functional principle The SBRD-Q controller actuates the connected camera heads to take pictures. The pictures taken are transmitted and evaluated in the SBRD-Q controller, depending on the current operating mode and the settings of the current job. The results of the evaluation are then output. The sequence is determined by the current operating mode and the settings in the job, especially by the evaluation mode. Operating modes of the device Run mode: normal operating mode. A job stored on the device is executed. Configuration mode: limited operating mode for commissioning the device. This takes place with the help of the CCS software. The first configuration is designated as job. Evaluation modes, specified in the job: Triggered: single frame shooting and evaluation with each valid trigger signal. Free wheel unit: continuous image recording as long as the trigger signal is present. A job contains all settings for conducting a specific function in an evaluation. During commissioning, the user creates a job with the help of the CCS software. The job is then transmitted to a memory location in the device. A job contains the following settings: Job parameters (especially evaluation mode). Selection and settings of: Cameras used (e.g. type code, exposure time). Tools and their inspection features (e.g. distances, angles, X/Y positions. ID codes, text, imagerelated results). Tolerance ranges for inspection features (e.g. min./max. rules). Festo SBRD-EN English 11

12 3 System overview Digital I/O (24 V I/O with signal specifications). Protocol-based I/O (e.g. fieldbus protocols, graphic displays). In the run mode, the device performs an evaluation based on the selected job. This results in the following sequence: 1. Image acquisition with the help of the camera heads. 2. Calculation of the (test) characteristics by the tools. 3. Comparison of the inspection features with the specified tolerance ranges. 4. Output of the results to the digital I/O. 5. Output of the results through the protocol-based I/O. 6. Output of diagnostic data, if applicable. An evaluation can now be performed. 3.2 Variants SBRD-Q controller The SBRD-Q controller is a compact evaluation unit with degree of protection IP 20. Up to 2 cameras of the SBPB model series can be connected to the device. Fig. 3.1 SBRD-Q controller Feature Code Value Control SBRD Series D Function Q Quality inspection Tab. 3.1 Order code 12 Festo SBRD-EN English

13 3 System overview With EMC influence, individual malfunctions in the data transmission paths can occur. This can influence the maximum data throughput. Plan for corresponding reserves. Characteristics of the SBRD-Q controller 24 V I/Os: 10 inputs + 2 inputs (pull-up resistor)/8 outputs Power: 2x 32 bit ARM Cortex-A9 CPU Memory: 1 GB Dimensions: 130 mm x 106 mm x 60 mm Function: machine vision Communication: Ethernet 10/100/1000 Mbit/s Interfaces: pluggable connectors Camera interface: 2x USB-compatible for connection to the camera head LED: status, I/Os, Ethernet SD memory card slot SBPB camera head The SBPB camera heads are intended for image acquisition within the SBRD camera system. The camera heads are optimised for use in an industrial environment. The product is available with image sensors as colour and monochrome variants in various resolutions. Fig. 3.2 SBPB camera head Feature Code Value Camera heads [SBPB] Series B Resolution [R2] 1280x1024 [R5] 1600x1200 [R9] 2456x2054 Festo SBRD-EN English 13

14 3 System overview Feature Code Value Image sensor [B] Monochrome [C] Colour Communication interface [U3] USB compatible Digital inputs [1E] 1 input Digital outputs [1A] 1 output Lens connection [C] C mount Tab. 3.2 Order code NEBC connecting cables The NEBC connecting cable is a cable with 2 different connection sides (type A, type B 3.0 micro, each USB compatible) for connecting the SBRD-Q controller to the SBPB camera heads. Fig. 3.3 NEBC connecting cables Feature Code Value Connecting cables [NEBC] For controllers Field device side Connectors left side [U7] USB compatible, type B micro Cable outlet, left [G] Straight Number of pins/wires left [10] 10-pin Cable characteristics [K] Standard Cable design [S] With shielding Cable length [5] 5 m Cable designation [N] Without label holder Type of connector [S] Plug connector on both sides Controller side Connectors right side [U5] USB compatible, type A Cable outlet right [G] Straight Number of pins/wires right side [9] 9-pin Tab. 3.3 Order code 14 Festo SBRD-EN English

15 3 System overview 3.3 Software packages The FFT software (Festo Field Device tool) and the CCS (Camera Configuration Studio) are used for commissioning and operation. Minimum requirements that the PC must fulfil in connection with the software packages are described in the Help of the respective software package. The FFT software provides the following functions: Subject Basic configuration and commissioning Function Changing of the device's network settings (IP address, gateway, password, etc.) Transmission of firmware to the controller Tab. 3.4 Functions of the FFT software The CCS software provides the following functions: Subject Function Configuration and commissioning, creating jobs Determination of the signal behaviour Determination of the cameras and camera characteristics Determination of the evalution and output functions Determination of tools and tool characteristics Analysis Display of evaluated parts, live images, statistics and handling of jobs Diagnostics Display of the device characteristics Display of errors Service Documentation of a system Tab. 3.5 Functions of the CCS software 3.4 Accessories Please select additional accessories from the catalogue Festo SBRD-EN English 15

16 4 Assembly 4 Assembly Warning Before undertaking mounting, installation or maintenance work, switch off the operating voltage supply for the electronics. Uncontrolled external light influences generation of the images and thus the results. Use screening (e.g. opaque black housing) against uncontrolled external light (e.g. ceiling lights, windows, etc.). Handle lens of the camera carefully. Avoid contamination. Work in a clean environment. Do not touch the inside of the camera, lens elements or glass surfaces. Connect to the product only devices approved by Festo. In mixed operation, there is the danger of electric destruction. Camera connection is sensitive to electrostatic discharges. These can result in image disturbances during operation. If an electrostatic discharge is possible: Do not touch the camera connection during operation. 16 Festo SBRD-EN English

17 4 Assembly 4.1 Mounting of the camera system Mounting of the SBRD-Q controller The SBRD-Q controller can be mounted as follows: On an H-rail With 2 M4 screws in the fastening holes of the housing Position the SBRD-Q controller so that the ventilation grille is arrayed horizontally. This ensures air flow through the device from bottom to top as well as possible Mounting of SBPB camera head There is a threaded hole pattern on the bottom of the SBPB camera head. Use only the SBAM C11-CP mounting kit Tab Use only the screws and toothed discs provided. Always use toothed discs. Pay attention to thread length. Mount the camera head with the help of the adapter kit so that it is aligned on the inspection part suitably and without obstacle Tab Observe that the distance between camera and inspection part is adapted to the optics. In case of high ambient temperatures, mount the camera head on a cool surface. A functional earth connection is present on the mounting plate of the SBAM camera. Connect this to earth potential with low impedance Mounting of NEBC connecting cable Plug the NEBC connection cable on the controller side into the connection X7 or X9. Plug the NEBC connecting cable into the USB-compatible connection on the back of the camera and secure it against loosening with the corresponding locking screws. Ensure permanent strain relief on both sides. Do not use narrow cable binders for mounting, as otherwise the internal structure of the cable can be damaged. Secure plug connector at SBRD-Q controller and at the SBPB camera head so it will not be accidentally unplugged or loosened (e.g. through vibration). Festo SBRD-EN English 17

18 4 Assembly The following adapter kits are used for mounting the respective components: Type Designation Manual SBAM-C11-CP Mounting Adapter kit for camera on dovetail mounting SBOA-HMSV-39 Adapter kit Adapter kit for mounting with dovetail plate, which can be screwed on (dovetail plate contained in the adapter kit) SBOA-HMSV-40 Adapter kit Adapter kit for mounting to dovetail plate, e.g. HMSV-11 plate (not included in the adapter kit) SBOA-HMSV-41 Adapter kit Adapter kit for mounting with female thread ¼ 20 UNC for mounting to commercially available photo/video tripods SBAM-C6-A2-AF Swivel mounting Swivelling and adjustable mounting for attachment of the camera heads using dovetail system. Tab. 4.1 Adapter kits for mounting 4.2 Dimensions of SBRD camera system SBRD-Q controller Fig. 4.1 Dimensions 18 Festo SBRD-EN English

19 4 Assembly SBPB camera head Lens not included in the scope of delivery 2 Optical axis Fig. 4.2 Dimensions Please use the Support Portal for further information about dimensions. Festo SBRD-EN English 19

20 5 Installation 5 Installation 5.1 General installation instructions The product can generate high frequency malfunctions, which may make it necessary to implement interference suppression measures in residential areas. Caution Malfunctions caused by electromagnetic factors. Connect the function unit connections with low impedance to the earth potential. Connect the H-rail with low impedance to the earth potential. Long signal lines reduce the resistance to interference. Make sure that the cable lengths listed in the following table are complied with: Cable type Signal lines NEBC connecting cable Ethernet Permissible cable lengths Max. 30 m Max. 5 m > 30 m Tab. 5.1 Maximum permissible cable lengths Emergency off: In accordance with EN : Electrical safety is ensured in case of emergency by switching off the electrical energy to all or part of the installation. Emergency off is to be used where a risk of electric shock or other electrical risk exists. 20 Festo SBRD-EN English

21 5 Installation Selecting the power pack Warning For the electrical power supply, use only PELV circuits in accordance with IEC/DIN (Protective Extra-Low Voltage, PELV). Also observe the general requirements for PELV circuits in accordance with IEC/DIN EN Only use power sources which guarantee reliable electrical isolation of the operating voltage in accordance with IEC/DIN EN Protection against electric shock (protection against direct and indirect contact) is guaranteed in accordance with IEC/DIN EN by using PELV circuits (Electrical equipment of machines, general requirements). Warning Fire risk. Injury from hot surfaces. The product must be supplied from a single voltage source that meets the requirements for energy-limited circuits or from an energy-limited voltage source (LPS) or from a Class 2 circuit. Observe IEC /EN Simple 24 V transformers with rectifier and filter capacitor achieve output voltages of 28 V and more at low load. Proper operation is guaranteed only if the permitted operating voltage range is not exceeded Technical data in Appendix A.1. Festo SBRD-EN English 21

22 5 Installation 5.2 Electrical connections SBRD-Q controller aj 3 aa X1 controller power supply 2 X2 digital inputs (with integrated pull-up) X2.2, X2.3 related GND: X2.0, X2.1 digital inputs X2.4 X2.7 3 X3 digital inputs X3.0 X3.5 4 X4 digital outputs X4.0 X4.7 5 X5 power supply outputs Fig. 5.1 SBRD-Q controller 6 Status LEDs 7 X7 camera interface 8 X8 Ethernet interface 9 X9 camera interface aj X10 reserved aa SD memory card module The following connection options are available: Chapter 6.4 and Tab Connection of the operating voltage supply and the I/Os Caution Damage to components. Ensure compliance with the permissible operating voltage range Technical data, Chapter A.1. The power supply is brought to the X1 port through the 4-pin plug labelled 24 V DC. 22 Festo SBRD-EN English

23 5 Installation The following components are supplied with +24 V DC through this connection: Internal electronics of the camera system. Inputs. The outputs X4 are supplied with +24 V DC through the 2-pin plug X5. Warning Malfunction due to electromagnetic interference. Connect screening to the connection for functional earth FE. Connect plug X1 with low impedance to the earth potential. The function and functional behaviour of the I/O are configured with the CCS software and stored in the respective job. The functional behaviour of the I/O must be differentiated in the various evaluation modes Chapter 6.3 ff. Please observe the following: Comply with tolerance 24 V DC ± 10 %. Connect the FU connection of the X1 plug to earth potential with low impedance. Current must not exceed 450 ma per output. Connect cable screening to earth potential with low impedance. For inputs with integrated pull-up resistor (X2.0 and X2.1) use shielded cables and attach shield on both sides to the earth potential with low impedance. Maximum unshielded length 100 mm. Outputs and inputs are galvanically isolated: Outputs are supplied through X5, potential related to GND_IO. Inputs are supplied through X1, potential related to GND Connecting the Ethernet interface With an active connection to the systems in the network, large amounts of data can be transmitted, depending on the mode of operation. This places a corresponding load on the network between the PC and system. A direct connection is therefore preferable. Ensure that corresponding band widths and an optimal network structure are available. Comply with necessary system requirements. Festo SBRD-EN English 23

24 5 Installation Unauthorised access to the camera system can cause damage or malfunctions. Protect network against unauthorised access. Measures to protect the network include firewall, intrusion prevention system (IPS), network segmentation, virtual LAN (VLAN), virtual private network (VPN), security at physical access level (port security). For additional information Guidelines and standards for security in information technology, e.g. IEC 62443, ISO/IEC An access password only protects against unintentional modification. For commissioning and configuration of the camera system, a connection with the PC must be made via Ethernet. For special requirements of permanent use in an industrial environment, use a Category 6 Ethernet cable which fulfills requirements for oil-resistance, bending radius, permissible bending cycles, etc. Connections: 2x RJ45 plug Connecting the camera Use only the cable and accessories approved by Festo Tab. 3.3, Tab Do not install any further USB accessories (angle cable adapter, extension cable, hub, etc.) between camera and controller. 24 Festo SBRD-EN English

25 6 Commissioning 6 Commissioning 6.1 Information on commissioning Prior to commissioning, mounting and installation of the device should be completed. Use the FFT software to change the network settings or firmware of the device. Perform commissioning and configuration with the CCS software Help for CCS. The steps for commissioning normally take place in the sequence shown in the next chapter. For optimisation of the system, it is sometimes necessary to repeat steps that have already been performed. 6.2 Firewall settings on the PC When a firewall is used on the PC, the network traffic is allowed or prohibited using a define firewall set of rules. This also affects communication of the software packages with the camera system. After the installed software packages start, at the first attempt at communication between software and camera system, a dialogue normally begins with information that this communication is blocked by the firewall. The blockade can be permanently lifted in this dialogue. Manual approval of communication can also be granted later in the firewall settings over the network. Communication of the installed software packages with the camera system takes place through so called ports. Some firewalls permit network traffic through enabling of these ports. Enable use of the following ports in the firewall: Port Transmitting Purpose 2222 UDP EtherNet/IP (Multicast) 4386 TCP Firmware download, Add-in download and backup with PC software ) TCP Telnet-XML ) TCP Telnet-Streaming ) TCP Telnet TCP Data exchange with PC software TCP Data exchange with PC software UDP Device search with PC software (Multicast) TCP EtherNet/IP 1) Standard setting of the camera system Tab. 6.1 Ports to be enabled for software packages and fieldbus protocols Festo SBRD-EN English 25

26 6 Commissioning 6.3 Selection of the evaluation mode The evaluation mode determines when a picture of an inspection part is taken, processed and checked and the results are output. Selection of the evaluation mode determines how the device reacts to input signals or when the inspection results can be sent to the outputs. Here, observe the descriptions of the signal processes starting with Chapter ff. The following evaluation modes can be selected through the Evaluation mode job parameter in the CCS software Setting in Job Navigator step 1. Set up in the job parameter window, evaluation section: Triggered: single frame shooting and inspection with each valid trigger signal Free wheel unit: continuous image recording and inspection (no fixed frame rate) as long as the trigger signal is present Selection of the evaluation mode is dependent on the respective application, in particular the following factors: Inspection part rate and inspection part flow Inspection part (component part or continuous part) Interaction with a higher-order controller Use and operation of the modes Triggered Inspection of component parts in stop-and-go or slow parts flow. The trigger signal is triggered through a higher-order controller or a sensor, for example, as soon as the inspection part is in the field of view of the cameras. The inspection results are output after completion of the inspection, then the device waits for the next valid trigger signal. Free wheel unit Inspection of component or continuous parts at medium to fast (continuous) parts flow. The trigger signal is present continuously, regardless of whether an inspection part is located in front of the camera system. The device acts similarly to a simple sensor. The inspection results are output after completion of the test. Then the device starts immediately with the next inspection. Hinweis All SBPB camera heads connected to the SBRD-Q controller and configured in the current job are started through a common trigger signal. Possible trigger signals are: A digital input at X2 or X3 Electrical connections 5.2 (configurable through the CCS software Job Navigator, step 6, Configure I/O, selection Digital inputs). Trigger function in the CSS software. Protocol-based I/O (e.g. via Telnet). An inspection is considered completed when all calculations configured in the current job have been performed. That is, inspection results from images of individual camera heads are not output individually, but only when the overall inspection result of the current job is available. 26 Festo SBRD-EN English

27 6 Commissioning I/O process with triggered evaluation mode In the triggered evaluation mode, exactly one cycle (edge-controlled) is started through a valid signal at the trigger signal input. A cycle contains the image evaluation and output of the results. Trigger signals are valid only under the following conditions: Ready for operation output signals logic 1 Image evaluation begins with the trigger signal. During image evaluation, the ready for operation output signals logic 0. The results are sent to the outputs no earlier than upon completion of the image evaluation. The ready for operation output is set for logic 1 only when the results are validly present at all outputs. The results can now be processed by a higher-order controller (PLC/IPC), for example. These results remain at the outputs until the next trigger signal. Signal process with standard settings The signal process with standard settings of the job parameters in the triggered evaluation mode could appear as follows. Fig. 6.1 Triggered evaluation mode signal process with standard value settings Function and behaviour of the inputs and outputs are determined at configuration of the job with the CCS software Chap Acceptance of the I/O signals by a higher-order controller can be accomplished with the rising edge of the ready for operation signal Fig Simplified representation of the signal processes. These contain no jitter, run times or system-related delays. Festo SBRD-EN English 27

28 6 Commissioning I/O process with free wheel unit evaluation mode In the free wheel unit evaluation mode, the free wheel mode remains active as long as logic 1 is present at the trigger signal input (status-controlled). During this time, images are generated and evaluated cyclically. Image evaluation begins with the start of the cycle. During image evaluation, the ready for operation output signals logic 0. Between two cycles, the ready for operation output can send a logic 1 Fig The rate at which images are recorded or results are output varies and depends on the evaluation duration of the individual images. Function In this evaluation mode, the device acts similarly to a simple sensor that inspects and outputs continuously. As a result, a continuous evaluation can be achieved. But synchronisation of the outputs with a higher-order controller (PLC) is only conditionally possible. The results are written to the outputs only when the device is finished with image evaluation. The outputs remain valid until the next image evaluation cycle has been worked through. If the trigger signal input is reset to logic 0, the free wheel unit is ended. After the current image evaluation is completed, the ready for operation output signals logic 1 again Fig Signal process with standard settings The signal process with standard settings of the job parameters in the free wheel unit evaluation mode could appear as follows: Fig. 6.2 Free wheel unit evaluation mode - signal process with standard settings 28 Festo SBRD-EN English

29 6 Commissioning Function and behaviour of the inputs and outputs are determined at configuration of the job with the CCS software Chap Acceptance of the I/O signals by a higher-order controller can be accomplished with the rising edge of the ready for operation signal. Simplified representation of the signal processes. These contain no jitter, run times or system-related delays. Festo SBRD-EN English 29

30 6 Commissioning 6.4 Connection to higher-order controller For control of the device or processing of the inspection results, a higher-order controller (PLC) can be connected to the camera system through the available connection options. The following I/O functions are available, depending on the device and firmware used. Assignment to a connection or interface is done during configuration of the job: Connection Input functions Output functions Device internal, digital I/O module at the plugs X2, X3, X4 Communication over Ethernet interface (protocol-based I/O) Trigger signal Acknowledge error Acknowledge error, apply input signal Job number Apply input signal Trigger signal Apply input signal Acknowledge signal error Job preselection Job parameter Job tolerances Not assigned Ready to operate Errors Pass on the input X2.2 Pass on the input X2.3 Always off Always on Configuration mode Inspection result OK Inspection result not OK Orientation correct Orientation incorrect Type Ready to operate Warning and error status Detailed inspection results with recognised parts type and characteristics as values or text Tab. 6.2 Connection options of the camera system A higher-order controller must be programmed according to the signal behaviour of the selected evaluation mode. Here, observe the descriptions of the signal processes starting with Chapter ff. Logical status of inputs/outputs Some I/O signals can be configured with the CCS software Job Navigator step 6 Configure I/O, selection Digital inputs or Digital outputs. 30 Festo SBRD-EN English

31 6 Commissioning the difference between the electrical level (high-active, low-active) and the logic status (logic 1, logic 0) of an input or output. All signals are high-active in the factory settings and can be inverted in their logic in the CCS software. Then they become low-active signals. All timing diagrams and representations assume this high-active default setting. Inversion of the signals should only be made in exceptional cases by experienced users General information on use of inputs There are inputs with signal function and other inputs. Inputs with signal function These inputs are edge- or status-controlled, depending on the evaluation mode. They are read constantly. If the signals are valid with regard to the current operating status, the corresponding action is carried out immediately. Inputs with signal function include: Trigger signal Acknowledge error Acknowledge error, apply input signal Apply input signal Other inputs These inputs are status-controlled, that is, they react to logic 1 or logic 0. Example for normal input: job preselection The inputs can be read through the Telnet communication protocols and in the job, independently of the selected function. Function assignment Connections and interfaces of the SBRD-Q controller can be equipped with almost any assignment of functions. Configuration is made through the CCS (Camera Configuration Studio) software In Job Navigator step 6 Configure I/O, selection Digital inputs or Digital outputs. The configuration is stored in the respective job. The input statuses are read during processing of the job after the image is recorded. But the time when they are read in during image processing is not determined exactly, so changes to the input statuses during evaluation can lead to unforeseen results. Make sure that no changes are made to the input statuses during evaluation. Festo SBRD-EN English 31

32 6 Commissioning Trigger signal input The input with the assigned trigger signal function starts and stops the inspection process. The mode of operation, signal detection and signal process are dependent on the selected evaluation mode Chapter ff. Apply signal inputs input The input with the assigned apply signal inputs function loads a new job. The number of the new job must previously be specified through the I/O options. Apply signal inputs is edge-controlled detected and accepted only as long as a logic 1 is present at the ready for operation output. To read inputs again (load job), the apply signal inputs must at first be reset due to edge detection. As long as the inputs are read and the job is loaded, the ready for operation output sends a logic 0. During this time, no parts can be inspected. The trigger signal is not valid as long as the ready for operation output sends logic 0. As soon as the job has been loaded, the ready for operation output signals logic 1 again. Trigger signals for an inspection are now accepted. When a job has been loaded, the inspection results and the related flag words are reset. Fig. 6.3 Signal process: apply inputs switch job 32 Festo SBRD-EN English

33 6 Commissioning Simplified representation. The signal processes contain no jitter, run times or systemrelated delays. The inputs must be validly present for a certain time, depending on the I/O options used. Acknowledge error signal input If an error state occurs, this is displayed at the error status output with a logic 1. In addition, the ready for operation output goes to logic 0. Incoming trigger signals are not valid, that is, no further evaluations are possible until the error is eliminated. The error must be eliminated through suitable means, while the system remains in an error status. Diagnostics and changing of job parameters are still possible. Use the CSS software or all protocols that can access job parameters. As soon as the error has been eliminated, this must be reported to the camera system through the input with the related acknowledge signal error function. The acknowledge error signal is edgecontrolled detected. Information on the errors (description and recommendations for elimination) is in Chapter Use of the Ethernet interface with Telnet The device provides the Telnet protocol for communication with a higher-order controller, robot, or PC. This allows very comprehensive output and control options. Inspection results can be processed further in the higher-order controller, for example, to grasp a part with a robot. Support of the Telnet function by the camera system must be activated through job parameters. Reading and writing are performed through a text-based command line with defined commands, where the data to be read/written are defined by memory addresses. Besides simple commands for image recording, among other things, the device also makes available access to the results of an inspection and the settings of the job parameters. Specific memory addresses can be read and written, while some can only be read or written Tables in the appendix A.3. Festo SBRD-EN English 33

34 6 Commissioning Commissioning: 1. Switch off system to avoid errors or damage. Disconnect power supply to the camera system and to the device to be coupled. 2. Connect the camera system through specified cables to the device to be coupled, e.g. through an Ethernet switch or hub. 3. Connect power supply again. 4. Create a connection to the camera system with CCS software and set the job parameters under the Telnet function: The TCP port job parameter determines which port should be used for Telnet communication. The Telnet server job parameter activates the Telnet function and also established additional protocol characteristics: On (normal function): The device to be coupled does not use the Telnet S7 module end. On (S7 module end): When the Telnet S7 module end is used on a corresponding controller. 5. In the device to be coupled, set IP address and the used Telnet port of the camera system. 6. Program the device to be coupled in order to access data of the camera system. Contact Festo Service if the S7 module end is used. General information on inputs is found in Chapter The available memory addresses and functions are located in the appendix A.3. Test of the Telnet communication Most PC operating systems have a Telnet program on the command line level. The Telnet connection to the camera system can be tested with this program. 34 Festo SBRD-EN English

35 6 Commissioning Windows operating system Requirements in the Windows operating system Activate the Telnet Client option in Windows system control. Help function in the Windows operating system. Open window through the Windows start menu. Help function in the Windows operating system. Start Telnet program and transfer the IP address of the camera system as well as the port number established in the TCP port job parameter. Calling up Telnet program telnet This builds up a connection to the camera system. Telnet program with feedback SBRD-Q: 20 SBRD-Q: no authentication required. If the entries in the Telnet are not visible, the so-called Local Echo must be activated in the Telnet. Information on this can be found in the Telnet program help. The Telnet function of the camera system supports up to 10 active connections. This permits fast reconnection if a connection is interrupted. If an attempt is made to build up more than 10 connections, the following error message results: 6 ERROR: maximum number of connections reached After this message, the connection is ended. Festo SBRD-EN English 35

36 6 Commissioning Telnet commands WFW Write Flagword WFW <address, value> Writes a value to the specified flag word address Appendix A.3. The following example writes the value 600 to the flag word address 1000 (exposure time of the first camera in microseconds). Write to a flag word address: WFW 1000, OK: operation successful. In case of error, a response is made with an error code and an error message. Changes to values and settings using WFW are not stored remanently but only until a job change or disconnection of the power supply. If the settings are to be stored remanently, the STORPRG command must also be used. RFW Read FlagWord RFW <address> Outputs the current value of the specified flag word address as text Appendix A.3. Up to 64 addresses can be read out with this command. To achieve this, the flag word addresses must be specified separated by commas: RFW <address1, address2, address3, > Reading out flag word addresses: RFW 153, 154, , 42, 17 RNV Read Named Value RNV [name of the characteristic] Outputs the current characteristic value of the specified characteristic Appendix A.3. Up to 64 characteristic values can be read out with this command. The characteristic names must be specified between square brackets or quotation marks and separated by commas: RNV [name 1], [name 2], [name 3], 36 Festo SBRD-EN English

37 6 Commissioning The values are output only when the characteristic names are written completely and correctly. Use none of the following characters in the characteristic names when configuring the job: Square brackets [ ] Quotation marks Umlauts Special characters Pay attention to capital and small letters in the characteristic names. If no agreement is found, the device issues the following message: 55 ERROR: one or more feature name(s) not valid The characteristic values can only be requested with this command if their output was previously configured in the CCS software in the selected job with the help of the protocol-based I/O result flag word Job Navigator, step 6, Configure I/O, selection result flag words. The characteristic names are stored in the job and can be determined when the job is created (in CSS software). Preferably use meaningful characteristic names. If several characteristic names are identical, the value of the first characteristic whose name matches is output. RDO Read Data Output RDO [name of the protocol-based I/O] Outputs the values of the corresponding protocol-based I/O. Festo SBRD-EN English 37

38 6 Commissioning Protocol-based I/Os can only be requested if they were previously stored in the CCS software CCS in the selected job with the corresponding name. An error message appears if no protocol-based I/Os were created. Details on configuration of protocol-based I/Os are located in the online help of the CCS software. The values are output only if the name of the protocol-based I/O was written completely and correctly. Use none of the following characters for names of the protocol-based I/Os when configuring the job in the CSS: Square brackets [ ] Quotation marks Umlauts Special characters Pay attention to capital and small letters. If the protocol-based I/Os exist and use the Telnet protocol, the result depends on the output format: Telnet Part Detector: binary coded Telnet Data Collection: binary coded Telnet XML: XML coded The structure and contents of the protocol-based I/Os are displayed in CCS in the results window of the respective I/O. As a result, programming of the controller for acceptance of the data can be implemented easily IMAGE Image evaluation This IMAGE command is allowed only in the evaluation mode triggered and free wheel unit. The command performs a complete evaluation. The inspection results and characteristics are entered at the corresponding flag word addresses. CHANGEPRG CHANGEPRG job number The job can be changed with this command. The values 1 to 255 are allowed as job number. Requirements: The device is not in the configuration mode. If the device is in the configuration mode, only the new job number is stored without changing into the job. If the configuration mode is ended, the device changes into the job with this job number. The device is ready for operation: ready for operation output signals operational readiness. 38 Festo SBRD-EN English

39 6 Commissioning STOREPRG STOREPRG job number With this command, the current job with its settings can be stored remanently under the job number. All parameter settings that were changed using WFW, for example, are first stored permanently on the device with the STOREPRG command. EXIT End connection The camera system closes the Telnet connection. VERSION Sensing of the version of the Telnet server and of the version of the device Messages and error descriptions Code Message/error Description 20 SBRD-Q No authentication required Initial message of the server after the connection is established if no authentication is required 1 OK Operation successful Command was successfully executed. 1 ERROR Parse error, or command unknown 5 ERROR Another client is already connected 6 ERROR Maximum number of connections reached Command is invalid. Error in the instruction Message if connection already exists Message with attempts to build up more than 10 connections 10 ERROR Camera not ready Camera system is not ready for operation when the command is executed. 11 ERROR Timeout during last operation Allowed time exceeded during execution of the command 12 ERROR Response line overflow The response command line exceeds the valid number of characters. 20 ERROR Program switch failed Job could not be switched over. 21 ERROR Program number not valid Specified job number is not valid. 30 ERROR Read offset not valid One or more of the specified flag word addresses for read access is invalid. 40 ERROR Write offset not valid Specified flag word address for write access is invalid. 42 ERROR Data type not valid Used data type is invalid. 50 ERROR String offset not valid String address invalid. 55 ERROR One or more feature name(s) not valid One or more name(s) in the RNV (read name value) command are invalid. 56 ERROR Read data output (-Other-) Error in protocol-based I/Os Festo SBRD-EN English 39

40 6 Commissioning Code Message/error 58 ERROR Read data output: name not defined 59 ERROR Read data output: data output not compatible 61 ERROR No authentication required Description Protocol-based I/Os are not set up for specified names. Protocol-based I/Os not suitable for output through Telnet or to the CoDeSys module end. No authentication required (after use of the control commands USER or PASS) 62 ERROR Already authenticated Connection is already authenticated (after new use of the control commands USER or PASS). 63 ERROR No user provided The command PASS was received before transmission of a user name. 200 ERROR Unspecified error Error not described more closely. Tab. 6.3 Messages and error descriptions Use of the Ethernet interface with Telnet streaming The device provides the Telnet protocol for streaming for communication with a higher-order controller, robot, or PC. This allows very comprehensive output and control options. Inspection results can be processed further in the higher-order controller, for example, to have a robot grasp a workpiece. Support of the Telnet streaming function by the camera system must be activated through job parameters CSS software. The Telnet streaming function outputs data without explicit request to the configured TCP channel. Up to 10 clients can receive the data. On the Telnet streaming channel, data are output only under the following conditions: Telnet streaming function is activated. Selected job includes Telnet protocol-based I/O. Telnet protocol-based I/Os are configured for automatic output (streaming). With the CCS software, protocol-based I/Os can be added to a job and configured. 40 Festo SBRD-EN English

41 6 Commissioning Fig. 6.4 Configure protocol-based I/O with Telnet streaming Besides the data to be output, protocol-based I/Os establish their formats as well (binary, XML). Additional information for creation of jobs can be found in the help for the CCS software. On the Telnet streaming channel No commands of clients are evaluated No error messages are output Use of the Ethernet interface with Telnet XML The device provides the Telnet protocol for XML for communication with a higher-order controller, robot, or PC. This allows very comprehensive output and control options. Inspection results can be processed further in the higher-order controller, for example, to have a robot grasp a workpiece. Support of the Telnet XML function by the camera system must be activated through job parameters CCS. Reading and writing are performed through a text-based command line with defined commands, where the data to be read/written are defined by memory addresses. Besides simple commands for image recording, among other things, the device also makes available access to the results of an inspection and the settings of the job parameters. Specific memory addresses can be read and written, while some can only be read or written Tables in the Appendix A.3. Festo SBRD-EN English 41