YASKAWA MotoSight Pendant Vision Instructions

YASKAWA
MOTOSIGHT PENDANT VISION
INSTRUCTIONS
for Cognex InSight Vision Systems
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN XXXXXX INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
YASKAWA
156162-1CD
4
MANUAL NO.
156162-1CD
0
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MotoSight Pendant Vision
MANDATORY
•
This system manual provides an overview of the MotoSight
Pendant Vision system. It gives general information about the
system, a description of its major components, and the procedures
for installation, system operation, and preventive and repair
maintenance. Be sure to read and understand this manual
thoroughly before installing and operating the MotoSight Pendant
Vision system.
•
General items related to safety are listed in Section 2 of the Robot
Controller Manual. To ensure correct and safe operation, carefully
read the Robot Controller Manual before reading this manual.
CAUTION
•
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure that all covers and shields
are replaced before operating this product.
•
The drawings and photos in this manual are representative
examples, and differences may exist between them and the
delivered product.
•
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
•
If such a modification is made, the manual number will also be
revised.
•
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the Motoman MotoSight Pendant Vision system.
In this manual, the Notes for Safe Operation are classified as “WARNING,”
“CAUTION,” “MANDATORY,” or “PROHIBITED.”
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
CAUTION
MANDATORY
PROHIBITED
Always be sure to follow explicitly the
items listed under this heading.
Must never be performed
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as "CAUTION"
and "WARNING."
CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the Programming Pendant to the hook on the cabinet
of the DX100 controller after use.
The Programming Pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX100 Controller Manual before operating the MotoSight Pendant
Vision system.
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WARNING
•
Before operating the manipulator, check that servo power is turned
OFF by pressing the EMERGENCY STOP buttons on the operator
station or Programming Pendant (refer to Figure 1). When servo
power is turned OFF, the SERVO ON LED on the Programming
Pendant is turned OFF.
Injury or damage to machinery may result if the Emergency Stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the EMERGENCY STOP buttons do not function.
Figure 1: EMERGENCY STOP Button
•
Release the EMERGENCY STOP button (refer to Figure 2). Once
this button is released, clear the cell of all items which could
interfere with the operation of the manipulator. Then turn servo
power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2 : Release of EMERGENCY STOP Button
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat to in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning on the power for the DX100 controller.
– Moving the manipulator with the Programming Pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an EMERGENCY STOP
button immediately if there is a problem.
The EMERGENCY STOP buttons are located on the operator station
and on the Programming Pendant.
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Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the Programming
Pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 controller
DX100
DX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the
controller
Manipulator cable
Menu
The menus displayed on screen are
denoted with { }. ex. {TOOL}.
Button
The buttons, check boxes, radio
buttons displayed on screen are
denoted with [ ].
ex. [Close]; [Sync] check box; [Fast]
radio button.
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means the following operations:
• To move the cursor to the object item and left-click on it with the mouse.
• To pick out the object item by the tab key and press the [Enter] key.
(In case of selecting a menu, use arrow keys instead of the tab key to pick
out the object item, then press the [Enter] key.)
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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Explanation of Warning Labels
The following warning labels are attached to the manipulator (refer to
Figure 3). Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 3: Warning Labels Location
WARNING Label A
WARNING Label B
Nameplate
Nameplate:
WARNING Label A:
WARNING
MOTOMAN
TYPE
PAYLOAD
ORDER NO.
kg
MASS
Moving parts
may cause
injury
kg
DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION JAPAN
WARNING Label B:
WARNING
Do not enter
robot
work area.
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Contents
1 Introduction ..................................................................................................................................... 1-1
1.0.1 System Requirements .......................................................................................... 1-2
1.1 About This Document ........................................................................................................ 1-2
1.1.1 Major Components ............................................................................................... 1-3
1.1.2 Optional Equipment .............................................................................................. 1-3
1.2 Reference Documentation ................................................................................................. 1-4
1.3 Customer Support Information........................................................................................... 1-4
2 Installation and Setup...................................................................................................................... 2-1
2.1 PC Setup ........................................................................................................................... 2-2
2.1.1 Configure Network Settings .................................................................................. 2-2
2.2 Cognex In-Sight Software Setup........................................................................................ 2-3
2.2.1 Install Software ..................................................................................................... 2-3
2.2.2 First Time Use ...................................................................................................... 2-3
2.2.2.1 Modify Camera IP Address...................................................................... 2-4
2.2.2.2 Verifying IP Address ................................................................................ 2-5
2.2.2.3 Loading the Camera Job ......................................................................... 2-5
2.3 Calibration.......................................................................................................................... 2-6
2.3.1 Vision System Calibration..................................................................................... 2-6
2.3.2 Setting up Robot User Frames ............................................................................. 2-7
3 Understanding the Pendant Vision Interface................................................................................... 3-1
3.1 Main Screen....................................................................................................................... 3-1
3.2 I/O / Setup.......................................................................................................................... 3-2
3.2.1 Camera Tab.......................................................................................................... 3-3
3.2.2 Program Tab......................................................................................................... 3-5
3.2.3 IO/Var Tab ............................................................................................................ 3-6
3.2.4 Position Variable Tab............................................................................................ 3-7
3.3 Part Training ...................................................................................................................... 3-8
3.3.1 Model Region........................................................................................................ 3-8
3.3.2 PatFind Tab .......................................................................................................... 3-9
3.3.3 PatMax Tab ........................................................................................................ 3-11
3.3.4 PatMax2 Tab ...................................................................................................... 3-13
3.3.5 Circle Tab ........................................................................................................... 3-14
3.4 Calibration........................................................................................................................ 3-16
4 Vision Function Programming and Operation ................................................................................. 4-1
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4.1 Part Training ...................................................................................................................... 4-1
4.1.1 Defining a Feature Using PatFind ........................................................................ 4-1
4.1.2 Defining a Feature Using PatMax......................................................................... 4-2
4.1.3 Defining a Circle ................................................................................................... 4-3
4.2 Workpiece Detection.......................................................................................................... 4-5
4.3 Programming the Workpiece Detection JOB ..................................................................... 4-7
4.3.1 VSTART (Vision Detection Instruction) ................................................................ 4-7
4.3.2 VWAIT (Vision Wait Instruction) ........................................................................... 4-7
4.3.3 Execution (Playback) of Workpiece Detection Job............................................... 4-8
4.4 Preparation of Work Job .................................................................................................... 4-8
4.5 Execution (Playback) of Work Job..................................................................................... 4-9
4.6 Additional Functions .......................................................................................................... 4-9
4.6.1 Scene Number Specification ................................................................................ 4-9
4.6.2 Loading and Saving Vision Files .......................................................................... 4-9
4.6.3 Loading Vision Files ........................................................................................... 4-10
4.6.4 Saving Vision Files ............................................................................................. 4-10
4.7 Instruction List.................................................................................................................. 4-10
5 Maintenance/TroubleShooting ........................................................................................................ 5-1
5.1 Alarm List........................................................................................................................... 5-1
5.2 Parameter List ................................................................................................................... 5-2
5.2.1 DX100 Parameters ............................................................................................... 5-2
5.2.2 NX100 Parameters ............................................................................................... 5-2
5.3 XML Schema ..................................................................................................................... 5-3
5.3.1 Elements .............................................................................................................. 5-3
5.4 Sample Robot Job ............................................................................................................. 5-4
5.5 Sample EtherNet Configurations ..................................................................................... 5-23
5.5.1 NX ...................................................................................................................... 5-23
5.5.2 DX Ethernet with Vision Function ....................................................................... 5-23
5.5.3 DX Ethernet with EIP.......................................................................................... 5-23
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Introduction
MotoSight Pendant Vision
1
Introduction
MotoSight is part of the Motoman family of standardized solutions. It is a
fully integrated hardware/software system, supported by Motoman, Inc.
MotoSight enables the robot controller to communicate with a vendorsupplied Cognex sensor device. MotoSight can be used for 2D inspection
or robot guidance.
Included with MotoSight is a pendant vision application that is used to
monitor and help set up or troubleshoot the Cognex vision system. It
allows the user to view image captures as well as monitor or edit I/O
points, variables and vision-specific I/O directly from the programming
pendant display screen.
Fig. 1-1: MotoSight Pendant Vision
MOTOMAN® ROBOT
CONTROLLER
NX100/
TYPE
ERCR-
POWER!SUPPLY
480V
50/60Hz
3PHASE
INTERRUPT!CURRENT
kVA
kA
SERIAL!No.
DATE
MADE!IN!JAPAN
NJ2533-1
NJ1530
WARNING:
ORIGINAL
PENDANT
CONNECTION
IP:10.0.0.2
DISCONNECT AND LOCKOUT
MAIN POWER BEFORE
SERVICING
PCU
PENDANT
(WINDOWS CE)
IP: 10.0.0.4
ETHERNET IP
IP:10.0.0.25
VISION
FUNCTION
Note: Use "Uplink" or "WAN"
port if available.
ETHERNET
HUB
(Ethernet Cable)
POE
DEVELOPMENT
COMPUTER
IP:10.0.0.3
Note: PC can be
removed after setup.
(EuroFast
Cable)
COGNEX CAMERA
IP 10.0.0.210 - VISION FUNCTION
IP 10.0.2.210 - ETHERNET IP
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1.0.1
1
1.1
Introduction
About This Document
System Requirements
MotoSight Pendant Vision works with both the NX100 and DX100 robot
controllers. However, system requirements vary as shown in the tables
below:
Table 1-1: NX100 System Requirements
Function
Details
Robot Controller
NX100
Controller Software
NS3.91(JP_US)-68
NX100 Pendant
64 MB Pendant
Compact Flash
memory card (ATA
Flash)
64 MB (or larger)
"CFI-***MBA" made by HAGIWARA sys-com.
"SDCFBI-**-****" made by SUN DISK.
Vision Device
Cognex In-Sight Camera
Motoman Ethernet IP
Table 1-2: DX100 System Requirements
Function
Details
Robot Controller
DX100
Controller Software
N/A
NX100 Pendant
64 MB Pendant
Compact Flash
memory card (ATA
Flash)
64 MB (or larger)
"CFI-***MBA" made by HAGIWARA sys-com.
"SDCFBI-**-****" made by SUN DISK.
Vision Device
Cognex In-Sight Camera
Motoman Vision Function
1.1
About This Document
This manual is intended as an introduction and overview for personnel
who are familiar with the operation of their Motoman robot model, InSight
vision devices, and robot programming.
This User’s Manual provides a description of functionality, usage
instructions, as well as application examples for the MotoSight Pendant
Vision system. For detailed information on specific system components
listed in this document, please refer to the documentation package
included with your system.
NOTE
This manual documents a standard Motoman system. If
your system is custom or modified, please use this manual
in conjunction with the drawings, schematics, and parts
listing (Bill of Material) for your specific system. The
drawings, schematics, and parts listing are included in the
documentation package supplied with your Motoman
system.
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1.1
Introduction
About This Document
This manual contains the following sections:
Section 1 – Introduction
This section provides general information about the MotoSight Pendant
Vision system, a list of reference documents, and customer support
contact information.
Section 2 – Installation and Setup
This section provides installation procedures for the MotoSight Pendant
Vision system.
Section 3 – Understanding the Pendant Vision Interface
This section provides an overview of the MotoSight Pendant Vision
interface.
Section 4 – Vision Function Programming and Operation
This section provides an overview of MotoSight Pendant Vision system
operation, including start-up, loading, normal operations, fault recovery,
and system shutdown.
Section 5 – Maintenance/TroubleShooting
This section provides preventive maintenance requirements for certain
components of the MotoSight Pendant Vision system.
1.1.1
Major Components
The MotoSight Pendant Vision system includes the following major
components:
• Motoman MA1400 or MA1900 manipulator
• One DX100 controller assembly
• One Programming Pendant (located on DX100 controller)
1.1.2
Optional Equipment
The following optional equipment is available for use with the MotoSight
Pendant Vision system:
• Torch cleaner
• Wire cutter
• Water-cooled torch (with water circulator)
• TouchSense™ (starting point detection)
• ComArc™ (seam tracking)
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1.2
1
1.2
Introduction
Reference Documentation
Reference Documentation
For additional information on individual components of the MotoSight
Pendant Vision system, refer to the following documentation that is
included with your system:
• Motoman Manipulator Manual
• Motoman DX100 Controller Manual (P/N 155494-1CD)
• Motoman NX100 Controller Manual (P/N 149201-1CD)
• Motoman DX100 Maintenance Manual (P/N 155492-1CD)
• Motoman NX100 Maintenance Manual (P/N 150133-1CD)
• Motoman Operator's Manual for your Application
• Motoman DX100 Concurrent I/O Manual (P/N 155491-1CD)
• Motoman NX100 Concurrent I/O Manual (P/N 149230-1CD)
• Motoman DX100 Independent/Coordinated Control Function Manual
• Motoman NX100 Independent/Coordinated Control Function Manual
(P/N 149648-1CD)
• Motoman INFORM User’s Manual DX100 (P/N 155493-1CD)
• Motoman INFORM User’s Manual NX100 (P/N 150078-1CD)
• Vendor manuals for system components not manufactured by
Motoman
1.3
Customer Support Information
If you need assistance with any aspect of your MotoSight Pendant Vision
system, please contact Motoman Customer Support at the following 24hour telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact Motoman Customer
Support at the following e-mail address:
[email protected]
When using e-mail to contact Motoman Customer Support, please provide
a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact Motoman Customer
Support at the telephone number shown above.
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1.3
Introduction
Customer Support Information
Please have the following information ready before you call:
• System
MotoSight Pendant Vision
• Robots
HP165, HP20, etc.
• Primary Application
Select {MAIN MENU} > {SYSTEM
INFO} > {VERSION} - APPLI:
• Controller
NX100, DX100
• Software Version
Select {MAIN MENU} > {SYSTEM
INFO} > {VERSION} - SYSTEM:
• Robot Serial Number
Located on a data plate on the
rear of each robot arm
• Robot Sales Order Number
Located on a data plate on the
front door of the controller
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Installation and Setup
MotoSight Pendant Vision
2
Installation and Setup
The customer is responsible for installation of the pc, camera, and
software. Refer to the Cognex InSight vendor documentation for complete
installation instructions for camera sensor and equipment.
Table 2-3: Hardware Requirements for In-Sight Micro
Equipment
Number
In-Sight Micro camera
1
Personal Computer
1
Ethernet Hub
1
Robot Controller
1
Ethernet Cable (straight)
2
EuroFast Cable (InSight only)
1
Fig. 2-2: Basic Equipment Connections
MOTOMAN® ROBOT
CONTROLLER
NX100/
TYPE
ERCR-
POWER!SUPPLY
480V
50/60Hz
3PHASE
INTERRUPT!CURRENT
kVA
kA
SERIAL!No.
DATE
MADE!IN!JAPAN
NJ2533-1
NJ1530
WARNING:
ORIGINAL
PENDANT
CONNECTION
IP:10.0.0.2
DISCONNECT AND LOCKOUT
MAIN POWER BEFORE
SERVICING
PCU
PENDANT
(WINDOWS CE)
IP: 10.0.0.4
ETHERNET IP
IP:10.0.0.25
VISION
FUNCTION
Note: Use "Uplink" or "WAN"
port if available.
ETHERNET
HUB
(Ethernet Cable)
POE
DEVELOPMENT
COMPUTER
IP:10.0.0.3
Note: PC can be
removed after setup.
(EuroFast
Cable)
COGNEX CAMERA
IP 10.0.0.210 - VISION FUNCTION
IP 10.0.2.210 - ETHERNET IP
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2.1
2
2.1
Installation and Setup
PC Setup
PC Setup
Refer to your pc vendor documentation for installation instructions.
2.1.1
Configure Network Settings
1. Open Network Connections in Control Panel. {Start} > {Settings} >
{Control Panel} > {Network Connections}.
2. From the Network Connections window, right-click on the desired
connection (typically Local Area Connection) and select Properties.
The Local Area Connection Properties window appears.
Fig. 2-3: Local Area Connection Properties Window
3. From the General tab, highlight Internet Protocol (TCP/IP) from the
“This connection uses the following items:” list and click on the
Properties button. The Internet Protocol (TCP/IP) Properties window
appears.
Fig. 2-4: IP Address Settings
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2.2
Installation and Setup
Cognex In-Sight Software Setup
4. Select the [Use the following IP address] radio button. Set the last bit
of the IP address to an arbitrary value greater than 14 and set the
Subnet mask as follows:
IP address: 10.0.0.23
Subnet mask: 255.255.255.0
Default gateway: Leave blank
NOTE
The IP addresses for the PC, robot controller and In-Sight
camera are all set on the same network.
The IP address must be set to 10.0.0.xxx. xxx: > 14
5. Select the [Use the following DNS server addresses:] radio button.
Leave both addresses blank.
Preferred DNS server: Leave blank
Alternate DNS server: Leave blank
6. Click [OK] and close all open windows.
2.2
Cognex In-Sight Software Setup
The following instructions are based on In-Sight Explorer ver. 4.1.0.
2.2.1
Install Software
Install the Cognex In-Sight Explorer software. Refer to Cognex
documentation for PC requirements and detailed instructions.
2.2.2
First Time Use
Start the In-Sight Explorer program from the PC.
When running the In-Sight Explorer 4.1.0 software for the first time, you
may receive the following warning:
Fig. 2-5: Warning! Camera Not Found
If you receive this warning, modify the IP address of the camera as
described below. If no warnings appear and the camera is found, verify
the IP address of the camera as described in section 2.2.2.2 "Verifying IP
Address".
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2.2.2.1
2
2.2
Installation and Setup
Cognex In-Sight Software Setup
Modify Camera IP Address
1. Locate the camera, select {System} > {Add Sensor/Device To
Network…} from the menu. The ‘Add Sensor/Device to Network’
window appears.
Fig. 2-6: Add Sensor/Device to Network Window
2. Select a camera from the list and modify the network settings including
IP address and Subnet Mask to match the settings shown.
3. Click [Apply]. A message box appears stating that network settings will
be changed and existing communications with the device will be
broken.
4. Click [OK]. A message box appears stating that the “Network settings
are changed successfully.”
5. Click [OK].
6. Click the [Close] button on the “Add Sensor/Device to Network”
window.
NOTE
If the IP address is changed, In-Sight Explorer may need to
be closed and the In-Sight Micro may need to be manually
powered down and back up and In-Sight Explorer restarted
before the new IP address is correctly recognized.
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2.2.2.2
2
2.2
Installation and Setup
Cognex In-Sight Software Setup
Verifying IP Address
1. To verify the IP address, select the camera host name from the INSight Network window and select {Sensor} > {Network Settings...} from
the menu. The Network Settings window appears.
Fig. 2-7: Network Settings Window
2. Verify the IP address and Subnet Mask. If they need to be changed,
type in the correct information and click [OK].
3. If necessary, click [Yes] in the message box that appears stating that
the camera must be rebooted.
NOTE
2.2.2.3
If the IP address is changed, In-Sight Explorer may need to
be closed and the In-Sight Micro may need to be manually
powered down and back up and In-Sight Explorer restarted
before the new IP address is correctly recognized.
Loading the Camera Job
1. Make sure you are in the spreadsheet mode. Select {File} > {Open
Job} from the menu. Select the current Motoman camera job and click
'Open'.
2. If you are using a camera that does not support PatMax, the following
two errors will occur.
a)
Click [Yes].
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2.3
Installation and Setup
Calibration
b)
Click [Yes].
3. Set the startup options for the camera by selecting {Sensor} >
{Startup…}. Select the job file that you just loaded and make sure the
'Online' checkbox is ticked.
4. Click [OK].
2.3
Calibration
Utilizing nine user-specified points, Calibration creates a 2D
transformation to convert between pixel and real-world coordinate
systems. In this process, Calibration accounts for linear and non-linear
distortion, and offers a high degree of accuracy.
Fig. 2-8: Calibration
2.3.1
Vision System Calibration
The grid target should be large enough to fill the entire field of vision with
the nine point grid pattern.
To fully fill the field of view the grid size may need to be changed. The size
can be adjusted but keep in mind that the camera has a 4/3 ratio which
should be maintained when creating a new calibration target.
1. Place the calibration target in the camera field of view.
2. Enter/Verify the grid spacing of the calibration grid used.
3. Press 'Trigger' if you need to acquire an updated image.
4. Press the 'Verify calibration readiness' button.
5. If the calibration process passes the initial check, the 'Calibrate' button
becomes enabled. If the calibration process determines that the grid is
not correct, the 'Calibrate' button will not be enabled.
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2.3
Installation and Setup
Calibration
6. Assuming the check is successful, press the 'Calibrate' button.
7. After a couple of seconds you will receive a message confirming the
calibration.
8. Complete the calibration process by setting up the robot user frames.
If the calibration check fails, verify that all nine targets are completely
within the field of vision. Also check the lighting and focus to ensure the
targets provide the proper contrast.
2.3.2
Setting up Robot User Frames
1. Without moving the calibration target, the robot user frame (UF#24)
must be taught. Modify position variable P100 as the ORG, P101 as
XX, and P102 as XY as shown below.
Fig. 2-9: UF#24
2. Run the MK_UF24.JBI robot job to create UF#24 or create manually.
3. Assign user frame #24 to position variable P110-P119.
Fig. 2-10: Position Variable Setup
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3.1
MotoSight Pendant Vision
3
Understanding the Pendant Vision Interface
Main Screen
Understanding the Pendant Vision Interface
MotoSight Pendant Vision features an easy to use graphic interface. The
various screens, fields, and buttons are described below.
3.1
Main Screen
Figure 3-11: Main Screen

File Menu
Selecting [Exit] from the File menu shuts down the MotoSight Pendant
Vision application.

Edit Menu
Selecting [Graphics Overlay] from the Edit menu allows you to toggle the
graphics overlay ON or OFF.
Toggling the [Display Sort Order] selection enables or disables the display
of the sort order graphics.

Last Part Pass/Fail Status Window
The Last Part Pass/Fail status window visually depicts the input value sent
by the camera. The pass/fail value is setup in the Settings tab.

[Online Toggle] Button
The [Online Toggle] button toggles the camera ON or OFF line.

[Resize] Check Box
Checking the [Resize] check box resizes the 640 x 480 camera image to
fit the display window.

[Auto Show] Check Box
Checking the Auto Show check box displays the latest image captures as
they occur.

[Refresh] Button
The [Refresh] button refreshes the list of pictures available from the CF
card. This can be useful when you have inserted a new CF card.
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
Understanding the Pendant Vision Interface
I/O / Setup
Current Camera Job
The Current Camera Job window displays the job being currently run by
the camera.
The display window shows all currently available camera jobs.

[Save As] Button
The [Save As] button allows you to save an alternative version of the
current job file with a different name and location.

[Load] Button
The [Load] button uploads the selected camera job to the camera.

[Refresh] Button
The [Refresh] button refreshes the list of jobs loaded in the camera.

[Trigger] Button
The [Trigger] button manually activates the camera.

[IO/Setup] Button (Section 3.2 "I/O / Setup")
Pressing the [IO/Setup] button opens the I/O Setup screen.

[Part Training] Button (Section 3.3 "Part Training")
Pressing the [Part Training] button opens the training form.

[Calibration] Button (Section 3.4 "Calibration")
Pressing the [Calibration] button opens the Calibration form.

[Minimize]
The [Minimize] button collapses the MotoSight Pendant Vision application.

[Exit]
Shuts down the MotoSight Pendant Vision application.
3.2
I/O / Setup
Figure 3-12: I/O / Setup
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Understanding the Pendant Vision Interface
I/O / Setup

Position Data
The Position Data area allows you to view both the camera and robot
coordinates in either Cartesian coordinates or servo pulse counts.

[Return] button
The [Return] button closes the I/O / Setup window and returns to the main
screen.
3.2.1
Camera Tab
Figure 3-13: Camera Tab

Camera Selection
Select the camera type using the dropdown window. Some camera
models are equipped with Cognex PatMax software. If you would like to
use PatMax, check the [Use PatMax] check box. Cognex PatQuick is
used by default on all camera models.

Trigger Mode
Defines the source of the image acquisition trigger when the In-Sight
sensor is online.
NOTE
Do not change the Trigger programmatically while the
sensor is online. Doing so may put the sensor in an
unpredictable state.
0 = Camera
Acquires an image upon receiving a pulse to
the trigger input located directly
on the camera.
1 = Continuous
Acquires images as fast as the camera will
allow.
2 = External
Enables image acquisition on either a serial
command (when Trigger On First Byte is
selected in the DeviceNet Details dialog) or on
the rising edge applied to a discrete input bit
configured as an Acquisition Trigger.
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
Understanding the Pendant Vision Interface
I/O / Setup
32 = Manual
Enables image acquisition when pressing F5.
In order for F5 to manually acquire an image,
the spreadsheet must have focus.
99 = Network (Default)
Enables image acquisition when the Vision
Function requests a new image.
Exposure Settings
Image exposure time can be set in milliseconds. A smaller number
reduces the blurring of an object in motion. A larger numbers allows more
light on the imaging sensor.
NOTE
Exposure is disabled if Auto Exposure is enabled. The
exposure time is rounded down to the next valid increment
for the specified sensor.
Auto Exposure
Specifies whether the exposure time is automatically determined or not.
When enabled, the exposure is automatically adjusted to compensate for
different lighting conditions.
NOTE
The Automatic Exposure parameter is supported on the InSight 3400, on all In-Sight 5000 series sensors, and on all
In-Sight Micro vision systems.
0 = Disabled
Disables the Automatic Exposure option.
1 = Continuous
Exposure time is automatically adjusted after
every acquisition to compensate for different
lighting conditions.
NOTE
Time between acquisitions is increased while in Continuous
mode.
2 = Single-shot
First Acquisition: If the sensor is Offline, the first
acquisition is used to determine exposure and
that exposure value is stored
until Single-shot is disabled. If no acquisition
has occurred while the sensor is Offline, when it
is put Online, the first acquisition is used to
determine exposure.
Subsequent Acquisitions: The sensor will
acquire the image using the exposure value that
calculated at the first acquisition.
NOTE
Toggling the Single-shot checkbox, or selecting a different
Auto Exposure Mode, will reset the exposure value. The
first acquisition, after the exposure value has been reset,
will be used to determine a new exposure value.
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Understanding the Pendant Vision Interface
I/O / Setup
Max Exposure
Specifies the maximum exposure time used when determining the proper
exposure.
Target Brightness
Specifies the desired brightness level (0 to 100).
Manual Exposure Time
Sets the exposure time in milliseconds when Auto Exposure is disabled.
3.2.2
Program Tab
The program settings define the location of the Motoman Vision Snippet
within the Cognex InSight software database.
Fig. 3-14: Program Tab

Location of Motoman Vision Snippet
The location of the Motoman Vision Snippet in the InSight software
spreadsheet must be entered here.

Starting PVar to Display
The Vision Data PVar determines what P-variable is monitored. The robot
job determines where the position data is stored. This setting must match
what is in the robot job.

[Default] Button
The [Default] button loads the default snippet location and PVar.

[Load] Button
The [Load] button loads a previously saved snippet definition.

[Save] Button
The [Save] button saves the currently defined snippet definition.
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3.2
Understanding the Pendant Vision Interface
I/O / Setup
IO/Var Tab
The IO/Var tab allows you to monitor I/O and variables.
Fig. 3-15: IO/Var tab
To monitor I/O, proceed as follows:
1. Select the I/O type from the dropdown menu (Universal Input,
Universal Output, etc).
2. Enter the I/O number. The state of the I/O is depicted using the green
LED.
It is possible to force I/O ON or OFF using the On/Off buttons.
I/O groups and variables can also be monitored from the I/O Tab. To
monitor I/O groups and variables, proceed as follows:
1. Select the type from the dropdown menu (Output Group, B-Variable,
etc).
2. Enter the index number. The value appears in the window.
To manually enter a value into a variable or group, proceed as follows:
1. Press [Edit].
2. Enter the desired value.
3. Press the [Commit Edits] button.
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3.2
Understanding the Pendant Vision Interface
I/O / Setup
Position Variable Tab
The Pos Var tab allows you to monitor Position variables. To begin
monitoring P-variables, proceed as follows:
1. Select the variable type from the dropdown menu.
2. Enter the desired index value.
The robot position data is determined by the Settings tab.
Fig. 3-16: Position Variable Tab
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3.3
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3.3
Understanding the Pendant Vision Interface
Part Training
Part Training
Fig. 3-17: Part Training
3.3.1

Model Region
Region Parameters
The region parameters are used to determine both the search region as
well as to position the model feature regions used to locate each feature
pattern.
Row
The X-offset of the origin, in fixture coordinates.
Col
The Y-offset of the origin, in fixture coordinates.
Height
The dimension along the region's Y-axis.
Width
The dimension along the region's X-axis.
Angle
The orientation, in fixture coordinates.

[Search*] button
Defines the search region in which to search for the pattern using the
region parameters. Searches for rotated or scaled patterns within a large
search regions demands significant computational resources and
increases processing time. Reducing the search region can decrease
processing time.

[Model*] button
Defines the model feature window used to locate each model feature
pattern. The region parameters are used to position and define the feature
window used to locate the model feature pattern.
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
Understanding the Pendant Vision Interface
Part Training
[TCP Offset] button
.Offset Row: Specifies the row offset (-479 to 479; default = 0) from the
model's center to the response point, as measured in the model's local
coordinate system.
Offset Column: Specifies the column offset (-639 to 639; default = 0) from
the model's center to the response point, as measured in the model's local
coordinate system.

[Load BMP] button
.Allows you to use an existing bitmap image to define model features.

[Train Part] button
Saves each newly defined feature.

[Trigger] button
The [Trigger] button manually activates the camera.

[Return] button
The [Return] button closes the part training window and returns to the
main screen.
3.3.2
PatFind Tab
PatFind uses pixel transition to identify feature patterns. The PatFind tab
specifies the model training parameters for using Cognex PatFind.
Figure 3-18: PatFind Tab

Model Type*
Specifies area model or edge model training.
Area model
Area model training creates patterns based on
a uniform sampling of gray scale pixel values
from the Model Region. The area model
similarity metric is based on the normalized
gray scale correlation coefficient.
Edge model (default)
Edge model training creates patterns based on
a sampling of points biased to the immediate
vicinity of the gray scale discontinuities typically
found on objects' boundaries. The edge model
similarity metric is based on the normalized
comparison of gray scale derivatives.
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

Understanding the Pendant Vision Interface
Part Training
Coarseness*
Specifies the size of the smallest features in the trained model.
Fine
Smallest features approximately 4 pixels in
size.
Medium (default)
Smallest features approximately 4 to 8 pixels in
size.
Coarse
Smallest features larger than 8 pixels in size.
Accuracy*
Specifies the trade-off between accuracy/reliability and execution speed.
Accurate
Specifies higher accuracy/reliability and slower
execution speed.
Medium (default)
Fast
Specifies lower accuracy/reliability and faster
execution speed.

Max Find Qty
Specifies the maximum number of pattern matches to return (0 to 5;
default = 1).

Min Pass Qty
Specifies the minimum number of pattern matches acceptable to pass (0
to 5; default = 1).

Sort
Specifies the order in which the located features are presented.

Scale Tolerance On
Specifies the function's tolerance to changes in pattern scale.
Off (default)
Disables scale searching. When scale
searching is disabled, the function will still find
patterns that are within about 10% of the
original model size, but the response will
degrade as the discrepancy increases.
On
Enables scale searching. When scale searching
is enabled, the function will perform limited
scale adjustments in the range of plus and
minus 10% of the original model size.
NOTE
Searches for rotated or scaled patterns within large image
regions demand significant computational resources and
increase processing times.
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Part Training

Angle Range
Specifies the function's +/- tolerance to pattern rotation (0 to 180; default =
15). The function will still find patterns that are outside of the specified
range, but the accuracy may be somewhat compromised. An Angle
Range setting greater than 0 will reduce the speed at which patterns are
located.

Accept Threshold
Specifies the minimum acceptable pattern response score (0 to 100;
default = 50). The function will return the Number to Find pattern
responses that exceed the Thresh: Accept limit.
3.3.3
PatMax Tab
PatMax is a powerful pattern-location search technology that can handle
six degrees of freedom, including rotation and scaling. The PatMax tab is
used to define model training parameters for Cognex PatMax.
The ability to use PatMax is hardware dependant and may not be
available on your sensor model. Refer to Cognex vendor documentation
for additional information.
Figure 3-19: PatMax Tab


*Algorithm
Specifies which algorithm to use for training the pattern.
PatMax (default)
The PatMax algorithm offers higher accuracy
than PatQuick, but requires more time to
execute.
PatQuick
The PatQuick algorithm offers lower accuracy
than PatMax, but requires less
time to execute.
*Ignore Polarity
Specifies whether matches can be found that contain color-inverted match
features with respect to the trained pattern.
Off (default)
Do not match color-inverted features.
On
Allow color-inverted match features.
Not Implemented
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Part Training
*Coarse Granularity
Specifies the coarse granularity, as a pixel value. Coarse granularity is
used to find large features to find an approximate pattern match in a runtime image quickly (0 to 10; 0 = default).
NOTE

If a value of less than 1.0 is specified, both Coarse
Granularity and Fine Granularity parameter values are
calculated automatically.
*Fine Granularity
Specifies the fine granularity, as a pixel value. Fine granularity is used to
find small features to determine the pattern location precisely (0 to 10; 0 =
default).
NOTE
• If a value of less than 1.0 is specified, both Coarse
Granularity and Fine Granularity parameter values will
be calculated automatically.
• The value for Fine Granularity cannot be greater than
the value for Coarse granularity.

Accept Threshold
Specifies the minimum acceptable pattern response score (0 to 100;
default = 50). The function will return the Number to Find pattern
responses that exceed the Thresh: Accept limit.

Contrast
Specifies the lowest contrast of a valid instance. The contrast for a
potential match must be greater than the value of the Contrast Threshold
or that instance will not be considered (0 to 255; default = 10). A low
contrast threshold is used for low-contrast images; a high contrast
threshold is used for high-contrast images.

Max Find Qty
Specifies the maximum number of pattern matches to return (0 to 255;
default = 1).

Min Pass Qty
Specifies the minimum number of pattern matches acceptable to pass (0
to 255; default = 1).

*Elasticity
Specifies the amount of allowed perimeter deviation or the degree to
which PatMax tolerates nonlinear geometric changes to the perimeter.
0 = No tolerance in boundary
1 or Greater = Increased flexibility in boundary

Clutter in Score
Specifies whether missing or occluded pattern features will reduce the
response score(s).
OFF Do not include the effect of clutter in score.
ON (default) Include the effect of clutter in score.
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3.3.4
Understanding the Pendant Vision Interface
Part Training
PatMax2 Tab
Defines rotational, scaling, and overlap tolerances for PatMax.
Figure 3-20: PatMax2 Tab

Sort
Specifies the order in which the located features are presented.

Angle Start
Specifies the angle at which to begin searching for matches, in degrees
counter-clockwise (-180 to 180; default = -15).

Angle End
Specifies the angle at which to stop searching for matches, in degrees
counter-clockwise (-180 to 180; default = 15).

Scale Start
Specifies the scale at which to begin searching for matches (1 to 10000;
default = 100).

Scale End
Specifies the scale at which to stop searching for matches (1 to 10000;
default = 100).

Aspect Ratio
Limits match-finding to uniform-scale only or allows aspect ratio change in
X or Y, in addition to a uniform scale.
Uniform Scale Change
Uniform and X Scale Change
Uniform and Y Scale Change
NOTE

The Aspect Start and Aspect End parameters are
disabled if Uniform Scale Change is selected.
Aspect Start
Specifies the minimum scale change, at which to begin searching for
matches, as a percentage of the trained pattern (1 to 10000; default =
100).
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Part Training

Aspect End
Specifies the maximum scale change, at which to stop searching for
matches, as a percentage of the trained pattern (1 to 10000; default =
100).

Overlap Settings
Specifies the settings for finding patterns that overlap each other with
respect to position, rotation and scale.
3.3.5
XY
Specifies the expected position difference between multiple
overlapping patterns in roughly the same X,Y location, as a
percentage of the trained pattern size (0 to 100; default =
80).
Angle
Specifies the expected angle between multiple rotated
overlapping patterns in roughly the same X,Y location. A (0
to 360; default = 360).
Scale
Specifies the expected uniform scale difference between
multiple overlapping patterns in roughly the same X,Y
location, as a percentage of the trained pattern size (1 to
10000; default = 140).
Aspect
Specifies the expected aspect scale difference between
multiple overlapping patterns in roughly the same X,Y
location, as a percentage of the trained pattern size (1 to
10000; default = 140).
Circle Tab
Specifies model training parameters for circles by defining an annulus with
an inner and outer radius.
Figure 3-21: Circle Tab

[Save*] button
The [Save] button saves the currently defined circle definition.

[Delete] button
The [Delete] button deletes the current circle definition.

[Reload] button
The [Reload] button loads a previously saved circle definition.
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Part Training

[Defaults] button
The [Default] button loads the default circle definition.

Edit
The [1], [2], and [3] edit buttons select the circle target definition to be
edited.

Location Variables
The Row* and Col* values are used to position the circle target over the
model image.

Annulus Search Parameters
The Inner and Outer values adjust the inner and outer target circles over
the model image. This defines the search area for locating the circle
edges.

Polarity
Specifies the polarity of the edge to be located when scanning from the
inner circle to the outer circle of the search annulus. Black-to-white or
white-to-black polarity refers to the brightness transitions occurring in the
scan direction.
black-to-white
white-to-black
either (default)

Find By
Specifies the edge selection technique. Selects among multiple edge
candidates by selecting the single edge with one of the following:
best score (default)
smallest circle

Accept Threshold*
Specifies the minimum acceptable edge contrast (0 to 100; default = 50).
The function will return the Number to Find pattern responses that exceed
the Thresh: Accept limit.

Edge Width*
Specifies the pixel distance (1 to 50; default = 3) over which an edge
transition takes place. Edge Width is the approximate size of the pixel
operator used to filter the gray scale projections before edges are
extracted.Specifies the width of the target circle edge.

Normalize Score
Specifies whether the edge scores are normalized by the gray scale
histogram of the image region. When Normalize Score is enabled, raw
edge scores are normalized by the maximum contrast found within the
image region. When Normalize Score is disabled, low contrast edges will
score lower than high contrast edges.
NOTE

Normalize Score is useful for finding edges in a low contrast
image region. To find only high contrast edges, disable
Normalize Score.
Use Pattern as Fixture
Places target circle based off previously defined/found part as opposed to
placing at origin.
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3.4
MotoSight Pendant Vision
3.4
Understanding the Pendant Vision Interface
Calibration
Calibration
Utilizing nine user-specified points, Calibration creates a 2D
transformation to convert between pixel and real-world coordinate
systems. In this process, Calibration accounts for linear and non-linear
distortion, and offers a high degree of accuracy.
Fig. 3-22: Calibration

Window Variables
The window variables are used to determine the position.
Row
The X-offset of the origin, in fixture coordinates.
Col
The Y-offset of the origin, in fixture coordinates.
Height
The dimension along the region's Y-axis.
Width
The dimension along the region's X-axis.

Calibration Grid Spacing
Defines the grid spacing using the Column and Row Spacing windows.

[Trigger] Button
The [Trigger] button manually activates the camera, acquiring an updated
image.

[Verify Calibration Readiness] Button
Runs an initial check to determine calibration readiness.

[Calibrate!] Button
Performs the calibration process.

[Return] Button
The [Return] button closes the calibration window and returns to the main
screen.
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4
4.1
Vision Function Programming and Operation
Part Training
Vision Function Programming and Operation
This section provides a brief overview of the operating procedures and
precautions for your MotoSight Pendant Vision system. For more detailed
operating information, refer to the specific component manuals that are
part of the MotoSight Pendant Vision system documentation package (see
Section 1.2).
4.1
Part Training
The following sections provide brief overviews for using PatFind and
PatMax search algorithms. Refer to your Cognex vendor documentation
for more detailed instructions regarding these features.
4.1.1
Defining a Feature Using PatFind
To define a feature pattern on your part, you must locate the region
window so that it completely encloses the feature you intend to define.
1. From the main menu, click on the [Part Training] button.
2. Click on the PatFind tab.
Fig. 4-23: PatFind
3. Click on the [Search*] button to define the search area using the
region parameters.
4. Click on the [Model*] button.
5. Position the region window so that it completely encloses the section
of the image containing the pattern to be located using the region
parameters. The region should include a unique set of features that
are always present on a good part.
6. Select the “Model Type*” based on area or edge training.
7. Select Coarseness* and Accuracy* (see chapter 3.3.2 "PatFind Tab"
for more information).
8. Set the maximum number of features you wish to find using the Max
Find Qty window.
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4.1
Vision Function Programming and Operation
Part Training
9. Set the minimum number of found patterns acceptable.
10. Define the order to present the located patterns using the Sort
dropdown window.
11. Set Scale Tolerance for pattern scaling as desired.
NOTE
Searches for rotated or scaled patterns within large image
regions demand significant computational resources and
increase processing times.
12. Set Angle Range for pattern rotation as desired.
13. Set the minimum acceptable sort score using the Accept Threshold
window.
14. Once the PatFind tab properties have been defined, click the [Train
Part] button.
4.1.2
Defining a Feature Using PatMax
To define a feature pattern on your part using PatMax, you must locate.
1. From the main menu, click on the [Part Training] button.
2. Click on the [Model*] button.
3. Position the region window so that it completely encloses the section
of the image containing the pattern to be located using the region
parameters. The region should include a unique set of features that
are always present on a good part.
4. Click on the PatMax tab.
Fig. 4-24: PatMax Tab
5. Select algorithm (PatMax or PatFind).
6. Set PatMax tab properties as required for your part.
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4.1
Vision Function Programming and Operation
Part Training
7. Select the PatMax2 tab to define scaling and rotation tolerances.
Fig. 4-25: PatMax2 Tab
8. Set the allowable rotation for a match using the Angle Start and Angle
End windows.
9. Set the allowable scaling range relative to the trained pattern using the
Scale Start and Scale End windows.
10. Set Aspect Ratio for scaling.
11. Set overlap settings for finding overlapping patterns with respect to
position, rotation, and scale.
12. Once all properties have been defined, click the [Train Part] button.
4.1.3
Defining a Circle
To define a circle on your part, you must locate the circle’s center and
define an annulus with inner and outer radius.
1. From the main menu, click on the [Part Training] button.
2. Click on the Circle tab.
Figure 4-26: Circle Tab
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Part Training
3. Click on the numbered edit button to select the circle you wish to
define.
4. Position the target circle over the part circle using the Row* and Col*
parameter windows. The “Use Pattern as Fixture” checkbox can be
used to place the target circle at the previously defined/found part as
opposed to placing it at the origin.
5. Define the inner and outer circles or edges of the annulus. This defines
the search area for the circle edges.
6. Set the polarity. Scanning for circular edges occurs from the center of
the circle outward. Black-to-white or white-to-black polarity refers to
the brightness transitions occurring in the scan direction.
7. Set the Find By parameter to determine how MotoSight will select the
correct edge from multiple candidates, either best score or largest or
smallest circle.
8. Set the minimum acceptable edge contrast and edge width using the
Accept Threshold and Edge Width parameter windows.
9. Set Normalize Score as desired.
10. Click the [Save] button to save your settings.
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4.2
MotoSight Pendant Vision
4.2
Vision Function Programming and Operation
Workpiece Detection
Workpiece Detection
This section describes setup of the Vision Function for the DX controller to
detect a specified part or workpiece.
1. From the programming pendant main menu, select {OPTION}.
2. Select {VISION COND.}. The vision condition display appears.
Pressing [SELECT] with the cursor on COORDINATE switches
between ROBOT and PIXEL.
Fig. 4-27: Vision Condition
3. Press the page key
to select a condition number.
4. Move the cursor to the item to be set and press [SELECT].
5. Enter a value using the number keys, and press [ENTER].

COND NO
Displays the vision condition file number. Select the number by pressing
the page key or by entering a number using the number keys under the
page key.

COMMENT
Enter a comment. Comment is limited to a maximum of 32 characters.

COORDINATE
Displays the resulting coordinates for the position of the detected
workpiece.
ROBOT: The detection result is stored in the robot coordinates (three
dimensions).
PIXEL: The detection result is stored in the pixel coordinates (two
dimensions)

CALIB FILE NO
Displays the calibration file number used to convert the detection result
into robot coordinates.
When PIXEL is set as the COORDINATE, the calibration files are invalid.
The setting range is from 1 to 16.
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4.2
MotoSight Pendant Vision

Vision Function Programming and Operation
Workpiece Detection
RESULT MAX NO
Displays the number of workpieces whose detection results are stored as
user variables in the job when a multiple number of workpieces are
detected.
The setting range is from 1 to 10.

FIND NO (B-VAR)
Displays the byte variable (B-variable) number. This variable stores the
number of detected workpieces.

FIND POS (P-VAR)
Displays the position variable (P-variable) number. This variable stores
the position of a detected workpiece. When a multiple number of work
pieces are detected, the results for the number specified in RESULT MAX
NO are stored in sequential order, starting with the P-variable that is
defined.
When ROBOT is set as the COORDINATE, the positions (threedimensions; X, Y, and Z) on a robot coordinate system are stored.
When PIXEL is set as the COORDINATE, the positions (two-dimensions;
X and Y) on a pixel coordinate system are stored.
NOTE
If CALIBRATION has not been performed at this point, set
PIXEL as the COORDINATE of the vision file. The detection
results are stored in two-dimensional (2-D) pixel coordinates.

FIND ANGLE (R-VAR)
Displays the real-number variable (R-VAR) number. This variable stores
the detected workpiece angle. When a multiple number of workpieces are
detected, the results for the number specified in RESULT MAX NO are
stored.

FIND LEVEL (I-VAR)
Displays the integer variable (I-variable) number. This variable stores the
correlation value of a detected workpiece. When a multiple number of
workpieces are detected, the results for the number specified in RESULT
MAX NO are stored.
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4.3
MotoSight Pendant Vision
4.3
4.3.1
Vision Function Programming and Operation
Programming the Workpiece Detection JOB
Programming the Workpiece Detection JOB
VSTART (Vision Detection Instruction)
The VSTART command (see Job Example below) instructs the Vision
Function to initiate the VSTART function for workpiece detection.
NOTE
For information regarding definition of a JOB, preparation of
a JOB, and registration of an instruction, refer to Chapter
one of this manual.
Job example –
NOP
VSTART
Find
FT=0
MD=0
VF#(1)




VWAIT
END

 Detection Method
Specifies the detection method from the vision system.

 Detection Type Number
Specifies the scenes to be detected in the vision system. It is necessary
that the specified detection type has been registered in the vision system.
The setting range is from 0 to 255.

 Detection Model Number
Specifies the model of the workpiece to be detected in the vision system. It
is necessary that the specified detection model has been registered in the
vision system.
The setting range is from 0 to 7.

 Vision Condition File Number
Specifies a vision condition file No. It is necessary that the contents of the
specified vision condition file have been set in the vision system.
The setting range is from 1 to 32.
4.3.2
VWAIT (Vision Wait Instruction)
Pauses execution of the current JOB ("waits") until completion of the
VSTART instruction.
NOTE
When a VWAIT instruction does not immediately follow a
VSTART instruction in the JOB, the controller processes all
instructions that are placed between the VSTART and
VWAIT instructions.
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4.3.3
4
4.4
Vision Function Programming and Operation
Preparation of Work Job
Execution (Playback) of Workpiece Detection Job
Perform the CALIBRATION process (refer to Chapter 4 of this manual).
Playback the prepared workpiece detection JOB, and confirm that the
detection results are stored in correct and specified variables.
NOTE
4.4
Refer to your Operator’s Manual should you have any questions or a need for additional information regarding the JOB
playback process.
Preparation of Work Job
This section describes preparation of a JOB to shift a work piece position
to match reference points according to the results of the detection
process.
NOTE
For information on JOB preparation and registration of an
instruction, refer to the Operator’s Manual.
Job example –
NOP
VSTART FIND FT=0 MD=0
VF#(1)
VWAIT
SUB P001 P000
SFTON P001
MOVL
MOVL
SFTOF
END
NOTE
 Start of new program
 Detects the position of a workpiece
 Waits for completion of detection
Calculates difference values from the

reference points
Starts shift for the calculated difference

values
 Shift
 Shift
 Ends shift
 End of program
To shift a work piece position according to detection results,
you must calculate the difference between work piece position and reference positions. Detect the work piece position
at teaching, and register that position value in a P-variable
as the reference position.
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4.5
MotoSight Pendant Vision
4.5
Vision Function Programming and Operation
Execution (Playback) of Work Job
Execution (Playback) of Work Job
Procedure –
In the JOB example shown above, add a PAUSE instruction before the
SFTON instruction.
Execute (playback) the JOB in a test run.
Stop the job with the PAUSE instruction, then confirm that the values for X,
Y, and Z of position variable P001 correspond to the calculated
differences.
Restart the test run and confirm the shifted position of the robot.
If each value of position variable P001 differs greatly with
the reference points, check the following –
NOTE
Confirm that the positions to be detected are correct in the
Vision System.
Confirm that the values in the CAL.DAT files are 1 mm or
less.
4.6
4.6.1
Additional Functions
Scene Number Specification
Executing a VSTART instruction switches the detecting scene
(measurement condition) in the Vision System
Job Example –
NOP
VSTART
SELCND
CND=0


NWAIT
END

 EXECUTION METHOD
Specifies the switching of the detecting scene.

 DETECTING SCENE NUMBER
Specifies the detecting scene number. Setting range is from 0 to 15.
4.6.2
Loading and Saving Vision Files
Vision Function files can be saved to or loaded from the Programming
Pendant CompactFlash® card slot.
DATA TO BE SAVED
ASSOCIATED FILE NAME
Vision Condition Data
VISION.DAT
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4.6.3
4
4.7
Vision Function Programming and Operation
Instruction List
Loading Vision Files
1. Select (FD/CF) from the main menu.
2. Select (LOAD).
3. Select FILE/GENERAL DATA.
4. Select a file to be loaded.
5. Press [ENTER].
6. Select YES.
4.6.4
Saving Vision Files
1. Select (FD/CF) from the main menu.
2. Select (SAVE).
3. Select FILE/GENERAL DATA.
4. Select a file to be saved.
5. Press [ENTER].
6. Select YES.
4.7
Instruction List
INSTRUCTION LIST
VSTART
Starts Vision
Function
INSTRUCTION FIND
ITEMS
FT = Detection Type NumberRange (0–255)
MD = <Detection Model Number>Range (0–7)
VF# = <Vision Condition File Number>Range
(1– 32)
SELCND
CND =<Detection Scene Number>Range (0–
255)
CALIB
CALF# = (<Calibration File Number>)Range (1
– 16)
EXAMPLE
VWAIT
Waits for
completion of
Vision
Function
VSTART FIND FT=0 MD=0 VF#(1)
INSTRUCTION None
ITEMS
EXAMPLE
VWAIT
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5
5
5.1
Maintenance/TroubleShooting
Alarm List
Maintenance/TroubleShooting
This section includes an Alarm list, parameter list, XML file description,
and sample job for the MotoSight Pendant Vision system.
5.1
ALARM
MESSAGE
NUMBER
4124
Alarm List
CAUSE
REMEDY
WRONG EXECUTION An incorrect file number
OF VISION INST [1]
is specified
Specify correct file number
WRONG EXECUTION An incorrect value is set
OF VISION INST [2]
in the specified file
Set correct value
WRONG EXECUTION CALIBRATION could not • Set robot coordinate values and pixel
OF VISION INST [3]
be performed
coordinate values (used for CALIBRATION) as
user variables.
• Set correct user variable numbers in the
CALIBRATION file.
4124
WRONG EXECUTION The Vision System
OF VISION INST [4]
COMM port could not be
initialized
Set correct parameters for the COMM port
WRONG EXECUTION A "time-out" error
OF VISION INST [5]
occurred during
transmission of serial
COMM data
• Reconnect the cable between the Vision
System and the controller.
• Make sure that the serial COMM settings for
the VISION SYSTEM match the settings for the
controller.
WRONG EXECUTION A "time-out" error
OF VISION INST [6]
occurred during
reception of serial
COMM data
• Reconnect the cable between the Vision
System and the controller.
• Make sure that the serial COMM settings for
the VISION SYSTEM match the settings for the
controller.
WRONG EXECUTION The data received from
OF VISION INST [7]
the Vision System is
corrupt
• Reconnect the cable between the Vision
System and the controller.
• Make sure that the serial COMM settings for
the VISION SYSTEM match the settings for the
controller.
• Set the Vision System for detection.
WRONG EXECUTION The PIXEL coordinate
OF VISION INST [8]
values could not be
converted to the robot
coordinate values
• Set the VISION SYSTEM to detect a correct
position.
• Use a valid CALIBRATION file (.clb)
WRONG EXECUTION Position (P) variables
OF VISION INST [8]
could not be read from
or written to.
• Do not use the specified position (P) variable
for the other job, simultaneously.
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5
5.2
Maintenance/TroubleShooting
Parameter List
5.2
Parameter List
5.2.1
DX100 Parameters
5.2.2
Parameters Contents
Value
S2C211
Language Level (expanded)
2
S2C231
Motion In FWD/BWD/TEST Operation (1 = All
Jobs)
1
S2C409
Read/Write in Play mode
1
S2C430
Relative Job Motion (2 = Type Concerned)
2
S2C431
Multiple Tool Enable
1
S2C688
BWD Motion
3
S1D229
Access Control User Variable
0
S1D233
Specified Speed Installation
0
RS100
Data Bit Length
8
RS101
Stop Bit Length
2
RS102
Parity Specification
0 (even)
RS103
Transmission Speed Specification
8 (19200 baud)
RS104
Time 1 for WAITING Response (SELCND, in
units of 0.1 second)
100
RS105
Time 2 for WAITING Response (for specifying
items to be measured in FIND, in units of 0.1
second)
20
RS106
Time 3 for WAITING Response (for
measurement in FIND, in units of 0.1 second)
100
RS107
Number of Retries for Data Transmission
3
RS108
Vision Menu with P.P. Data Transmission Interval
(msec)
100
RS109
Vision Command Protocol
12
NX100 Parameters
Parameters Contents
Value
S2C163
Language Level (expanded)
2
S2C183
Motion In FWD/BWD/TEST Operation (1 = All
Jobs)
1
S2C311
Read/Write in Play mode
1
S2C332
Relative Job Motion (2 = Type Concerned)
2
S2C333
Multiple Tool Enable
1
S2C550
BWD Motion
3
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5.3
MotoSight Pendant Vision
5.3
Maintenance/TroubleShooting
XML Schema
XML Schema
MotoSight Pendant Vision communicates with the Cognex InSight
software via an xml file. Occasionally it is helpful to use this file for
troubleshooting purposes. For example, to open communications with the
EtherNet IP card, you must set the expand-subnet element to 1 within the
xml file.
<?xml version="1.0" encoding="utf-8" ?>
- <Settings>
<Camera model="0" trigger_mode="99" patmax="0"
ip_address="10.0.0.210" />
<Program snippet_row="1" snippet_col="0" pvar="110"
expand_subnet="0" />
</Settings>
5.3.1

Elements
Camera model
Retains the currently selected camera model index. Valid values 0-3.
0 - Insight Micro 1050
1 - Insight Micro 1100 without PatMax capability
2 - Insight Micro 1100 with PatMax capability
3 - Other with PatMax capability

trigger_mode
Retains the currently selected trigger mode index. Valid values are
0,1,2,3,4
0 = Camera (default)
Enables image acquisition on a rising edge sensed at the sensor's
hardware trigger input port.
1 = Continuous
Enables "free running" (as fast as possible) image acquisitions.
2 = External
Enables image acquisition on either a serial command (when Trigger On
First Byte is selected in the DeviceNet Details dialog) or on the rising edge
applied to a discrete input bit configured as an Acquisition Trigger.
3 = Manual
Enables image acquisition when pressing F5. In order for F5 to manually
acquire an image, the spreadsheet must have focus.
4 = Network
Enables image acquisition when the specified In-Sight "Master" system
on the network is triggered. The Master checkbox must be OFF, and a
valid Master Name must be specified.

patmax
Retains the setting for PatMax usage. Valid values are 0-1.
0 - not used
1 - used
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5.4
MotoSight Pendant Vision

Maintenance/TroubleShooting
Sample Robot Job
ip_address
Current IP Address of the camera.
The camera must use 10.0.0.210 for the robot Vision Function to work.

snippet_row
Indicates the starting row for the interface snippet.
Default = 1

snippet_col
Indicates the starting column for the interface snippet.
Default = 0

pvar
Indicates the starting p variable for the vision function to use
Default = 110

expand_subnet
Indicates whether to open up the pendant subnet to allow communications
with a EIP option board. Valid values are 0-1.
Default = 0. Use standard subnet mask.
Optional = 1. Open subnet mask to allow communications.
5.4
Sample Robot Job
/JOB
//NAME VISION
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 2009/08/13 12:59
///ATTR SC,RW
///GROUP1 RB1
///LVARS 17,45,18,12,0,1,0,0
NOP
' standard vision job version 1.0
*TOP
' not training
SET LB000 0
JUMP *NOTRAIN
'====move cursor HERE to train===
SET LB000 1
*NOTRAIN
'********************************
' vision X+ range (mm)(LR001)
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
SET LR001 150
' vision X- range (mm)(LR002)
SET LR002 -150
' vision Y+ range (mm)(LR003)
SET LR003 150
' vision Y- range (mm)(LR004)
SET LR004 -150
' vision Rz+ range (mm)(LR005)
SET LR005 180
' vision Rz- range (mm)(LR006)
SET LR006 -180
'================================
'set first ethernet IP
' i/o bit # (after status bits)
' (LI001)(i/o point#)
SET LI001 33
' current vision data
' (base frame)
' (LI002)(Pvariable#)
SET LI002 70
' stored taught vision data
' (base frame)
' (LI003)(Pvariable#)
SET LI003 71
' stored last vision data
' (user frame)
' (LI004)(Pvariable#)
SET LI004 72
' 3dshift amount
' (base frame)
' (LI005)(Pvariable#)
SET LI005 73
' vision error bit
' (LI006)(bvariable)
SET LI006 70
' vision found a good part
' (LI007)(bvariable)
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
SET LI007 71
' # of times to retry before
' sending error
' (LI008)(#)
SET LI008 3
' data user frame
' (LB001)(# 1-24)
SET LB001 1
' gripper tcp
' (LB002)(# 0-23)
SET LB002 0
' error-out in vision job
' (always sets error code to
' B-variable)
' (LB003)(0=no 1=yes)
SET LB003 1
' error-out if part not
' found or out of range
' (valid only if LB003=1)
' (LB004)(0=no 1=yes)
SET LB004 1
' element 4 hard coded setting
' (LR010)(Rx degrees)
SET LR010 0
' element 5 hard coded setting
' (LR011)(Ry degrees)
SET LR011 0
'********************************
'
'********************************
' calc trigger ready input
SET LI020 EXPRESS LI001 + 0
' calc trigger ack input
SET LI021 EXPRESS LI001 + 1
' calc acquiring input
SET LI022 EXPRESS LI001 + 2
' calc online input
SET LI023 EXPRESS LI001 + 7
' calc inspecting input
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
SET LI024 EXPRESS LI001 + 8
' calc inspect complete input
SET LI025 EXPRESS LI001 + 9
' calc results valid input
SET LI026 EXPRESS LI001 + 11
' calc inspection id input group
SET LI027 EXPRESS ( LI001 + 7 ) / 8 + 4
' calc inspection id input group
SET LI028 EXPRESS ( LI001 + 7 ) / 8 + 5
' calc x results input group
SET LI029 EXPRESS ( LI001 + 7 ) / 8 + 8
' calc x results input group
SET LI030 EXPRESS ( LI001 + 7 ) / 8 + 9
' calc y results input group
SET LI031 EXPRESS ( LI001 + 7 ) / 8 + 10
' calc y results input group
SET LI032 EXPRESS ( LI001 + 7 ) / 8 + 11
' calc Rz results input group
SET LI033 EXPRESS ( LI001 + 7 ) / 8 + 12
' calc Rz results input group
SET LI034 EXPRESS ( LI001 + 7 ) / 8 + 13
' calc pass/fail input
SET LI035 EXPRESS LI001 + 112
' calc x negative input
SET LI036 EXPRESS LI001 + 113
' calc y negative input
SET LI037 EXPRESS LI001 + 114
' calc Rz negative input
SET LI038 EXPRESS LI001 + 115
'................................
' calc trigger enable output
SET LI040 EXPRESS LI001 + 0
' calc trigger output
SET LI041 EXPRESS LI001 + 1
' calc buffer result enable output
SET LI042 EXPRESS LI001 + 2
' calc inspect result ack output
SET LI043 EXPRESS LI001 + 3
' calc set online output
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
SET LI044 EXPRESS LI001 + 7
'================================
' reset vision error counter
SET LI000 0
*RETRY
' clear error bit
SET B[LI006] 0
' clear vision passed
SET B[LI007] 0
' setup vision data variable
GETS PX[LI002] $PX000
CNVRT PX[LI002] PX[LI002] UF#(LB001) TL#(LB002)
SUB P[LI002] P[LI002]
'********************************
'================================
'===========STARTUP==============
'================================
' trigger enable
DOUT OT#(LI040) ON
' trigger
DOUT OT#(LI041) OFF
' buffer result enable
DOUT OT#(LI042) OFF
' inspect result ack
DOUT OT#(LI043) OFF
' online
DOUT OT#(LI044) OFF
'-------------------------------' check camera online
WAIT IN#(LI023)=ON T=5.00
JUMP *ONLINE IF IN#(LI023)=ON
' change state
DOUT OT#(LI044) ON
' set error bit
SET B[LI006] 200
JUMP *ERROR
*ONLINE
'-------------------------------' check trigger is ready
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
WAIT IN#(LI020)=ON T=5.00
JUMP *TRIGRDY IF IN#(LI020)=ON
' set error bit
SET B[LI006] 201
JUMP *ERROR
*TRIGRDY
'-------------------------------' check trigger ack is off
WAIT IN#(LI021)=OFF T=5.00
JUMP *TRIGACT1 IF IN#(LI021)=OFF
' set error bit
SET B[LI006] 202
JUMP *ERROR
*TRIGACT1
'-------------------------------' check acquiring is off
WAIT IN#(LI022)=OFF T=5.00
JUMP *ACQUIRE IF IN#(LI022)=OFF
' set error bit
SET B[LI006] 203
JUMP *ERROR
*ACQUIRE
'-------------------------------' check inspecting is off
WAIT IN#(LI024)=OFF T=5.00
JUMP *INSPECT IF IN#(LI024)=OFF
' set error bit
SET B[LI006] 204
JUMP *ERROR
*INSPECT
'-------------------------------' remember inspection complete
DIN LB005 IN#(LI025)
JUMP *ON IF LB005=1
' set toggle to state
SET LB005 1
JUMP *OFF
*ON
' set toggle to state
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
SET LB005 0
*OFF
'-------------------------------' remember inspection ID
' msb id
DIN LB006 IG#(LI028)
' lsb id
DIN LB007 IG#(LI027)
' combine number
SET LD006 EXPRESS LB006 * 256 + LB007
'================================
'===========TRIGGER==============
'================================
' trigger
DOUT OT#(LI041) ON
'-------------------------------' check trigger ack is on
WAIT IN#(LI021)=ON T=5.00
JUMP *TRIGACT2 IF IN#(LI021)=ON
' set error bit
SET B[LI006] 206
JUMP *ERROR
*TRIGACT2
'-------------------------------' check inspection complete
WAIT IN#(LI025)=LB005 T=5.00
JUMP *COMPLETE IF IN#(LI025)=LB005
' set error bit
SET B[LI006] 207
JUMP *ERROR
*COMPLETE
'-------------------------------' check results valid is on
WAIT IN#(LI026)=ON T=5.00
JUMP *VALID2 IF IN#(LI026)=ON
' set error bit
SET B[LI006] 208
JUMP *ERROR
*VALID2
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'-------------------------------' reset trigger
DOUT OT#(LI041) OFF
'================================
'=====CHECK INSPECTION ID========
'================================
' check inspection id changed
' read inspection ID
' msb id
DIN LB006 IG#(LI028)
' lsb id
DIN LB007 IG#(LI027)
' combine number
SET LD007 EXPRESS LB006 * 256 + LB007
JUMP *IDCHANGE IF LD007<>LD006
' set error bit
SET B[LI006] 209
JUMP *ERROR
*IDCHANGE
'================================
'==========READ DATA=============
'================================
' check passed
JUMP *PASSED IF IN#(LI035)=ON
' set error bit
SET B[LI006] 210
JUMP *ERROR
*PASSED
'-------------------------------' read data
' lsb x
DIN LB011 IG#(LI029)
' msb x
DIN LB012 IG#(LI030)
' lsb y
DIN LB013 IG#(LI031)
' msb y
DIN LB014 IG#(LI032)
' lsb Rz
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
DIN LB015 IG#(LI033)
' msb Rz
DIN LB016 IG#(LI034)
'-------------------------------' create complete integer
'x
SET LD011 EXPRESS LB012 * 256 + LB011
'Y
SET LD012 EXPRESS LB014 * 256 + LB013
' Rz
SET LD013 EXPRESS LB016 * 256 + LB015
'-------------------------------' check x negative
JUMP *X-POS IF IN#(LI036)=OFF
MUL LD011 -1
*X-POS
' check y negative
JUMP *Y-POS IF IN#(LI037)=OFF
MUL LD012 -1
*Y-POS
' check Rz negative
JUMP *Rz-POS IF IN#(LI038)=OFF
MUL LD013 -1
*Rz-POS
'-------------------------------' add decimal places
MUL LD011 10
MUL LD012 10
MUL LD013 1
'-------------------------------' write vision data to pvar
SUB P[LI002] P[LI002]
SETE P[LI002] (1) LD011
SETE P[LI002] (2) LD012
SETE P[LI002] (6) LD013
'-------------------------------' check zero
JUMP *NOT_ZERO IF LD011<>0
JUMP *NOT_ZERO IF LD012<>0
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5.4
Maintenance/TroubleShooting
Sample Robot Job
JUMP *NOT_ZERO IF LD013<>0
' set error bit
SET B[LI006] 211
JUMP *ERROR
*NOT_ZERO
'-------------------------------' check same as last
JUMP *PSET IF LB000=0
' setup store last pvar
SET P[LI004] P[LI002]
SUB P[LI004] P[LI004]
*PSET
GETE LD015 P[LI004] (1)
' if undefined Pvariable here the
' original position is not
' stored (trained) in the robot
JUMP *NOT_SAME IF LD011<>LD015
GETE LD016 P[LI004] (2)
JUMP *NOT_SAME IF LD012<>LD016
GETE LD017 P[LI004] (6)
JUMP *NOT_SAME IF LD013<>LD017
' set error bit
SET B[LI006] 212
JUMP *ERROR
*NOT_SAME
'-------------------------------' check x range
SET LR007 EXPRESS LD011 / 1000
JUMP *X_MAX_NG IF LR007>LR001
JUMP *X_MAX_NG IF LR007<LR002
JUMP *X_MAX_OK
*X_MAX_NG
' set error bit
SET B[LI006] 213
JUMP *ERROR
*X_MAX_OK
'-------------------------------' check y range
SET LR008 EXPRESS LD012 / 1000
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5
5.4
Maintenance/TroubleShooting
Sample Robot Job
JUMP *Y_MAX_NG IF LR008>LR003
JUMP *Y_MAX_NG IF LR008<LR004
JUMP *Y_MAX_OK
*Y_MAX_NG
' set error bit
SET B[LI006] 214
JUMP *ERROR
*Y_MAX_OK
'-------------------------------' check rZ range
SET LR009 EXPRESS LD013 / 100
JUMP *RzMAX_NG IF LR009>LR005
JUMP *RzMAX_NG IF LR009<LR006
JUMP *RzMAX_OK
*RzMAX_NG
' set error bit
SET B[LI006] 215
JUMP *ERROR
*RzMAX_OK
'-------------------------------' part good
SET B[LI007] 1
' set hardcoded valves
SET LD000 EXPRESS LR010 * 100
SETE P[LI002] (4) LD000
SET LD000 EXPRESS LR011 * 100
SETE P[LI002] (5) LD000
' store vision data
SET P[LI004] P[LI002]
'
' convert Vision data to Base
' Frame for 3D shift
CNVRT PX[LI002] PX[LI002] BF
' if system error here the angle
' is probably too large
JUMP *NOTTRAIN IF LB000=0
' store original position
SET P[LI003] P[LI002]
*NOTTRAIN
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'********************************
' calculate 3Dshift
INVMAT LP000 P[LI003]
MULMAT P[LI005] P[LI002] LP000
' clear error bit
SET B[LI006] 0
JUMP *OUT
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*ERROR
' inc error bit
INC LI000
' jump error if tries done
JUMP LABEL: B[LI006] IF LI000>=LI008
JUMP *OUT IF LB003=0
JUMP *RETRY
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*200
PAUSE
'CAMERA NOT ONLINE
'
'Check vision system job.
'The robot is trying to put the
'camera online, but it will not
'go online.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*201
PAUSE
'CAMERA TRIGGER NOT READY
'
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'Check vision system job.
'Make sure robot/camera
'communication is ok.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*202
PAUSE
'TRIGGER ACK BIT DID NOT CLEAR
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' If trigger is off trigger ack
' should clear.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*203
PAUSE
'ACQUIRING BIT DID NOT CLEAR
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Camera will not stop acquiring.
' Should clear when acquisition
' is complete.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*204
PAUSE
'INSPECTING BIT DID NOT CLEAR
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Camera will not stop
' inspecting.
' Should clear when spreadsheet
' stops executing functions.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*205
PAUSE
'RESULTS VALID BIT DID NOT CLEAR
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Camera will not reset results
' valid bit.
' Should clear when inspection
' results ack is set.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*206
PAUSE
'TRIGGER ACK BIT DID NOT SET
'
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' The camera was triggered, but
' the trigger ack bit did not
' set.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*207
PAUSE
'INSPECTION COMPLETE DID NOT
'TOGGLE
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Inspection complete should
' toggle state after a trigger.
' Execution of spreadsheet did
' not complete.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*208
PAUSE
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'RESULTS VALID BIT DID NOT SET
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Camera will not set results
' valid bit.
' Should set when valid data
' is set.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*209
PAUSE
'INSPECTION ID DID NOT INCREMENT
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' Inspection id should increment
' after each trigger.
' If it does not the robot may
' not be getting new data.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*210
' check error in vision job
JUMP *OUT IF LB004=0
PAUSE
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'VISION FAILED TO FIND THE PART
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' The vision system could not
' find the part.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*211
PAUSE
'VISION DATA IS ZERO
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' It is very unlikely for
' all elements to be 0.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*212
PAUSE
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'VISION DATA IS THE SAME AS LAST
'INSPECTION
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' It is very unlikely for
' all elements to match to last
' inspection.
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*213
' check error in vision job
JUMP *OUT IF LB004=0
PAUSE
'VISION X DATA OUT OF RANGE
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' The x element of the found part
' is out of range. The range is
' set at the top of this job.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*214
' check error in vision job
JUMP *OUT IF LB004=0
PAUSE
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MotoSight Pendant Vision
5
5.4
Maintenance/TroubleShooting
Sample Robot Job
'VISION Y DATA OUT OF RANGE
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' The y element of the found part
' is out of range. The range is
' set at the top of this job.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*215
' check error in vision job
JUMP *OUT IF LB004=0
PAUSE
'VISION Rz DATA OUT OF RANGE
'
'Check vision system job.
'Make sure robot/camera
'communication is ok.
' The Rz element of the found
' part is out of range. The
' range is set at the top of this
' job.
'
'push start to continue
JUMP *TOP
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
'!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*OUT
END
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5
5.5
MotoSight Pendant Vision
5.5
5.5.1

Maintenance/TroubleShooting
Sample EtherNet Configurations
Sample EtherNet Configurations
NX
Camera Setup
1. Go online to camera using In-Sight Explorer.
2. Change IP Address of the camera to 10.0.0.210.
3. Load Ver 3.0 job into the camera.
4. Set default camera startup job to the Ver 3.0 vision job previously
loaded and set it to start in online mode.

Robot Host Setup
1. Go to option board setup in maintenance mode on the robot.
2. Set the IP Address of the Ethernet board to 10.0.0.25.
3. Set the subnet mask to 255.255.255.0.
4. Set the number of words used to 16 bytes.

Scanner Device Information Setup
• Connection RPI: 60
• Input Size: 16 bytes
• Output Size: 16 bytes
• Configuration Size: 0 bytes
• Input Instance: 11
• Output Instance: 21
• Configuration Instance: 1

Scanner Settings
1. Select the device you just configured for the camera
2. Set the IP Address to 10.0.0.210
5.5.2

DX Ethernet with Vision Function
Camera Setup
1. Go online to the camera using In-Sight Explorer
2. Change the IP Address of the camera to 10.0.0.210
3. Load the Ver 3.0 job into the camera
4. Set the default camera startup job to the ver 3.0 job and set it to start in
online mode
5.5.3

DX Ethernet with EIP
Camera Setup
1. Go online to the camera using In-Sight Explorer
2. Change the IP Address of the camera to 10.0.2.210
3. Load the Ver 3.0 job into the camera
4. Set the default camera startup job to the ver 3.0 job and set it to start in
online mode
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5
5.5
MotoSight Pendant Vision

Maintenance/TroubleShooting
Sample EtherNet Configurations
Robot Host Setup
1. Go to the option board setup in maintenance mode on the robot
2. Set the IP Address of the ethernet board to 10.0.2.25
3. Set the subnet mask to 255.255.0.0
4. Set the number of words used to 16 bytes

Device Information Setup
• Connection RPI: 60
• Input Size: 16 bytes
• Output Size: 16 bytes
• Configuration Size: 0 bytes
• Input Instance: 11
• Output Instance: 21
• Configuration Instance: 1

Scanner Setup
1. Select the device you just configured for the camera
2. Set the IP Address to 10.0.2.210
5-24
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ArcWorld® IV-6000
SYSTEM MANUAL
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745
Fax
+81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax
+1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800
Fax
+46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax
+49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844
Fax
+82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax
+65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919
Fax
+60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200
Fax
+66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541
Fax
+86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, india
Phone +91-124-414-8514
Fax
+91-124-414-8016
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
156601-1CD
0
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