setting the vision system

Vision System Connection Guide
(COGNEX SLMP Connection)
CONTENTS
SAFETY PRECAUTIONS .............................................. A-1
REVISIONS.................................................................... A-2
INTRODUCTION
About This Connection Guide .................................. 1
Required Modules and Devices ............................... 1
System Configuration for Connecting the Vision System.. 2
Connecting and Wiring the System .......................... 3
BASIC OPERATIONS OF THE SLMP SCANNER
Basic Operation Flow of the SLMP Scanner ............ 4
Basic Operations of the SLMP Scanner................... 5
Data Blocks .............................................................. 5
Timing Chart of the SLMP Scanner.......................... 7
SETTING THE VISION SYSTEM
Setting the Vision System ........................................ 8
SETTING THE PROGRAMMABLE CONTROLLER
Setting the Programmable Controller ....................... 16
STARTING THE PROGRAMMABLE CONTROLLER
AND VISION SYSTEM
Starting the Programmable Controller and Vision System . 18
CHECKING OPERATIONS
Checking Operations................................................ 19
Setting a Trigger ....................................................... 19
Setting Values to Parameters ................................... 21
CONTENTS IN DATA BLOCKS
Contents in Data Blocks ........................................... 22
APPENDIX
Other Control Methods ............................................. 26
COGNEX
In-Sight EZ-700 series/In-Sight EZ-100 series
In-Sight Micro series/In-Sight 5000 series/In-Sight 7000 series
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using the products described in this document, please read this manual and the relevant manuals
carefully and pay full attention to safety to handle the products correctly.
In this section, the safety precautions are classified into two levels: "
WARNING" and "
CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in minor or moderate injury or property damage.
Under some circumstances, failure to observe the precautions given under "
serious consequences.
Always observe the instructions of both levels to ensure personal safety.
A-1
CAUTION" may lead to
REVISIONS
No.
*
Revision
Remarks
First edition
A-2
INTRODUCTION
About This Connection Guide
This connection guide describes the procedures for connecting the COGNEX vision system to a
MELSEC programmable controller and controlling the vision system with an SLMP scanner.
Required Modules and Devices
Prepare the following modules and devices.
Mitsubishi Electric products
GX Works2
(Engineering software for programmable controllers)
MELSEC-Q/L series programmable controller
COGNEX products
In-Sight series
Ethernet cable for In-Sight
Breakout cable
(for 24 V DC power supply)*1
In-Sight Explorer
(Vision system setup software)
Commercial products
HUB/PoE hub*2
Ethernet straight
cable
Lens
USB cable
*1 Used with the In-Sight EZ-700 series, In-Sight 7000 series, or In-Sight 5000 series.
*2 Used with the In-Sight EZ-100 series and In-Sight Micro series.
1
24 V DC power supply*1
INTRODUCTION
System Configuration for Connecting the Vision System
MELSEC-Q/L series programmable
controller IP address (192.168.3.2)
1) Connect the programmable controller and
a personal computer with the USB cable.
2) Connect the HUB and each
device with Ethernet cables.
HUB*
Vision system
IP address
(192.168.3.1)
GX Works2,
In-Sight Explorer
IP address (192.168.3.3)
24 V DC power supply
3) Connect the power supply and I/O breakout cable to the PWR
connector of the vision system.
* Use a PoE hub when the In-Sight EZ-100 series or In-Sight Micro series is used as the vision system.
2
INTRODUCTION
Connecting and Wiring the System
(1) External power supply connection (In-Sight EZ-700 series, In-Sight 7000 series, In-Sight
5000 series)
CAUTION Cut unused wires or protect them with insulating materials. Prevent them from being
short-circuited with the +24 V DC wire.
1) Make sure that the switch of 24 V DC power supply is off.
2) Connect the power cable of a breakout cable and the terminal compatible with the power supply.
(Check the compatible cable in the following diagram.)
WARNING
Do not use the voltage other than 24 V DC. Comply with the polarity as
described.
In-Sight 5000 series
In-Sight EZ-700 or 7000 series
+24 V DC power supply (white and green)
Connect the positive pole of the 24 V
DC power supply.
Ground (brown)
Connect the negative pole of
the 24 V DC power supply.
+24 V DC input (red)
Connect the positive pole of the 24 V
DC power supply.
24 V Common (black)
Connect the negative pole of
the 24 V DC power supply.
(2) Connection of the vision system and a breakout cable (In-Sight EZ-700 series, In-Sight 7000
series, In-Sight 5000 series)
Connect a power supply and I/O breakout cable to the PWR connector of the vision system.
3
BASIC OPERATIONS OF THE SLMP SCANNER
Basic Operation Flow of the SLMP Scanner
Programmable
Vision system
controller
Reading control area
• Reading M relay and
D register
Set poll interval
Reading control area
• Reading M relay and
D register
Trigger ON
Reading control area
Reading the control area
using the vision system
and accepting the trigger
Updating the status
block and output block
Inspection
While the trigger is on,
communication between
data import and the
completion of inspection
is performed regardless
of the poll interval.
Import
Writing status
Turning on the trigger
command bit to M relay
using a sequence program
Writing status
Updating the status
block and output block
Writing inspection results
Updating the status
Reading control area
block and output block
The vision system sends inspection
results, and the "Inspection Completed"
status and the "Results Valid" status.
4
BASIC OPERATIONS OF THE SLMP SCANNER
Basic Operations of the SLMP Scanner
In the SLMP Scanner, the vision system reads control blocks from the programmable controller at the
poll interval set with In-Sight Explorer, and the processing is performed responding to the change of the
bit information in the control blocks.
The processing status is written to the corresponding bit in the status block.
To control the vision system, assign the devices of the programmable controller to each of the defined
data blocks (including control blocks) and use them.
The following shows the functions of six data blocks.
• Control block:
•
•
•
•
•
This block is used to send control commands (including triggers) to the
vision system. This block uses bit information. The vision system is
controlled by turning on and off the devices set to the control block
using the programmable controller.
Status block:
This block indicates the status of the vision system, and can be
checked with bit information.
Input block:
This block is used to input application data (including parameters for
inspection) from the programmable controller, and uses word
information.
Output block:
The vision system uses this block to output application data (including
inspection results) to the programmable controller. This block uses
word information.
String command block:
This block is used to set commands (string commands) to control the
vision system. This block uses word information.
String command result block: This block is used to output the results controlled by the commands.
This block uses word information.
The next section shows the data blocks and the timing chart of the SLMP Scanner.
Data Blocks
The following shows the six data blocks defined to control the vision system.
Control data block
Status block
5
BASIC OPERATIONS OF THE SLMP SCANNER
Output block
Input block
String command block
String result command block
For details of the data block functions to control the vision system, refer to In-Sight Explorer's HELP.
Set "SLMP" as a keyword in HELP and refer to the explanation of data blocks.
6
BASIC OPERATIONS OF THE SLMP SCANNER
Timing Chart of the SLMP Scanner
The following shows a timing chart when "Trigger" of the control block is turned on from the
programmable controller.
To enable the trigger from the programmable controller, turn on "Trigger Enable" of the control block.
When "Trigger" of the control block is turned on from the programmable controller while "Trigger Ready"
of the status block is on, the status of the vision system is output to "Trigger Ack", "Acquiring",
"Inspecting", and "Inspection Completed" of the status block.
"Inspection Completed" changes (toggles) the status at every completion.
Trigger Enable
Trigger Ready
Trigger
Trigger Ack
Acquiring
Inspecting
2)
1)
3)
1)
1)
2)
3)
1)
2)
3)
1)
2)
1)
Inspection
Completed
Programmable controller (control block)
Vision system (status block)
7
3)
2)
3)
2)
3)
SETTING THE VISION SYSTEM
Setting the Vision System
(1) Setting an IP address to the personal computer
Set the IP address 192.168.3.3 to the personal computer.
(2) Connection with the vision system
Start In-Sight Explorer to set the vision
system.
Click [Add].
Click!
Add the vision system to the network.
Set the sensor and device to the network as
shown left.
IP Address: 192.168.3.1
Subnet Mask: 255.255.255.0
Click [Connect] to connect to the vision
system.
Click!
8
SETTING THE VISION SYSTEM
(3) Creating a new job
Create a new job to detect the workpiece position.
Select [New Job].
Select!
Adjust the lens so that the lens captures an inspection target in
[Set Up Image], and configure the settings to acquire the image.
1
2
3
1
Select [Set Up Image].
2
Select [Live Video] to adjust the image.
3
Select [Network].
1
Select [Locate Part].
2
Select [PatMax® Pattern].
Set a tool.
1
2
9
SETTING THE VISION SYSTEM
Set a model on the position to be detected.
1
Set the model.
2
Click [OK].
1
Click!
2
10
SETTING THE VISION SYSTEM
(4) Communication setting
Configure the communication setting (SLMP scanner).
Select!
1
Select [Communication].
2
Click [Add Device].
1
Configure the device setting as
shown left.
Device: PLC/Motion Controller
Manufacturer: Mitsubishi
Protocol: SLMP Scanner
2
Click [OK].
1
2
Click!
Add the SLMP scanner to the communication.
1
2
Click!
Set the SLMP scanner.
Configure the following settings.
Controller Type: Q/L Series (3E Frame)
IP Address: 192.168.3.2
Host Port: 12289 (the port number of the
Ethernet parameter set with GX Works2)
Timeout (ms): 1000
Poll Interval (ms): 100
Select!
POINT
11
Shortening the poll interval also shortens the interval to monitor the programmable controller status.
SETTING THE VISION SYSTEM
(5) Assigning devices
Select!
1
2
1
Select [Device Addressing].
2
Set a device, offset, and the number of
devices to each of the six data blocks
as shown left.
For control contents of when the device
is assigned to each data block, refer to
"DATA BLOCK CONTENTS".
12
SETTING THE VISION SYSTEM
(6) Outputting to the programmable controller
Set data to be output from the vision system to the programmable controller.
(As an example, set the inspection count, X coordinate, Y coordinate, and
angle to the output block.)
Click [Add].
Click!
Select the data to be output to the programmable controller.
Select!
Select!
Select
"Job.Inspection_Count".
Select the X and Y
coordinates and angle of
the detection target.
Click [OK].
Click!
Display the output result to the programmable
controller.
Message size (words): 7
13
SETTING THE VISION SYSTEM
(7) Inputting from the programmable controller
Set data to be input from the programmable controller to the vision system.
(As an example, set "Rotation_Tolerance"to the input block.)
Click [Add].
Click!
Select [Pattern_1.Rotation_Tolerance] as an
input from the programmable controller, and
click [OK].
Select!
Click!
Display the input result from the programmable
controller.
Message size (words): 1
14
SETTING THE VISION SYSTEM
(8) Saving the job
Name the created job and save it.
Select!
1
Select [Save Job].
2
Click [Save As...].
1
Set an arbitrary name.
2
Click [Save].
1
2
Click!
1
2
Click!
15
SETTING THE PROGRAMMABLE CONTROLLER
Setting the Programmable Controller
Start GX Works2 to set the programmable controller.
Select!
Double
-click!
Click!
Start GX Works2 and create a new project.
Select Type: Q06UDV, Project Type: Simple Project,
and Language: Ladder.
Double-click "PLC Parameter"
in the Project window.
Click [OK].
Select!
The Q Parameter Setting window appears.
Select the [Buit-in Ethernet Port Setting] tab.
Click!
Configure the setting in the [Buit-in Ethernet
Port Setting] tab as shown left.
IP Address: 192.168.3.2
Select "Binary Code" and "Enable online
change (FTP, MC Protocol)".
Click [Open Setting].
Select!
Select!
16
SETTING THE PROGRAMMABLE CONTROLLER
1
2
1
Select "DEC" for "IP Address/Port
No. Input Format".
2
Select "TCP" in "Protocol".
3
Select "MC Protocol" in
"Open System".
4
Enter "12289" to "Host Station".
Select!
3
4
Key input
Click!
Click [End].
The Q Parameter Setting window appears.
Click [End].
Click!
POINT
17
The user have to set parameters for communication, however, do not need to create a program for communication.
STARTING THE PROGRAMMABLE CONTROLLER AND
VISION SYSTEM
Starting the Programmable Controller and Vision System
(1) Starting the programmable controller
Write the parameters.
Select [Parameter + Program] and click
[Execute].
Select!
After writing the parameters is completed,
reset and run the programmable controller.
Click!
(2) Connecting the vision system to the network
Start the communication with the programmable controller.
2
1
Select [Communication].
2
Select [Online].
Check that [Connected.] is
displayed for the SLMP Scanner.
Select!
1
Select!
18
CHECKING OPERATIONS
Checking Operations
Control the vision system using the programmable controller and check the operations.
Setting a Trigger
Set a trigger to the vision system to acquire inspection results.
Open "Device/Buffer Memory Batch Monitor" in GX Works2 to display devices.
Set devices as shown left.
Device Name: D1000
D1000 to D1001:
Control
D1002 to D1003:
Status
D1005 to D1009:
Input block
D1010 to D1022:
Output block
To enable the trigger form the
programmable controller, turn "ON" the
"Network Trigger Enable" bit (D1000.0).
Turn on the "Trigger
Enable" bit.
19
When the "Network Trigger Enable" bit
(D1000.0) is "OFF", the vision system
does not operate even though the trigger
is ON.
CHECKING OPERATIONS
Trigger ON
Inspection
Completed*
Inspection
count
X coordinate
D1016 to D1017
Y coordinate
D1018 to D1019
Angle
D1020 to D1021
Turn "ON" the "Trigger" bit (D1000.1) of the
control block.
The vision system is triggered and an
inspection result is output.
As the inspection result, the format output
data set with the SLMP Scanner of In-Sight
Explorer is output.
D1015 = Inspection count, D1016 = X
coordinate, D1018 = Y coordinate, D1020 =
Angle
When the inspection is completed, the
"Inspection Completed" bit (D1002.9)
changes (toggles) the status.
* The "Inspection Completed" bit (D1002.9)
changes (toggles) the status when the
inspection is completed.
The X and Y coordinates and the angle of
the inspection result are output as 32-bit
floating-point values. Switch the display
format to [Real Number (32Bit)] and check
the values.
Select!
Inspection
Completed
To set the trigger to the vision system
again, turn "OFF" and "ON" D1000.1.
X coordinate
D1016
Y coordinate
D1018
Angle
D1020
Click the [Format Output Data] tab.
The values output to the programmable
controller can be checked with In-Sight
Explorer.
Click!
Values output to
the programmable
controller
20
CHECKING OPERATIONS
Setting Values to Parameters
Set a value to the format input data (Pattern_1.Rotation_Tolerance) set with the SLMP scanner of InSight Explorer.
Turn ON "Set User Data".
D1001.0
Set 50 to "Pattern_1.
Rotation_Tolerance".
D1007
Set "50" to the user area D1007 of the
input block.
Turn "ON" "Set User Data" (D1001.0) of
the control block.
To change "Pattern_1.Rotation_Tolerance"
again, set a new value to D1007, and turn
"OFF" and "ON" D1001.0.
When the "Trigger" bit (D1000.1) of the
control block is turned "ON", the inspection
is performed with the new
"Pattern_1.Rotation_Tolerance".
To check the new
"Pattern_1.Rotation_Tolerance" on In-Sight
Explorer, trigger the vision system from the
programmable controller and check the
new value.
The "Rotation Tolerance" value is 50
(50.000).
21
CONTENTS IN DATA BLOCKS
Contents in Data Blocks
Set a start device and the number of devices to each data block with In-Sight Explorer.
The start device types (such as D, M, and X) and the start devices can be changed. The number of
devices, excluding the ones for the control block and status block, can be changed. The control details
set to each data block are fixed in the system.
The following shows the control details of the six data blocks where devices have been assigned.
Type
Number of
Start device
devices
Control
D1000
2
Status
D1002
2
Input block
D1005
5
Output block
D1010
12
Command
D1025
100
Command Result
D1125
100
Device assignment (Control)
Classification
Device
Control details (Application)
Supplement
The trigger is enabled by turning on
D1000.0
Network Trigger Enable
this bit and is disabled by clearing this
bit.
The following conditions need to be
satisfied to enable the trigger.
The In-Sight vision system is online
D1000.1
Trigger
when the Network Trigger Enable bit is
on.
In the setting of In-Sight Explorer,
[Network] or [External] is set for the
Control
[Trigger] parameter.
D1000.2
D1000.3
Buffer Result Enable
Inspection Result ON
Acknowledgment
An ID of the job to be loaded to the Job
D1000.4
Job Load Trigger
Load ID of the input block is set and
this bit turns on.
D1000.5
D1000.6
D1000.7
Reserved
SetOffline
The vision system goes offline when
this bit is turned on.
22
CONTENTS IN DATA BLOCKS
Classification
Device
Control details (Application)
Supplement
D1000.8
D1000.9
D1000.A
D1000.B
D1000.C
Reserved
D1000.D
D1000.E
D1000.F
Control
D1001.0
Set User Data
D1001.1
Send Native Mode Command
D1001.2
Reserved
D1001.3
Clear Image Complete Signal
D1001.4
D1001.5
D1001.6
Reserved
D1001.7
23
D1001.8
Soft Event 0 Trigger
D1001.9
Soft Event 1 Trigger
D1001.A
Soft Event 2 Trigger
D1001.B
Soft Event 3 Trigger
D1001.C
Soft Event 4 Trigger
D1001.D
Soft Event 5 Trigger
D1001.E
Soft Event 6 Trigger
D1001.F
Soft Event 7 Trigger
This bit turns on from off when the user
data of the input block is updated.
CONTENTS IN DATA BLOCKS
Device assignment (Status)
Classification
Device
D1002.0
Control details (Application)
Network Trigger Ready
Supplement
This bit turns on when the trigger can
be input.
This bit notifies that the trigger ON is
D1002.1
Trigger ON Acknowledgment
acknowledged.
This bit remains ON until the trigger bit
is cleared.
D1002.2
Importing Image
This bit turns on while an image is
being imported.
This bit turns on when importing an
D1002.3
Importing Failed
image failed.
This bit is cleared when importing an
image is properly completed.
D1002.4: Offline operation from a
D1002.4
program
D1002.5
Offline Reason
D1002.6
D1002.5: Offline operation from the
discrete signal input
D1002.6: Offline operation from the
communication
D1002.7
Online
D1002.8
Inspecting
D1002.9
Inspection Completed
D1002.A
Result Buffer Overrun
D1002.B
Results Valid
D1002.C
Job Loading
D1002.D
Job Load Complete
D1002.E
Job Load Failed
D1002.F
Fault
Status
D1003.0
D1003.1
This bit turns on when the vision
system is online.
This bit turns on during inspection
processing.
This bit changes (toggles) the status
when inspection is completed.
Set User Data Trigger
Acknowledgment
Send Native Mode Command Trigger
Acknowledgment
D1003.2
Native Mode Command Error
D1003.3
Imaging Completed
D1003.4
D1003.5
D1003.6
Reserved
D1003.7
D1003.8
Soft Event 0 Trigger Acknowledgment
D1003.9
Soft Event 1 Trigger Acknowledgment
24
CONTENTS IN DATA BLOCKS
Classification
Status
Device
Control details (Application)
D1003.A
Soft Event 2 Trigger Acknowledgment
D1003.B
Soft Event 3 Trigger Acknowledgment
D1003.C
Soft Event 4 Trigger Acknowledgment
D1003.D
Soft Event 5 Trigger Acknowledgment
D1003.E
Soft Event 6 Trigger Acknowledgment
D1003.F
Soft Event 7 Trigger Acknowledgment
Supplement
Device assignment (Input block, Output block, Command, and Command result)
Classification
Device
Control details (Application)
D1005
Job Load ID
D1006
User Data Length
Input block
User Data
D1009
Output block
Loaded Job ID
D1011
Image Import ID
D1012
Inspection Result ID
D1013
Image Inspection Result Code
D1014
Inspection Result String Length
Inspection Result
D1021
Command
25
been specified with the format output
data and is to be output from the vision
commands to be sent to the vision
system.
Result Code
D1126
Result String Word Length
D1127
D1224
"-1" is stored when no Job ID exists.
These devices store native mode
Command String
D1125
to
data and is to be input to the vision
String Word Length
D1124
Command Result
been specified with the format input
system.
D1026
to
This device stores the user data length.
These devices store the data that has
D1015
D1025
be loaded.
system.
D1010
to
This device stores an ID of the job to
These devices store the data that has
D1007
to
Supplement
Command Result String
APPENDIX
Other Control Methods
To control the vision system from the programmable controller, the following methods are provided in
addition to the SLMP scanner that controls the system by turning on and off bits. Use the following methods to eliminate the trigger delay due to polling.
(1) External trigger + SLMP
The output of the programmable controller and the trigger input of the vision system are directly
connected, the trigger is executed, and then inspection results are output using SLMP.
The trigger delay due to polling does not occur because the vision system does not perform polling
to the programmable controller.
(2) Control command + SLMP
The programmable controller sends control commands (Trigger commands) to the vision system
via Ethernet and outputs inspection results using SLMP.
The trigger delay due to polling does not occur because the vision system does not perform polling
to the programmable controller.
Since only Ethernet cables are required for the connection, the system configuration can be
simplified.
Ethernet is a registered trademark of Xerox Corporation in the United States.
Cognex and In-Sight are registered trademarks of Cognex Corporation.
All other company names and product names in this document are the trademarks or registered trademarks of the respective company.
26
Vision System Connection Guide
(COGNEX SLMP Connection)
Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 (standards for environmental
management systems) and ISO9001(standards forquality assurance management systems)
SH(NA)081458ENG-A 1410<CDS>
New publication, effective Oct. 2014.