SICK IVP IVC-3D 200, Operating Instructions Manual

Page 1: ...Operating instructions Industrial Vision Camera IVC 3D A calibrated smart camera for 3D measurements ...

Page 2: ...is performed Failure to turn this power off when maintaining the unit may result in hazardous radiation exposure ISM Radio Frequency Classification EN55011 Group1 Class A Warning Class A equipment is intended for use in an industrial environment There may be potential difficul ties in ensuring electromagnetic compatibility in other environments due to conducted as well as ra diated disturbances Ex...

Page 3: ...opment and Production 13 3 2 2 Saving Programs 14 3 3 Handling Multiple Products 15 4 Getting Started 16 4 1 Creating a Product 16 4 1 1 Create a Product 17 4 1 2 Select a Device 18 4 1 3 Create a Program 18 4 1 4 Create a Table 18 4 2 About Writing Programs 19 4 2 1 Tools 19 4 2 2 Programming Window 20 4 3 Adding Program Steps 21 4 4 Setting Parameter Values 24 4 4 1 Setting Constant Parameter Va...

Page 4: ...Operating Instructions IVC 3D 4 SICK IVP Industrial Sensors www sickivp com All rights reserved 8011007 ...

Page 5: ...C 3D has a major advantage it can see three dimensions Highlighting surface defects depending on topography is now already done in the image capturing With tools that are defined to measure heights volume shapes etc previously tricky measure ment tasks now are easily solved with the calibrated 3D smart camera 1 1 Laser Safety This product is equipped with a Class 2M laser according to EC 60825 1 o...

Page 6: ...d It contains eight wires The blue is ground and the brown is 24 volts DC Apply an appropriate connector but do not connect it at this point 2 1 2 Preparing the Device The figure below shows the position of the connectors on the back of the device link data ON function RS485 Ethernet power encoder link data ON function RS485 Ethernet power encoder Follow the steps below to prepare the device for o...

Page 7: ...t User Access and change the setting 2 3 Receiving an Image from the Device The device must have an IP address in order to communicate with the PC over Ethernet The way to provide the IP address depends on how the device is connected to the PC The three typical options are The device is connected through a switch to a network with a DHCP server In this case the device will automatically get a dyna...

Page 8: ...11 Select Ethernet Devices in the dialog box and click Ethernet Devices Configuration A list of all connected devices appears 12 Select the device All available settings appear in the right pane 13 Make the necessary settings depending on your connection method Connection method Parameter Value Through a switch to a network with a DHCP server ID Set to the customer serial number or another number ...

Page 9: ...ck OK 17 Right click the device in the right pane and choose Select Table In the dialog box select the program EmptyTable and click OK 18 Click Programs in the left pane in the main window and select the program Empty The program list image banks and tools toolbar are displayed in the right pane 19 Click on the Grab setup tool on the Image tab in the toolbar The Grab setup tool is added to the pro...

Page 10: ...tive table which is used for reading and storing values that are used during the analysis A number of image banks which each contains an image captured and processed by the camera An image bank may contain either a 3D image or a profile Data blocks which are used by some tools for storing or reading additional data For example some pattern recognition tools Teach tools create and save data in a da...

Page 11: ...ong the z axis The coordinates in the 3D image can however easily be converted to millimeters by using a tool in the camera 3 1 2 Profiles A 3D image is generated from profiles where each profile represents a cross section of the object A profile is created when the object passes under a laser beam which is reflected as a line on the object When viewed from an angle the line shows the contour of t...

Page 12: ...ects If no encoder is used the results of the analysis may be inaccurate if the speed of the objects varies Object is moving with the expected speed Object is moving slower than expected The speed of the object is uneven 3 1 5 Missing Data Sometimes the laser line on the object is hidden by other parts of the object This makes it impossible for the camera to decide the height of the part of the ob...

Page 13: ...vice has one program and one table associated to it which is also the program and table that are currently in the working memory To be able to work with a program in IVC Studio it must be associated with a device A program is always executed on a device and never on the computer The computer is mainly used for building and modifying the programs on the devices and to display the results sent from ...

Page 14: ...ve a product in IVC Studio the included programs and tables are saved with the product on the computer Nothing is saved on the device when you save the product This is not a problem since the program associated with the device is automatically loaded into the device as soon as the program is started or edited in IVC Studio Working Memory Active Program Active Table Flash Memory Program Banks 1 2 3...

Page 15: ...to use an IVC 3D camera to inspect the fill level Device 1 Device 3 Device 1 Device 2 Product Jar Dev Program Table 1 Label Jar_Label_Table 3 Jar_FillLevel Jar_FillLevel_Table Product Bottle Dev Program Table 1 Label Bottle_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table To achieve this we create two products in IVC Studio with the following contents Product Bottle Device Program Table 1 Lab...

Page 16: ...ume When the accumulated volume is equal to or larger than the desired volume of a slice the current position is stored and the accumulated volume is reset In a real production environment the camera could control a knife that slices the loaf at the correct places It is assumed that the camera and IVC Studio are installed and are working properly How to install the camera and IVC Studio is describ...

Page 17: ...password can be found in the installation instruction 2 Choose File Æ New Product from the IVC Studio menu bar A new empty product named New Product is opened The main window shows the contents of the currently open product The left pane shows the different categories of objects that the product may contain that is devices programs and tables Clicking on one of the categories will display the obje...

Page 18: ...ilding it is that the program is always run on a device and not on the computer What you see in IVC Studio when running a program are just the results which are sent from the device If you did not associate the program with a device you would not be able to see any result of the pro gram or even test the program 5 Right click Programs in the left pane of the main window and choose New Program from...

Page 19: ...put parameters that can be set For example when capturing an image from a camera you can specify in which image bank to store the image 2 Find edge right Image Bank X coordinate of line 0 Table row 2 Y coordinate of edge 340 0 Retrieve an image Destination Bank 0 3 Calculate angle Point 1 Point 2 Angle 45 4 Measurement OK Value to compare Minimum value Maximum value Result Result step 3 5 5 5 Meas...

Page 20: ...me for the tool when executed The result return values from the tool The program list has four columns that are used for specifying parameter values Value Table Step and Result Which column to use depends on what type of parameter value you want to use a constant value a value from the table or a result from a previous step Image banks are used for storing images just like the table is used for st...

Page 21: ...rab tool in the Image category on the toolbar to add the first step to the program The Grab tool is added to the program s folder in the left pane and to the Program List in the right pane 16 Double click the blue field at the top of the program step and type a description for the step for example Retrieve an image The command is now added to our program Before we can test the program and view the...

Page 22: ...er of profiles per image Advanced tab Profile triggering If you have an encoder set the number of pulses per millimeter and profile distance Image triggering Select Free running or Triggered by input signal depending on whether or not you have a trigger connected to the camera We are now ready to run the program on the camera and view the image that was retrieved 22 Click the Grab Setup step in th...

Page 23: ...olbar 26 In the dialog box that is displayed choose before current step and click OK The ROI Rectangle step is added to the program list 27 Add a description to the step such as ROI for the loaf The conveyor belt can be found by fitting a surface to areas outside the ROI for the loaf This can be done with the following steps Two ROI Rectangle tools that specify areas to the left and to the right o...

Page 24: ...program need a number of parameters to be set ROI Rectangle The rectangle that is the region of interest ROI in which we expect to find the loaf or the conveyor belt ROI Union Two ROIs to join A ROI is specified by referring to the program step in which the ROI is created Fit Surface An image bank containing a 3D image a ROI and the type of surface to fit to the part of the 3D image that is inside...

Page 25: ...imilar manner set the ROI rectangle for the step Conveyor belt to the left so that it marks a section of the empty area to the left of the loaf If you need a larger window to work in you can double click a preview to open it in a sepa rate window In this window you can fine tune the parameters settings for example if there are small details in the image Before moving along we will just add the las...

Page 26: ...n toolbar to the program 44 Set the parameter 03 Mathematical operation to Division and fill in a description 45 Click in the Table column for the parameter 02 Variable B and type in the number of the table row in which you entered the number of slices 46 This tool can store the result of the calculation directly in the table so double click the Value column of the parameter 04 Table index and fil...

Page 27: ...ram step ROI for the loaf copy the values of the parameters 03 X coordinate 04 Y coordinate 05 Width and 06 Height and store them in the table Fill in descriptions for the table values and make in the program step read these values from the table 50 Add a Write to Table tool from the System toolbar to the program and set the following parameters 01 Value Row number in the table in which the y coor...

Page 28: ...e that a program using expressions will not necessarily execute faster than or even as fast as a program where program steps are used for the same calculations The expressions need to be parsed each time the program step is executed which will add some time to the execution time Next we will move the ROI 1 pixel to prepare for the next thin slice of loaf to be added to the accumulated volume We do...

Page 29: ...value 1 02 End value The number of slices to make minus 1 03 Increment 1 02 END step The step number of the End of For tool Now we just have to add a step after the inner loop that registers the location where the bread loaf should be cut We are going to save the locations in the table in a number of consecutive table rows 64 Add a Write to table tool between the two End tools at the end of the pr...

Page 30: ...d 04 End point Y so that the tool draws a line across the ROI for the loaf at the location of the cut which is stored in the table Make sure to draw in the correct image bank 70 Add a Display tool after the End of For step and set the parameter so that it displays image bank 1 71 Choose Debug Æ Run and watch the result in the Display window We are now done writing the example program but there are...

Page 31: ...ning the program 2 Make sure the program is associated with the device and that a table is associated as well 3 Right click the device in the list of devices and choose Start Program from the pop up menu The program is downloaded to the device and started The status of the device is changed from STOP to RUN When you save the program in the flash memory on the device you choose a program bank in wh...

Page 32: ...g on the current product Device 1 Device 3 Device 1 Device 2 Product Jar Dev Program Table 1 Label Jar_Label_Table 3 Jar_FillLevel Jar_FillLevel_Table Product Bottle Dev Program Table 1 Label Bottle_Label_Table 2 Bottle_FillLevel Bottle_FillLevel_Table To use several devices in the product simply select the devices by clicking the checkbox in front of them in the main window When the development i...

Page 33: ... trapezoid shaped area in the laser plane The maximum height and the maximum width of an inspected object define a rectangle which must be entirely inside the trapezoid total FOV Figure 5 1 Explanation of IVC 3D FOV The measurement speed is dependent on required resolution in the length moving direction The device grabs profiles at a rate determined by the settings in the software tool Grab setup ...

Page 34: ...mm 440 mm 440 mm Min stand off 1 200 mm 184 mm 265 mm 280 mm Height resolution 3 0 015 mm 0 04 mm 0 2 mm 1 2 mm Profile rate in image mode profiles s 4 5000 5000 5000 5000 Profile rate in profile mode profiles s 4 3700 3700 3700 3700 1 Typical 2 Typical Individual deviation may occur 3 Represents what may be achieved but is application dependent 4 Dependent on grab setup and application 5 2 Electr...

Page 35: ...mA 5 Gray In 1 max US Supply voltage 6 Pink In 2 max US Supply voltage 7 Blue GND 8 Red Trigger Out TTL active low 1 Color is valid for cable type DOL 1208 RS485 connector secondary outputs female Pin Color 2 Signal remark 1 White TRA 2 Brown not connected 3 Green Out 2 Sum of Out 0 Out 1 and Out 2 100 mA 4 Yellow not connected 5 Gray GND for signals 6 Pink GND for RS485 7 Blue TRB 8 Red not conne...

Page 36: ...ights reserved 8011007 Hardware description Ethernet Connector Pin Color Signal remark 1 TX 2 RX 3 TX 4 RX Encoder Connector Pin Color Signal remark 1 In2 RS 422 compatible 2 In1 RS 422 compatible 3 In1 RS 422 compatible 4 In2 RS 422 compatible 5 GND 1 4 3 2 1 4 3 2 1 4 3 2 1 4 3 2 5 1 4 3 2 5 ...

Page 37: ...ply DC 24 V 20 Current consumption 1 A Ripple 5 VPP Connectors Power I O M12 8 pin male Ethernet M12 4 pin D coded female RS 485 I O M12 8 pin female Encoder M12 5 pin male Digital inputs 1 3 x HIGH 10 V 28 8 V Digital outputs 3 x B type 100 mA 2 Serial Interfaces RS 485 Ethernet 100 Mbit s Encoder RS 422 compatible Max encoder frequency 2 Mhz Operating temperature 0 C 40 C Storage temperature 20 ...

Page 38: ...16 16 32 95 98 1 5 10 7 119 4 162 7 161 7 46 Figure 5 3 IVC 3D11111 and IVC 3D41111 not to scale d1 d2 44 5 95 310 7 95 51 5 16 7 11 13 2 23 65 16 16 32 161 7 69 1 1 5 10 7 119 4 162 7 46 Figure 5 4 IVC 3D31111 and IVC 3D2111x not to scale IVC 3D31111 Θ 133 d1 58 2 mm d2 144 5 mm IVC 3D2111x Θ 147 d1 77 4 mm d2 146 8 mm d2 is the distance from the laser beam to where the optical axis intersects wi...

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