SICK 3D Belt Pick Operating instructions

OPERATING INSTRUCTIONS

3D Belt Pick

SensorApps

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Described Product

Product name: 3D Belt Pick SensorApp

Document Identification

Title: 3D Belt Pick

Version: 3.0.0

Release date: 2019-11

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch

Germany

Original Documents

This document is an original document of SICK AG.

SICK AG does not accept responsibility for the correctness of any unauthorized

translations of this document.

If in doubt, contact SICK or your local representative.

Legal Notices

Subject to change without prior notice.

This work is protected by copyright. Any rights derived from the copyright shall be

reserved for SICK AG. Reproduction of this document or parts of this document is only

permissible within the limits of the legal determination of Copyright Law. Any

modification, abridgment or translation of this document is prohibited without the

expressed written permission of SICK AG.

The trademarks stated in this document are the property of their respective owner

GLOSSARY

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Glossary

CLD – Camera Lead Distance. The distance between the laser line and the start of the

work area of the picking system.

FTP – File Transfer Protocol. Standard network protocol used for transfer of computer

files between a client and a server.

FoV – Field of View. The maximum guaranteed image acquisition area is called Field of

View.

GUI – Graphical User Interface.

Laser First – A way of mounting the TriSpectorP1000. This way the laser will come first in

the moving belt’s direction and the camera will come last.

Laser Last – A way of mounting the TriSpectorP1000. This way the camera will come first

in the moving belts direction and the laser will come last.

Laser triangulation – A technology that uses a laser line and a camera to create height

profiles. A complete 3D image is acquired by collecting height profiles across the object

while it moves under the laser line.

Object – Refers to the item/part/product on the belt, which the picking system aims to

pick.

Picking system – A picking system could also be known as a robot, robot controller or

PLC in any combination used to pick objects on a moving belt.

Picking zone – The area in which it is possible for the picking system to pick objects. Also

called Robot work area.

Strobe signal – A strobe signal is a synchronization signal, also known as a Latch/Trig

signal. The strobe signal provides a time reference to the picking system and is sent for

every image that the camera acquires.

TCP/IP – TCP is an abbreviation for Transmission Control Protocol and IP is an

abbreviation for Internet Protocol. TCP/IP provides a communication service between two

parties.

TTL – Signal standard for digital I/O signals, with a signal voltage range of 0 to 5V DC.

UDP – User Datagram Protocol. With UDP, applications can send messages to other hosts

on an IP network.

CONTENT

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Content

1 About this document ................................................................................. 6

Scope ................................................................................................................... 6

Disclaimer and license ....................................................................................... 6

Explanation of symbols ....................................................................................... 7

References and further information .................................................................. 7

2 System Installation .................................................................................... 9

Required items .................................................................................................... 9

2.1.1 SICK deliverables ............................................................................... 9

2.1.2 Robot manufacturer deliverables ..................................................... 9

Mechanical installation ................................................................................... 10

2.2.1 Determining the camera mounting height .................................... 10

2.2.2 Positioning and orienting the camera ............................................ 11

2.2.3 Ambient light shielding and reflex management .......................... 12

2.2.4 Laser safety ..................................................................................... 12

Standard electrical installation ....................................................................... 13

Software installation and upgrade .................................................................. 14

2.4.1 Accessing the camera from SICK AppManager ............................ 14

2.4.2 Setting the camera’s IP address .................................................... 15

2.4.3 Installing or upgrading the 3D Belt Pick SensorApp ..................... 15

2.4.4 Upgrading the camera firmware .................................................... 16

3 Configuration and operation................................................................... 17

Belt Setup ......................................................................................................... 17

3.1.1 Encoder settings ............................................................................. 17

3.1.2 Belt setup ........................................................................................ 19

Communication ................................................................................................ 20

3.2.1 Communication settings ................................................................. 20

FTP settings ...................................................................................................... 20

Alignment ......................................................................................................... 20

3.4.1 Alignment procedure ...................................................................... 20

Job .................................................................................................................... 22

3.5.1 Camera settings .............................................................................. 23

3.5.2 Image Settings ................................................................................ 24

3.5.3 Object Settings ................................................................................ 25

3.5.4 Calculate Properties........................................................................ 26

3.5.5 Singulation ...................................................................................... 27

3.5.6 Log window ...................................................................................... 28

Run ................................................................................................................... 28

3.6.1 Run parameters .............................................................................. 28

Advanced .......................................................................................................... 29

Feasibility evaluation workflow ....................................................................... 29

CONTENT

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4 Interaction with the picking system ...................................................... 32

Common coordinate system ............................................................................ 32

4.1.1 Alignment procedure ....................................................................... 32

4.1.2 Signaling and communication ........................................................ 33

4.1.3 Pick point ......................................................................................... 33

4.1.4 Z-rotation ......................................................................................... 34

4.1.5 Displacement .................................................................................. 35

Standard CSV Communication Protocol (version 3) ....................................... 36

4.2.1 Output message types .................................................................... 36

Command channel ........................................................................................... 38

5 Appendices ................................................................................................ 40

Appendix 1 – Printable Alignment Target ....................................................... 40

Appendix 2 – Accessories ................................................................................ 43

5.2.1 General ............................................................................................ 43

5.2.2 Accessory set ................................................................................... 43

Appendix 3 - Connecting multiple cameras .................................................... 44

5.3.1 General ............................................................................................ 44

5.3.2 Use cases......................................................................................... 44

Appendix 4 – Command channel protocol ..................................................... 46

5.4.1 Protocol version ............................................................................... 46

5.4.2 Communication interface ............................................................... 46

5.4.3 JSON schema .................................................................................. 46

5.4.4 Writing job settings to the camera ................................................. 48

5.4.5 Back-up and restore ........................................................................ 49

5.4.6 Switching jobs .................................................................................. 49

5.4.7 Checking the device status ............................................................. 50

Standard CSV Communication Protocol version 2 ......................................... 51

1 ABOUT THIS DOCUMENT

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1 About this document

This document describes how to set up the SICK TriSpectorP1000 to collaborate with a

picking system. The TriSpectorP1000 is a programmable camera that, when configured

with the SICK 3D Belt Pick SensorApp, sends picking positions to a picking system.

The 3D Belt Pick SensorApp is a stand-alone application ready for installation on a

TriSpectorP1000 with SICK AppManager. The web-based graphical user interface guides

the user during the belt setup, alignment and job configuration, and provides an operator

interface during run-time.

Scope

This manual and software support the following TriSpectorP1000 models:

• TriSpectorP1030

• TriSpectorP1060

Disclaimer and license

The information in this manual is subject to change without notice and should not be

construed as a commitment by SICK. SICK assumes no responsibility for any errors that

may appear in this manual. Except as may be expressly stated anywhere in this manual,

nothing herein shall be construed as any kind of guarantee or warranty by SICK for losses,

damages to persons or property, fitness for a specific purpose or the like. In no event shall

SICK be liable for incidental or consequential damages arising from the use of this

manual and products described herein.

Specifically note that NO safety precautions related to the picking system movement are

included in this material including hardware, software and documentation. Any and all

such precautions required to make the installation safe is the responsibility of the part

refining and integrating the material into an operational installation. SICK does not accept

any liabilities relating to such safety issues unless explicitly agreed in writing.

The 3D Belt Pick SensorApp is run on devices in the TriSpectorP1030 and

TriSpectorP1060 series. Consequently, the same general terms of use, disclaimers and

license conditions apply. Please refer to the TriSpectorP1000 operating instructions for

further information on usage, disclaimers and license conditions.

ABOUT THIS DOCUMENT 1

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OPERATING INSTRUCTIONS | 3D Belt Pick SensorApp

SICK uses open-source software. This software is licensed by the rights holders using the

following licenses among others: the free licenses GNU General Public License (GPL

Version2, GPL Version3) and GNU Lesser General Public License (LGPL), the MIT license,

zLib license, and the licenses derived from BSD license.

This software is provided for general use, but WITHOUT ANY WARRANTY OF ANY KIND.

This warranty disclaimer also extends to the implicit assurance of marketability or

suitability of the program for a particular purpose.

More details can be found in the GNU General Public License. View the complete license

texts here: www.sick.com/tools/license-texts/license-texts.html

. Printed copies of the

license texts are also available on request.

Explanation of symbols

Warnings and important information in this document are labeled with symbols. The

warnings are introduced by signal words that indicate the extent of the danger. These

warnings must be observed at all times and care must be taken to avoid accidents,

personal injury, and material damage

DANGER

… indicates a situation of imminent danger, which will lead to a fatality or serious injuries

if not prevented.

WARNING

… indicates a potentially dangerous situation, which may lead to a fatality or serious

injuries if not prevented.

CAUTION

… indicates a potentially dangerous situation, which may lead to minor/slight injuries if

not prevented.

NOTICE

… indicates a potentially harmful situation, which may lead to material damage if not

prevented.

NOTE

… highlights useful tips and recommendations as well as information for efficient and

trouble-free operation

REFERENCE

A cross-reference is used to refer to other parts of these operating instructions or an

external document.

References and further information

[1] TriSpectorP1000 Operating Instructions (Part number: 8022395) –

www.sick.com/8022395

[2] ABB documentation for PickMaster, robots and controllers.

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[3] SICK 3D Belt Pick URCap Quickstart

[4] SICK 3D Belt Pick Interface ABB.

[5] SICK 3D Belt Pick Interface Stäubli.

[6] Release notes

[7] TriSpectorP1000 product page – http://www.sick.com/TriSpectorP1000

[8] 3D Belt Pick video tutorial: Tutorial SICK 3D Belt Pick SensorApp

The manufacturer-specific documents (references [2]..[5]) can be downloaded from the

3D Belt Pick page in the SICK Support Portal:

https://supportportal.sick.com/downloads/3d-belt-pick/

.

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2 System Installation

The belt picking system requires proper mechanical, electrical and software installation,

which will be explained in this chapter.

Required items

All Items listed below are required to set up a working system. Some items are available

at SICK, and some are picking system dependent and thereby available at the robot

manufacturer. Some items are to be provided by the user.

2.1.1 SICK deliverables

• SICK TriSpectorP1000 programmable 3D camera – The TriSpectorP1000 is

available in three different field of view (FoV) sizes and two window types. The

following TriSpectorP1000 models support the use of the 3D Belt Pick

SensorApp:

Model Glass PMMA

TriSpectorP1030 S50 (Medium FoV) 1106177 1106180

TriSpectorP1060 S50 (Large FoV) 1106181 1106182

NOTE

For the TriSpectorP1000 models listed above, the 3D Belt Pick SensorApp is pre-installed

on the device. For other TriSpectorP1030 and TriSpectorP1060 models, it is possible to

download and run the 3D Belt Pick SensorApp in Trial mode. See chapter 1.1

for details.

• SICK 3D Belt Pick SensorApp.

• Encoder – Ideally, use the same encoder for the picking system and the camera.

The recommended minimum resolution is 5-10 pulses per mm, depending on the

required profile distance resolution. Observe that the encoder input of the picking

system may be limited in terms of max frequency. Refer to the picking system

documentation for details.

• Encoder splitter - An incremental encoder splitter is required to split the encoder

signal into different voltages and destinations in case the picking system uses a

different encoder signal voltage.

• Printable alignment target, available in Appendix 1 – Printable Alignment Target.

• 3D Belt Pick accessory set – A hardware set including cables, an encoder

terminal and a mounting bracket kit. See chapter 5.2.2 for details.

• Other items delivered by SICK, such as mechanical mounting parts, encoders and

cables, see [7].

2.1.2 Robot manufacturer deliverables

The picking system requires hardware and software to communicate over Ethernet TCP/IP

or UDP and to process the received Ethernet packets into a format that is readable to the

picking system. The exact configuration of the picking system depends on the model or

brand, and is not covered in this manual. See chapter 1.4 for model-specific references.

Generally, the following items are required:

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• Encoder interface.

• Functions for conveyor tracking.

• Functions for object queue management.

• Support for incoming digital 24V strobe signal that synchronizes the belt position

at the point in time when image was acquired.

Mechanical installation

Mount the TriSpectorP1000 according to [1].

The distance between the TriSpectorP1000 and the picking zone is estimated based on

the object properties and the belt speed (see chapter 2.2.2). It is recommended to mount

the camera in an adjustable fashion, to make it possible to do a test run before the

permanent camera position is determined.

2.2.1 Determining the camera mounting height

The minimum and maximum distance at which the TriSpectorP1000 can detect moving

objects vary between the models. Three factors are necessary to consider when mounting

the camera:

• Camera Height: The shortest distance from the camera to the belt.

• Object Height: The maximum height of the objects to be picked.

• FoV-width: The maximum width at which the camera can capture data. The FoV-

width increases with the distance to the camera.

When mounting the camera, place it so that the object height fits in the camera’s FoV

across the full belt width. Otherwise, objects will not be detected on the belt. The

recommended camera height can be estimated by the formula below:

REFERENCE

For further information about FoV and distances, see [1].

Model

Minimum

Distance

Maximum

Distance

Recommended Camera Height

(RCH)

1030 141 mm 541 mm

RCH = Object Height + 1.6 * FoV-

width

1060 291 mm 1091 mm

RCH = Object Height + 1.6 * FoV-

width

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NOTE

The FoV is shaped as a trapezoid. The usable FoV width is determined by the width closest

to the camera.

2.2.2 Positioning and orienting the camera

Mount the TriSpectorP1000 with a good angular alignment to the belt. Minimize the

angular alignment parameters (shown in the figure below) for optimal performance: Roll

and pitch should be less than ±1° and yaw should be less than ±0.5° relative to the

movement direction of the belt.

While the belt with the objects is moving, the camera continuously records images and

processes them. The distance from the laser to the start of the robot’s picking zone is

called the Camera Lead Distance, CLD. The CLD must be equal to or longer than the total

distance an object moves during the image acquisition and the processing of the recorded

buffer.

The CLD is related to the Buffer length which, in turn, depends on the object size. The

Buffer Length is entered as a job setting in the GUI, see chapter 3.5.2. As a first estimate

of the Buffer Length, use the following formula:

Buffer Length (mm) = 2 ∙ Max projected object size (mm)

where the Max projected object size is the longest projection of the largest object in the

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direction of motion.

The CLD is then estimated using the following formula:

CLD (mm) = Buffer Length

(

mm

)

+ Belt Speed

(

mm/s

)

∙ Image analysis time (ms)

Use 200 ms as a first estimate of the image analysis time. The actual image analysis time

varies depending on the object frequency, resolution and additional processing settings,

e.g. singulation, and must be determined by testing.

2.2.3 Ambient light shielding and reflex management

It is recommended to shield the camera installation with a tunnel-like structure to block

unwanted stray light. Such shielding and all structures that are hit by the laser light, such

as the belt and the supporting structures next to the belt, should be designed so that

disturbing reflexes are avoided:

•

Select surface finishes that do not give reflexes.

• Adapt the geometries of these surfaces so that any possible reflexes are cast in a

direction where they do not risk disturbing the measurements.

2.2.4 Laser safety

CAUTION

Optical radiation: Laser class 2

The human eye is not at risk when briefly exposed to the radiation for up to 0.25 seconds.

Exposure to the laser beam for longer periods of time may cause damage to the retina.

The laser radiation is harmless to human skin.

• Do not look into the laser beam intentionally.

• Never point the laser beam at people's eyes.

• If it is not possible to avoid looking directly into the laser beam, e.g., during

commissioning and maintenance work, suitable eye protection must be worn.

• Avoid laser beam reflections caused by reflective surfaces. Be particularly careful

during mounting and alignment work.

• Do not open the housing. Opening the housing may increase the level of risk.

• Current national regulations regarding laser protection must be observed.

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The laser warning label is located on the black side panel on the opposite side of the

connectors. If the TriSpectorP1000 is mounted in a way that makes the laser safety

notice signs hidden, then additional signs must be placed visibly by the laser beam on the

system casing. Additional signs are not included in the delivery.

Standard electrical installation

A standard electrical installation can be done as described below, but will differ

depending on the robot manufacturer. See [1] for signal levels, pin assignment and

electrical details for the TriSpectorP1000.

Three signals must be connected to the camera and the rest of the system:

1. Connect I/O_4 from the TriSpectorP1000 to Digital Input on the picking system.

This signal defines the belt location at a certain moment in time, used to sync the

common coordinate system. The signal is a 24 V digital signal and referred to as

a strobe signal.

2.

Connect the encoder to the TriSpectorP1000. Preferably, use the same encoder

as used for belt tracking to reduce the points of failure. The encoder signal levels

for TriSpectorP1000 are TTL.

NOTE

If the picking system uses a different encoder signal voltage than TriSpectorP1000’s

(TTL), use an encoder splitter to split the encoder signal to different voltages and

destinations. See chapter 2.1.1

.

3. Connect an Ethernet cable from the TriSpectorP1000 to a common dedicated

network.

In addition to the above-mentioned signals, the following optional signals and indicators

are available:

• Run mode output. I/O_5 is a 24V output signal that is active (set high) when the

camera is in Run mode and ready to detect objects. This signal can be used as

an extra condition to run the belt or as an extra logic control signal in the picking

system. The signal is deactivated when parameter changes are in progress (Edit

mode) on the GUI tabs Belt Setup and Job. It also de-activates during an ongoing

alignment.

• The Result LED is located near the connectors and can indicate the following

states:

a. Green, steady. The TriSpectorP1000 is connected to the picking system

and is in Run mode.

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b. Red, steady. The TriSpectorP1000 is in Run mode but has no confirmed

connection to the picking system.

c. Red, flashing. No valid configuration exists (invalid setup, wrong device

type or other applications active on the device). GUI interaction is

required.

d. Red, fast flashing. The device and the software are not compatible.

e. Unlit. The application is in Edit mode, or the device is booting.

• Reserved I/O pin. I/O_1 is reserved for future use, do not connect

NOTE

Due to limitations in the UDP protocol standard, connections that use this standard (for

example ABB Robots) cannot be confirmed and no LED state indicator is displayed.

REFERENCE

For further information about manufacturer-specific electrical installation, see references

[2]..[5].

Software installation and upgrade

NOTE

For the TriSpectorP1000 models listed in chapter 2.1.1, the 3D Belt Pick SensorApp is

factory installed on the camera.

A PC running the SICK AppManager software is required for the following actions:

• Installing or upgrading the 3D Belt Pick SensorApp on the camera.

• Reading and changing the camera’s IP address.

• Installing firmware updates.

Download the latest version of SICK AppManager from www.sick.com/SICK_AppManager

.

To install SICK AppManager on the PC, open the installation (.exe) file and follow the

instructions on the screen.

2.4.1 Accessing the camera from SICK AppManager

NOTE

Before starting SICK AppManager, make sure that the network communication settings

are correctly set up:

• The camera must be connected to the PC via Ethernet.

• The PC must be on the same network as the camera.

• The PC must not use the same IP address as the camera. The camera’s default IP

is 192.168.0.1.

To access the camera from SICK AppManager:

1. Open SICK AppManager. All connected devices on the network are displayed on

the Device search tab.

2. Click the camera with port 2122.

Device information as well as active applications are now displayed on the device tab (the

lower left pane).

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2.4.2 Setting the camera’s IP address

To change the camera’s IP address in SICK AppManager, click Edit IP Address on the

Device search tab. Enter the new IP address and netmask for the camera.

2.4.3 Installing or upgrading the 3D Belt Pick SensorApp

For installation or upgrade of the 3D Belt Pick SensorApp via SICK AppManager, follow the

steps below.

NOTE

For TriSpectorP1030 and TriSpectorP1060 models which are not listed in chapter 2.1.1,

the 3D Belt Pick SensorApp can be installed and run in Trial mode, where a maximum of

2000 objects are reported.

1. Open SICK AppManager and connect to the camera according to chapter 2.4.1.

2. If the device tab contains any active applications, including old versions of 3D

Belt Pick, right-click the applications and delete them.

3. To download and install 3D Belt Pick directly from the AppPool:

a) Click Login to SICK ID (below the Utils menu in SICK AppManager) to log in

to SICK AppPool.

b) Click the AppPool tab.

c) Select 3D Belt Pick in the list of available SensorApps.

d) Click Download and install to download 3D Belt Pick to the PC and install it

on the camera.

Or:

To install a downloaded 3D Belt Pick .sapk file from the PC to the camera:

a) Click the Local Packages tab in SICK AppManager.

b) Drag and drop the 3D Belt Pick .sapk file into the file list.

c) Click Install to install 3D Belt Pick on the camera.

The 3D Belt Pick SensorApp is now installed and running on the camera. The 3D Belt Pick

.sapk file contains the following apps:

• The Beltpick_Main app.

• Communication apps (denoted by “Com”), each representing a communication

protocol.

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All installed apps appear on the device tab. A red lock indicates that the app is locked for

editing.

2.4.4 Upgrading the camera firmware

To check the camera firmware version:

1. Double-click the Device Information icon in SICK AppManager.

2. Check that the firmware version installed on the camera matches the firmware

version required by the SICK 3D Belt Pick SensorApp. For details, see [6].

If the firmware versions do not match, the recommended firmware version for

TriSpectorP1000 can be downloaded from the SICK Support Portal,

supportportal.sick.com

.

To install the firmware on the device:

1. Drag and drop the downloaded file to the Firmware tab in SICK AppManager.

2. Click Install.

NOTE

After upgrading the SensorApp or the camera firmware, reload the GUI in the web

browser.

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3 Configuration and operation

The configuration workflow for the 3D Belt Pick SensorApp is outlined below.

1. Open the 3D Belt Pick GUI by entering the camera’s IP address in a Google Chrome

web browser.

2. Do the Encoder configuration (chapter 3.1.1) and the Belt Setup configuration

(chapter 3.1.2). They are mandatory in order to proceed. Save the settings afterwards

by clicking Save to Flash.

3. Do the Alignment (chapter 3.4.1) to relate the camera’s internal coordinate system

to the picking system’s coordinate system.

4. Configure the acquisition settings for the camera as well as the object characteristics

for the desired products by configuring a job (chapter 3.5).

5. The application is now ready to run!

The GUI contains five subpages: Run, Belt Setup, Communication, Alignment, Job and

Advanced – all described below. If you are already familiar with the configuration and

above-mentioned subpages, proceed to chapter 3.8 for a feasibility evaluation workflow

description.

NOTE

Browser support for WebGL and WebSockets is required.

Belt Setup

A Belt Setup is required before the first use or when the camera or belt position has

changed. The Belt Setup includes setting up the encoder resolution as well as making the

camera aware of the belt width, belt standoff and the orientation of the camera. If the

camera is in Run mode, it must be set to Edit mode before starting the Belt Setup.

NOTE

Setting the camera to Edit mode stops the picking program.

3.1.1 Encoder settings

Encoder direction

The encoder direction is affected by three factors: the phase of the encoder, how the

encoder is physically turned and how the camera is turned relative to the belt.

To check that the encoder direction relative to the belt direction is correct, run the belt

and note the value on the Current encoder value counter. If the value does not increase

when running the belt, change the Encoder direction.

Encoder resolution

The encoder resolution (pulses/mm) can be set directly or calculated using the GUI. A

pulse is defined as the entire time cycle from the positive edge on the A channel to the

next positive edge on the A channel.

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NOTE

Some picking systems define the encoder scale in ticks. One pulse equals four encoder

ticks.

The procedure for measuring the resolution through the GUI is described below:

1. Stop the belt.

2. Place a ruler or other measuring equipment on the belt, as illustrated in the figure

below.

3. Note the ruler value under the laser line.

4. Click Mark Start.

5. Run the belt for as long as possible but still practical for measurement.

6. Stop the belt.

7. Note the ruler value under the laser line.

8. Click Mark End.

The start and end encoder values are displayed in the GUI.

9. Calculate the distance between the start and end positions based on the ruler values.

Enter the value in the Distance (mm) textbox.

The calculated encoder resolution is displayed as the Calculated resolution in the

GUI.

10. Click Set to set the calculated encoder resolution as Encoder resolution in the GUI. It

is also possible to calculate the Encoder Resolution manually by using this formula:

Encoder Resolution (pulses/mm) = (Encoder end value (pulses) – Encoder start

value (pulses))/Distance (mm)

11. Click Save to Flash.

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3.1.2 Belt setup

When the Belt Setup page is in Edit mode, an image is displayed in the GUI. This image

consist of continuous height profiles (see [1] for more information). Adjust the blue region

so that it displays the region where the belt is. Use the Select tool (indicated by an orange

box in the figure below) to modify the size and position of the region by dragging the sides

of the blue box. The camera will automatically measure the camera height (see chapter

2.2.1) within this region.

NOTE

To clearly distinguish the belt edges from the background during the belt setup, it is

recommended to put objects with contrasting colors, such as bright objects on a dark belt,

near the belt edges under the laser line.

NOTE

The warning message "Field of View is outside Guaranteed Field of View! Consider

adjusting belt region, camera distance or item height." may appear when setting the

belt width or the object height.

When this message appears, the camera has detected that the current belt width and

object height settings are outside the guaranteed field of view for the current mounting

height. The guaranteed field of view denotes the boundaries for the settings that can be

ported between different cameras, taking manufacturing tolerances into account. The

application may run with these settings, but if the camera is replaced by another one of

the same type, the settings may not be possible to reproduce.

The estimated belt width is displayed below the image. To save the result and use the

configuration, click Save to Flash.

CAUTION

Check that the estimated result values in the belt setup are reasonable. Otherwise, the

picking system may damage itself and the belt.

3 CONFIGURATION AND OPERATION

20

OPERATING INSTRUCTIONS | 3D Belt Pick SensorApp

8024828/2019-11|SICK

Subject to change without notice

Communication

3.2.1 Communication settings

The Protocol list contains the available communication protocol options. Select the

communication protocol which corresponds to the destination picking system. The port

setting and Ethernet settings for the camera are automatically updated accordingly.

For other robot and controller brands, a standard CSV protocol is available. For further

information regarding the standard protocol, see chapter 4.2.

NOTE

Each communication protocol option corresponds to a communication app, see chapter

2.4.3

. If a communication protocol does not appear in the Protocol list, the corresponding

app is either not present or not running on the device.

FTP settings

The FTP settings section contains settings for the Ethernet communication with the

picking system and for logging images to an FTP server. In the panel, there is an FTP

logging feature that can Save Images to FTP Server for debugging purposes. You can

choose to save all images (All) or only images that are containing objects (Only objects).

You can also turn off the feature by selecting (None). In order to save images to an FTP

server, the following criteria must be met:

• The FTP server must be connected to the same network as the TriSpectorP1000

camera.

• The FTP Client of the TriSpectorP1000 must use User ID: “SICK”, and Password:

“SICK” to log onto the server.

• The FTP server and the user must have the credentials to create files and folders.

• The FTP server firewall must allow FTP traffic using port 21.

NOTE

When enabled, the FTP file transfer will reduce the performance of the TriSpectorP1000.

Pay attention to possible warning messages in the GUI.

Click Save to Flash to save the settings permanently.

Alignment

The purpose of the alignment is to align the camera’s internal coordinate system with the

work frame of the picking system. After the alignment, the camera is able to output data

in a coordinate system that is known to the picking system. The alignment target is a

printable target that must be in accordance with the specification in Appendix 1 –

Printable Alignment Target.

The alignment procedure is done from the Alignment tab. The Alignment Target

Exposure setting is only used during alignment and is separate from the Exposure setting

under the Job tab.

3.4.1 Alignment procedure

The alignment procedure is a combination of two steps:

• Scanning the calibration target with the camera

• Alignment of the picking system, sometimes called base-frame calibration.

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SICK 3D Belt Pick Operating instructions

SICK 3D Belt Pick Operating instructions

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