ViewFlex Version 3.3 User Manual 100299 Rev.
2009 Intelitek Inc. Catalog #100299 Rev. J December 2009 Every effort has been made to make this book as complete and accurate as possible. However, no warranty of suitability, purpose, or fitness is made or implied. is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the application and/or the information contained in this publication.
Table of Contents 1. ViewFlex Installation............................................................................................. 1-1 Unpacking the Equipment................................................................................................ 1-1 System Requirements....................................................................................................... 1-1 Installing the ViewFlex System .......................................................................................
1 ViewFlex Installation Unpacking the Equipment Before installing the equipment, check for signs of shipping damage. If any damage is evident, contact your freight carrier, and begin appropriate claims procedures. Make sure you have received all the items listed on the packing list. If anything is missing, contact your supplier.
3. Install the Camera: Veo Camera: Install the Veo camera software. See Installing the Veo Software on page 1-10 Connect the Veo camera to your computer. See Connecting the Camera to the Computer on page 1-10 Important: o Microsoft Windows XP: Do not plug the camera into the USB port of the computer until after the software installation. o Microsoft Windows Vista /Window 7: Plug the camera into the USB port of the computer before the software is installed.
Installing the ViewFlex Software To Install the ViewFlex Software 1. Insert the ViewFlex CD-ROM in the drive. 2. The installation procedure should begin to run automatically. If it does not, select Start | Run, and select install\setup.exe. The following window is displayed. ViewFlex Setup dialog box You must first install the Image Processing Tool module. Only then can you install the ViewFlex software. 3. Click on Image Processing Tool. The Matrox Inspector setup will begin to run. ViewFlex v.3.
4. Click Next. The License Agreement window is displayed. 5. Select the I accept the terms of the license agreement radio button and click Next. 6. Click Next to select the destination location for Matrox Imaging Library. ViewFlex v.3.
7. Click Next to select the destination location and run the Matrox Inspector. 8. Select destination and click Next. 9. Select Yes, I want to restart my computer now when prompted at the end of the installation process. 10. Click Finish. The computer will restart. 11. Plug the software protection key into the USB port of your computer. ViewFlex v.3.
. Start the ViewFlex installer by clicking on the icon of the CD drive in My Computer. The ViewFlex Setup window is displayed. 13. Select ViewFlex. A Welcome window is displayed. ViewFlex v.3.
14. Click Next. A License Agreement window is displayed. Select I accept the terms of the license agreement radio button, and click Next. 15. The Installation window is displayed. 16. Select the required option, as follows: ViewFlex v.3.3 1209 ViewFlex: Select this option to install ViewFlex for example, when using OpenCIM or when operating the robots via the ACL Controller. ViewFlex for SCORBASE ER 5plus: Select this option for ER-5. ViewFlex for SCORBASE ER 7: Select this option for ER-7.
ViewFlex for SCORBASE USB PRO : Select this option for ER 9Pro . 17. Click Next to select the destination location for example for ViewFlex. 18. Click Next to select the program folder. 19. If you want to create a Desktop shortcut click Yes . ViewFlex v.3.
20. The installation is complete. Select Yes, I want to restart my computer now. 21. Click Finish. The computer will restart. 22. Plug the software protection key into the USB port of your computer. Note: If you receive the message: "Could not start ViewFlex” message, perform the following: 1. Go to Start I Program Files 2. Select Matrox Inspector and right click 3. Select Run as Administrator 4. Wait till Matrox Inspector loads. 5. Close Matrox. 6. Run ViewFlex again. ViewFlex v.3.
Camera Installation After installing the ViewFlex software the next step is to install the camera. Installing the Veo Camera (Windows XP/Vista/7 32 bit OS versions only) Installing the Veo Software Follow the steps below to install the Veo software. For additional details refer to the Veo Velocity Connect User's Guide provided with the camera. For Vista/Windows 7, the camera must be attached to the computer before installing ViewFlex. For Windows XP: 1.
Installing the Logitech® QuickCam®Pro 9000 camera Installing the Logitech Software Follow the steps below to install the Logitech software. You must verify that the device driver of your video card is updated for optimum performance of the camera. 1. Insert the ViewFlex CD-ROM into your CD-ROM drive. XP/Windows 7 32 bit OS: Browse to Drivers\Logitech QuickCam pro 9000\ Windows_7_XP\32-bit \lws110.exe XP/Windows 7 64 bit OS: Browse to Drivers\Logitech QuickCam pro 9000\Windows_7_XP\64-bit\ lws110_x64.
Viewing the ViewFlex Properties The ViewFlex Properties window enables you to view the ViewFlex Installation directory and so on. To view the ViewFlex properties: 1. From your windows Start menu select All Programs | ViewFlex. A menu is displayed. 2. Right-click ViewFlex. A popup menu is displayed. 3. Select Properties. The ViewFlex Properties window is displayed. 4. Select the Shortcut tab to view the ViewFlex target location. From the containing Folder you can access the other ViewFlex files.
ViewFlex.ini File Configuration (for advanced users) The ViewFlex.ini file initializes the ViewFlex software. The ViewFlex.ini file includes the following options: 1. The directory in which the script files are located (only for the ViewFlex Device Driver): [Device Driver Definitions] ScriptPath= \Vision Script 2. You can choose the controller type – A, B, PC, USB, USBPRO. [Controller Setting] Controller=A (Note: You can choose: ER4, ER4u, ER5, ER9, ER9PRO, ER14, ER14PRO, viewSV) RobotType=ER14 3.
2 Software Operation ViewFlex for SCORBASE USB, USB Pro, ER5, ER7 and ER9 Toolbar The ViewFlex for SCORBASE Toolbar contains icons that are shortcuts for selecting certain commands and functions: ViewFlex for SCORBASE Toolbar ViewFlex v.3.
Image Processing Tool Open the image-processing tool (Matrox Inspector). (Refer to the Matrox Inspector Instruction Manual for more information.) Matrox Inspector ViewFlex v.3.
Camera (Camera 1 / Camera 2 / ServeCam) When two cameras are used, a Select Video Device dialog box will prompt you. The camera icon opens the Camera (capture) window or the Client Camera window. The Client (remote) camera operation operates as follows: When the Client Camera is activated, it connects to the server. The Client Camera displays the computer IP address where the ServeCam is located.
Snapshot (ALT + S) Grabs (captures) a picture and displays it in a frame. OR Inserts an updated picture from the ServeCam. Options (ALT + O) Opens a dialog box use for video settings and configuration. Connection (available only in Client Camera) Enables connection of remote cameras on a network. Exit Closes the Camera window. Camera Options Camera Options Always On Top Checking this box prevents the Camera window from being hidden by other windows.
Logitech® QuickCam® Pro 9000 Configuration Ensure that you have the Logitech software installed before configuration. The Video Source Properties dialog box is displayed by pressing the button, as shown below. The Video Source Properties window contains the following configuration tabs: ViewFlex v.3.3 1209 Zoom/Face Tracking Tab describes how to define your device settings.
Tabs description Zoom/Face Tracking Tab The Zoom/Face Tracking tab contains the following options: Zoom Adjust the zoom of the camera. Face Tracking When enabled for either single or multiple users, the Logitech software will recognize and track the face(s) in the camera’s view. ViewFlex v.3.
Device Settings Tab The Video Proc Amp tab enables you to define your device settings, by dragging the relevant sliders such as Brightness, Contrast, Hue Saturation and more. You can define your default settings as required and then press Default. ViewFlex v.3.
Advanced Tab The Advanced tab contains the following options: Exposure Adjust the exposure control for added customizing. Gain Modify the brightness. Image Mirror Check either the Mirror Horizontal or Mirror Vertical check boxes to mirror the video capture in that direction. Anti Flicker Select the appropriate radio button for your region to reduce flickering. Note: These tabs contain the default settings of the camera.
Image Format The Video Format Properties dialog box is displayed by pressing the button, as shown below. Video Format Properties Dialog Box The Format Properties dialog box enables you to define your video format setting, such as frame rate, color space, output size and more. ViewFlex v.3.
Veo Configuration The Video Source Properties dialog box is displayed by pressing the button, as shown below. The Video Source Properties window contains the following configuration tabs: Video Proc Amp Tab describes how to define your device settings. Image Tab, describes how to define your image options, such as flickering reduction, exposure control, picture quality and more. Note: These tabs contain the default settings of the camera.
Image Tab The Image tab contains the following options: Image Select this check box to flip images horizontally (mirror image). Flickering reduction Select the lightening type used in your environment. Exposure control Adjust the exposure control for added customizing. Auto White balance Adjust the white balance to fine tune the camera to your lightening conditions. Decimation mode Select the Quality or Speed decimation mode. Note: For USB you must select the Speed decimation mode.
Image Format The Video Format Properties dialog box is displayed by pressing the button, as shown below. Video Format Properties Dialog Box The Format Properties dialog box enables you to define your video format setting, such as frame rate, color space, output size and more.
Results Table The Results Table window is divided into two sections: one section is a tree representing the ViewFlex folders, and the second section is a table with the coordinates of the object in the robot world – including blob features. Results Table Every time a new file is saved in one of the ViewFlex for SCORBASE folders, the tree is updated. Selecting one of the Pattern Models executes Find Object with the model on the current image.
Vision Commands in SCORBASE All SCORBASE programming commands are available from the Command List and are easily compiled into a robot program. The list shows the two-letter hot-key combinations that allow you to enter commands from the keyboard. Many commands open dialog boxes for completing the command line parameters. Left: Command list with the Vision Command (ER 4pc, ER-5, ER-7, ER-9). Right: Vision Command Group (ER 4u). SN Snap Captures an image.
The SCORBASE variable must be entered into the Variable of Object Instances. The results (Number of Object) will be assigned to the variable. All of the robot’s coordinates and blob features will be put into the Results Table FB Find Blobs Finds blobs according to the blob analysis name that has been save in the Blobs folder. Returns the number of instances of the Blob. Enter the name of the model in the Blob Name field. (The name must be the same as it is in the Results Table.
SP Set Position Sets coordinate value from the Results Table into the SCORBASE Position Number. In the Position field, insert SCORBASE Position Number. In the Row field insert the Position Number (Row) in the Results Table. In the Z (mm) field insert the Z-coordinate, by default the value in the Zcoordinate will be the same as the value of the calibrated position. Z can be a variable or constant. EF External Function Executes the function or subroutine that the user writes in the Matrox script.
GV Get Value Receive a value from any cell in the Results Table. In the Variable Name field, insert the SCORBASE Variable. The cell value will be assigned in the variable. In the Row field insert the cell row in the Results Table. In the Column field insert the column name in the Results Table. The Column can be a number or the exact column name. CT Change Table Change value in any cell of the Results Table. In the Row field insert the cell row in the Results Table.
Calibration Synchronizing the Vision System and the Robot To calibrate real-world measurements with the vision system’s system of pixels, perform the following steps: 1. Execute the HOME routine. 2. Open Client Camera. Check camera to make sure that the picture is adjusted, clear and free of distortions. 3. Click the Calibration icon. 4. Using SCORBASE, move robot arm into desired position within the camera’s field of vision. 5.
8. Now you will see in the Combo box the distance between the two positions (Setting Distance) on the X-axis. To achieve the most accurate measurement, take a ruler and measure the distance between Pos 1 and Pos 2 by hand. Change the distance if necessary according to the hand measurement. Click Set Distance. Click Next Step. This opens the Step 2 dialog box. Calibration Step 2 dialog box 9. If necessary, move robot arm out of the camera’s view. 10. Click Snap in the Step 2 dialog box. 11.
Opening and Saving Calibration Files The Configuration Step 2 dialog box enables file management operations. Save Saves the calibration. The filename extension is CAL. Open Allows you to load backup calibration files. When the OK icon is clicked, the system is calibrated. You can configure immediately in the Step 2 tab and open the calibrated file. Example of Creating a Pattern Model 1. System must be calibrated, so that real-world measurements correspond with the vision system’s set of pixels. 2.
From the Search tab, click All. From the Angle tab, check Enable Search With Rotate. Then enter 180 for Delta Negative, and 180 for Delta Positive (this enables a full 360-degree search). Click Search. This will build a Measurement Table containing all the positions of the object relative to Pos 1. Measurement Table Searched Images 8. Save the Pattern Matching Model in the Pattern Folder, located in the ViewFlex for SCORBASE root folder.
ViewFlex Toolbar The ViewFlex Toolbar contains additional icons to the ViewFlex for SCORBASE USB Toolbar, and some of the icons that are the same activate certain commands and functions with different functionality than that of ViewFlex for SCORBASE USB: ViewFlex Toolbar Image Processing Tool Camera 1 Camera 2 ACL Terminal (for ViewFlex) Abort All Go Position Calibration OpenCIM Device Driver About Exit ACL Terminal for ViewFlex ACL, Advanced Control Language, is a
Save Saves a listing of all user programs, variables and positions in one file. The files are in ACL format (.acl). Download Downloads data from a user-backup file in the host computer to the controller. (Does not erase or modify existing programs.) Abort All Immediately aborts all running programs and stops movement of axes. On-Line/Off-Line Opens/closes the communications port. ON-CON Enables servo control for all axes, a specified group of axes, or a single axis.
ACL ViewFlex String Commands The ViewFlex String Commands are written as: Print / Println “%ViewFlex string commands %” ViewFlex helps you make applications that combine vision and robot guiding that will use the ACL language for controlling and executing robot tasks. ViewFlex Variable Vision functions are written in Visual Basic (VB) script. The vision script will operate the vision task. To synchronize the vision and robot tasks, there is the Global Variable (VF).
SETPOS Format: %SETPOS Position, Table index, Table name, Z(mm)% Description: Where: Position is a defined robot position. Table index is a position of the object in a measurement table that was found in the image after searching. The reserve word ALL means that if a Position is the name of a vector all the positions in the table will be set. Table name is the name of the measurement table. If omitted, it means Current table. Z is the value of the Cartesian coordinate Z in millimeters.
Project: The following example project shows how the ACL program is used with the Vision System, in order to automate the robot and the Vision System. The example is made from two programs: ACL: for the robot task Visual Basic Script: for the vision task. GOPOS.ACL (Note: N should be a Global Variable.) The code initiates the global variable VF before sending comments to the Vision System, so that it can cause the ACL program to wait until the vision command is finished.
GETPOS.BAS In order for the Run command to work, the script must be loaded. The model for the object whose script will be searched should also be loaded. When the script will be executed, a measurement table with the positions will be created. The script will also send a command that initiates a sign of the number of objects that were found. Function GETPOS()As String I_IMAGE1$ = Insptr.ImgGetCur Insptr.ImgSetCurrent I_IMAGE1$, R_Def$, ALL_BANDS Insptr.ImgConvertType(TO_8U) Insptr.
Go To Position Go to Position dialog box Movement Move/MoveL (Move Linear). Table Can be the Current table, or any other named measurement table. Position The index of a position in the measurement table. Z-axis (mm) The Cartesian coordinates in millimeters. Fixed Angle Enabling this option causes only the X and Y axes to be. This option can be used with circular objects when the gripper rotation is not important. Example of Using Go To Position 1.
6. Click the ROI (Region of Interest) icon, and outline the perimeter of the cube that was set. 7. Click the Pattern Matching icon. Pattern Matching Model dialog box From the Dimension tab, you will see the cube that was outlined using the ROI icon. From the Search tab, click All. From the Angle tab, check Enable Search With Rotate. Then enter 180 for Delta Negative, and 180 for Delta Positive (this enables a full 360-degree search). Click Search.
Searched Images 8. In this example, choose the Current table (which will be the opened table), and Position 1 (Pos 1). Click OK. The robot will move according to the Go To Position and find the cube. Calibration Synchronizing the Vision System and the Robot To calibrate real-world measurements with the Vision System’s world of pixels, it is necessary to perform the following steps: 1. Make sure that there is communication between the controller and the robot. Click the ACL Terminal icon.
6. Using a pen or marker, mark a position on a piece of paper (or on the coordinate grid) close to the robot and strong enough to be seen in the camera picture. This position should be aligned with the TCP (tool center position – the exact center of the robot gripper). This first position is called Pos 1. Calibration Step 1 dialog box Click Record Position 1. (If using Controller-B, be sure it is in Auto Mode.
8. Now you will see in the Combo box the distance between the two positions (Setting Distance) on the X-axis. To achieve the most accurate measurement, take a ruler and measure the distance between Pos 1 and Pos 2 by hand. Change the distance if necessary according to the hand measurement. Click Set Distance. Click Next Step. This will take you to the Step 2 dialog box. Calibration Step 2 dialog box 9. If necessary, move robot arm out of the camera’s view. 10.
Opening and Saving Calibration Files The Configuration Step 2 dialog box enables file management operations. Save The Save icon saves the calibration. The extension of the files is .CAL. Open The Open icon will allow you to load backup calibration files. When the OK icon is clicked, the system is calibrated. You can configure immediately in the Step 2 dialog box and open the calibrated file.
The ViewFlex Device Driver performs the following functions: Activates a test on the Vision Machine System. Receives status messages from the Vision Machine System and from the OpenCIM Manager. (OpenCIM Messages dialog title in the ViewFlex.) Allows you to test and debug the Vision Machine process. Emulates the Vision Machine System in Simulation mode. ViewFlex Properties ViewFlex.ini Be sure to update the script-path to the folder where the scripts files are.
Operation Modes The Operation Mode lets you to define the control mode ViewFlex Device Driver is running in: On-Line On-Line mode the ViewFlex Device Driver waits for the commands from the OpenCIM Manager, and then Snap, Load Script, Execute Program Script, and Send Results. Manual Manual Mode allows you to test the OpenCIM Manager and manually simulate conditions of Fail and Pass. The following are activated only in Manual Mode, after a request from the OpenCIM Manager: Send Pass Sends pass to the Manager.
Example of Script for Pass/Fail Test The following script is an example for testing Pass/Fail Models. A Model refers to the pattern for which you are searching, and the image for which it is extracted. The following program will try to find the “x” object by using the x-model (x.mod). If found, Fail is sent (QCR=“Fail”). If not found, then it will try to find the “v” object. If found, Pass is sent (QCR=“Pass”). If neither is found, Error is sent (QCR=“Error”).
