CV-X Series Provider Manual
Contents
1. CaoProv KEYENCE CVX m conn com 2 115200 E 8 1 0 timeout 1000 To specify a baud rate and the following Specify parity but omit others caoCtrl Cao AddController CVX CaoProv KEYENCE CVX conn com 2 E lt ImplVar gt Trigger Usage Input trigger Syntax lt ImplVar gt Trigger lt Trigger No gt Argument lt Trigger No gt Specify a trigger number integer 1to4 Trigger 1to4 1 All triggers Return value None Description Input trigger This command is exclusive to trigger input To receive result data generated by trigger input use RecievePacket command To execute trigger input and result receiving at one processing use TriggerAndGetResult command Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Input a trigger in Trigger1 caoCtrl Trigger 1 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangeMode Usage Changes the operation mode to run or stop modes Syntax lt ImplVar gt ChangeMode lt Mode gt Argument lt Mode gt Specify a desired mode integer O Stop mode 1 Run mode Return value None Description Changes the operation mode to run or stop modes Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Switch the mode to Run mode caoCtrl ChangeMode 1 lt ImplVar gt Reset Usage Reset an item Syntax2. Declare the result acguisition variable The data type depends on the command Execute implementation with the provider declaration command cao AddController The parameters reguired for settings vary by provider From this point the provider commands are available using the implementation variable caoCtrl Now the program can be stated using the provider commands 11 THIRD PARTY PRODUCTS Machine Vision System CV X Series 5 Command Description This page contains a description of commands Commands are classified the following three types Connection commands CV X series supported command Proprietary extension commands A CV X series supported command is the command that is paired with a CV X series command The correspondence between the CV X series commands and the CV X series supported commands is shown in the command list on the next page For the detailed operation of CV X Series commands refer to the CV X Series User s manual of KEYENCE 12 THIRD PARTY PRODUCTS Machine Vision System CV X Series Table 5 1 Command list CV X series provider CV X series Usage Page command command Connection commands Ping Kae B Implements the provider to a variable and makes a connection to 14 CV X series CV series supported command Trigger TI T2 T3 Input trigger 16 T4 TA ChangeMode RO S0 Ch
3. lt Capture count or capture point gt lt Lighting for multiple image capture gt Argument lt Lighting number gt Specify a lighting number with integer type data ranging from 1 to 8 lt Lighting intensity value gt Specify a lighting intensity value with integer type data ranging from 0 to 255 lt Capture count or capture point gt Specify a capture count or capture point with integer type data ranging from 1 to 8 This is optional The capture count and capture point will not be changed if it is omitted lt Lighting for multiple image capture gt Specify a lighting for multiple image capture with integer type data ranging from 1 to 2 This is optional The lighting for multiple image capture will not be changed if 1t is omitted Return value None Description Set the intensity of the specified lighting Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the lighting intensity value of lighting number 1 to 30 caoCtrl ChangeLightVolume 1 30 22 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangeExecuteCondition Usage Set a number of the execution condition currently enabled to the specified number Syntax lt ImplVar gt ChangeExecuteCondition lt Execute condition number gt Argument lt Execute condition number gt Specify an execute condition number with integer type data ranging from O to 99 Return value None Des
4. Syntax lt ImplVar gt ClearPacket Argument None Return value None Description Delete result data stored in a robot controller Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Delete result data caoCtrl ClearPacket lt ImplVar gt SetTimeout Usage Set a time out period Syntax lt ImplVar gt SetTimeout lt Time gt Argument lt Time gt Set a time out period with integer type data Unit is millisecond Return value None Description Basically a time out period is set at the Cao AddController command execution Use this command if you want to set a time out period after Cao AddController command execution Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set a time out period to 1000 milliseconds caoCtrl SetTimeout 1000 32 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt GetTimeout Usage Syntax Argument Return value Description Example Obtain a currently assigned time out period lt ImplVar gt GetTimeout None lt Time gt Currently assigned time out period is returned with integer type data Unit is millisecond Obtain a currently assigned time out period Dim caoCtrl as Object Dim Timeout as Integer caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain a time out period
5. Usage Enable or disable trigger input Syntax lt ImplVar gt EnableTrigger lt Enable Disable gt Argument lt Enable Disable gt Set enable or disable trigger input with integer type data 0 Disable trigger 1 Enable trigger Return value None Description Enable or disable trigger input Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Disable the trigger input caoCtrl EnableTrigger 0 lt ImplVar gt ExecuteCommand Usage Execute a CV X series command with a syntax of CV X series command Syntax lt ImplVar gt ExecuteCommand lt CV X series command syntax gt Argument lt CV X series command syntax gt Specify CV X series command syntax with character string type data Return value lt Execution result data of CV X series command gt The return value is the execution result data of CV X series command The data is returned with character string type data Description Execute a CV X series command with a syntax of CV X series command For detailed operation of CV X Series commands refer to the CV X Series User s manual of KEYENCE Example Dim caoCtrl as Object Dim strRet as String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the lower limit on the edge tool of the tool No 100 to 123 456 If the command successfully finishes strRet stores DW If the command fails strRet stores ER DW nn nn
6. Return value lt Result data gt Result data generated by trigger input is received with character string type data Description Obtain result data generated by trigger input Ifthe CV X series is set so as to generate no result output against trigger input no result data returns from CV X series As a result an error is issued when a time out period passes Time out period is set by Cao AddController command option or SetTimeout command Also after trigger input if you input trigger one more time without executing Re ceivePacket command the result data for two of trigger inputs are stored in a robot controller Under the condition if you execute the ReceivePacket command the first trigger s result data will be returned Therefore if the situation where the number of trigger input does not match with the number of ReceivePacket command execution occurs delete the result data stored in the robot controller by executing ClearPacket command first Then input trigger again and then execute ReceivePacket command to obtain result data Example Dim caoCtrl as Object Dim strRet as String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Input trigger in Trigger 1 caoCtrl Trigger 1 Obtain the result data strRet caoCtrl RecievePacket 31 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ClearPacket Usage Delete result data stored in a robot controller
7. 8 f it is omitted lt StopBits gt According to the stop bit count of CV X series to connect select suitable number from the followings 1 1bit 2 2 bits This is optional This should be 1 f it is omitted lt Flow gt The flow control selection is prepared as shown below However to communicate with CV X series set this pa rameter to 0 Without flow control 0 Without flow control 1 Xon Xoff 2 Hardware control This is optional This should be 0 if it is omitted Return value Implemented objects are returned Object Description The provider becomes effective when implemented to a variable From this point the implemented Object type variable is used to access the provider The implemented variable is called Implementation Variable 15 THIRD PARTY PRODUCTS Machine Vision System CV X Series Example Dim caoCtrl as Object I For Ethernet 9 To specify a time out period but not specify COM port caoCtrl Cao AddController CVX CaoProv KEYENCE CVX conn eth 192 168 0 10 timeout 1000 To specify a time out period and COM port caoCtrl Cao AddController CVX CaoProv KEYENCE CVX conn eth 192 168 0 10 8503 ForRS2320 To omit a baud rate and the following caoCtrl Cao AddController CVX CaoProv KEYENCE CVX conn com 2 To specify a baud rate and the followings caoCtrl Cao AddController CVX
8. Change the setting to the inspection setting number of the specified SD card Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Change the setting to the inspection setting number 1 of the SD1 caoCtrl ChangelnspectSetting 1 1 20 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ReadInspectSetting Usage Obtain currently selected inspection setting number and its SD card number Syntax lt ImplVar gt ReadInspectSetting Argument None Return value The following two items are stored in an array of integer lt SD card number gt Currently selected SD card number 1 SD1 2 SD2 lt Inspection setting number gt Currently selected inspection setting number Description Obtain currently selected inspection setting number and its SD card number Example Dim caoCtrl as Object Dim iaryData 1 as Integer caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain currently selected inspection setting number and its SD card number jaryData 0 stores an SD card number iaryData 1 stores an inspection setting number laryData caoCtrl ReadInspectSetting 21 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangeLightVolume Usage Set the intensity of the specified lighting Syntax lt ImplVar gt ChangeLightVolume lt Lighting No gt lt Lighting intensity value gt
9. contains an error code strRet caoCtrl ExecuteCommand DW 100 82 1 123 456 29 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt TriggerAndGetResult Usage Obtain a result after trigger execution Syntax lt ImplVar gt TriggerAndGetResult lt Trigger No gt Argument lt Trigger No gt Specify a trigger number with integer type data 1to4 Trigger 1 to 4 Return value lt Result data gt Result of a trigger execution is returned with character string type data Description Obtain the result after trigger execution If no result data returns from CV X series wait until time out period passes To set time out period use Cao AddController command option or SetTimeout command If still no result data returns an error is issued If you want to execute other operations while waiting for the result after inputting a trigger do the following steps 1 Input trigger with Trigger command 2 Execute desired operations 3 Obtain the result data with RecievePacket command Example Dim caoCtrl as Object Dim strRet as String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Input trigger in Trigger 1 and then obtain the result strRet caoCtrl TriggerAndGetResult 1 30 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt RecievePacket Usage Obtain the result of trigger input Syntax lt ImplVar gt RecievePacket Argument None
10. lt ImplVar gt Reset Argument None Return value None Description Reset an item Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Reset caoCtrl Reset THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt Reboot Usage Save the current program settings and reboot the system Syntax lt ImplVar gt Reboot Argument None Return value None Description Save the current program settings and reboot the system Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Save the current program settings and reboot the system caoCtrl Reboot lt ImplVar gt StoreSetting Usage Save currently selected program settings and global settings Syntax lt ImplVar gt StoreSetting Argument None Return value None Description Save currently selected program settings and global settings Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Save currently selected program settings and global settings caoCtrl StoreSetting THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ClearError Usage Clear the error status Syntax lt ImplVar gt ClearError Argument None Return value None Description Clear the error status Even when an error status does not exist the command exe cution finishe
11. setting for Robot controller RS232C communication setting for the robot controller is carried out at the Cao AddController com mand execution by specifying an option parameter Set an appropriate option according to the com munication setting of RS232C on the CV X series You can carry out the RS232C communication setup with a teach pendant or a mini pendant however these are for Comm Open command execution so not applicable to this provider 10 THIRD PARTY PRODUCTS Machine Vision System CV X Series 4 Provider Execution Procedure The basic process of the provider is implementation declaration gt execution This provider takes a connection process at the time of implementation The operation can be repeated as many times as needed A program example is shown below Sub Main On Error Goto ErrorProc 1 Declare error process routine Dim caoCtrl as Object 2 Declare provider variable Dim vntResult as Variant 3 Declare result acquisition variable caoCtrl Cao AddController CVX CaoProv KEYENCE CVX conn eth 192 168 0 10 4 State from trigger to data receiving process 5 EndProc End process Exit Sub ErrorProc Error process End Sub 1 2 3 4 5 Declare the provider error processing routine as needed Connection error detection at declaration Declare the provider implementation variable as Object type The variable name can be specified arbitrarily
12. upper limit or lower limit in the judgment conditions for the specified tool Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the lower limit on the edge tool of the tool No 100 to 123 456 caoCtrl ChangeToolParameter 100 82 1 123 456 26 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ReadToolParameter Usage Obtain an upper limit or lower limit in the judgment conditions for the specified tool Syntax lt ImplVar gt ReadToolParameter lt Tool No gt lt Item ID for judgment condition type gt lt Upper limit Lower limit gt Argument lt Tool No gt Specify a tool number with integer type data lt Item ID for judgment condition type gt Specify an item ID for judgment condition type with integer type data For details refer to the DR command of the KEYENCE CV X Series User s Manual lt Upper limit Lower limit gt Specify an upper limit or lower limit with integer type data O Upper limit 1 Lower limit Return value lt Judgment condition value gt Value of judgment condition is returned with character string type data Description Obtain an upper limit or lower limit in the judgment conditions for the specified tool Example Dim caoCtrl as Object Dim bstrParam String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain the lower limit on the edge tool of the tool
13. 1Timeout caoCtrl GetTimeout 33 THIRD PARTY PRODUCTS Machine Vision System CV X Series 6 Error Code As for how to check the provider errors refer to Provider Errors in PROVIDER GUIDE on the DENSO ROBOT USER MANUALS In provider errors an error issued by CV X series will have original number ranging from 80108000 hexadecimal to 80108063 hexadecimal which lower two digits represents an error code sending from CV X series For example when ChangelnspectSetting command execution if you enter 5 in the SD card number the original number of the robot controller s error will be 80108016 hexadecimal The lower two digits 16 hexadecimal is equal to 22 in decimal number According to the explanation of UW command written in the CV X Series User s Manual the error code 22 stands for The number or the range of the parameter is incorrect 7 Sample Program Sub Main Dim caoCtrl As Object Dim strRet As String CV X series provider implementation caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 3 timeout 1000 Input trigger in Trigger 1 and then obtain the result data strRet caoCtrl TriggerAndGetResult 1 Output the result data to the message output window on the teach pendant PrintDbg strRet Disconnect CV X series provider and delete it cao Cotrollers Remove caoCtrl Index caoCtrl Nothing End Sub 34 THIRD PARTY PRODUCTS Machine Vision System CV X S
14. DENSO DENSO Robotics THIRD PARTY PRODUCTS Maker KEYENCE Products Series Machine Vision System MODEL CV X Series ij kei Qp d J he ba Jat 1 Je Introduction This document is a user s manual for the provider to use KEYENCE Machine Vision System CV X Series connected to the DENSO robot controller RC8 series Caution 1 Note that the functions and performance cannot be guaranteed if this product is used without observing instructions in this manual 2 All products and company names mentioned are trademarks or registered trademarks of their respective holders This document targets the following models in CV X series as of June 2014 KEYENCE CV X100 Series In this document the above models are called CV X series Important To ensure proper and safe operation be sure to read Safety Precautions Manual before using the provider Notice to Customers 1 Risks associated with using this product The user of this product shall be responsible for embedding and using the product software on a system and any result from using it Contents Introd ction 5 22 22 22 82 gai a ehe ine ee BED aa a aa a deseo tie aa eee 2 Import nt iai ai aa A A ai a a e a OE eas 2 Notieeto CHstomers Las ia iai esses a sak a a aa a sa a a a ia i a i ad soka i a ia S 2 1 Outline ot This Product Provider ii alas as aaa ha 4 LI Target device EPIA ale AIR a o Steel
15. No 100 bstrParam caoCtrl ReadToolParameter 100 82 1 27 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangeFlawLevel Usage Set the stain level for the specified stain tool Syntax lt ImplVar gt ChangeFlawLevel lt Tool No gt lt Stain level value gt Argument lt Tool No gt Specify a tool number with integer type data lt Stain level value gt Specify a stain level value with integer type data Return value None Description Set the stain level for the specified stain tool Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the stain level value of the tool number 102 to 200 caoCtrl ChangeFlawLevel 102 200 lt ImplVar gt ReadFlawLevel Usage Obtain a stain level for the specified stain tool Syntax lt ImplVar gt ReadFlawLevel lt Tool No gt Argument lt Tool No gt Specify a tool number with integer type data Return value lt Stain level value gt Value of obtained stain level is returned with character string type data Description Obtain a stain level for the specified stain tool Example Dim caoCtrl as Object Dim bstrParam as String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain the stain level value of the tool number 102 bstrParam ReadFlawLevel 102 28 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt EnableTrigger
16. anges the operation mode to run or stop modes 17 Reset RS Reset an item 17 Reboot RB Save the current program settings and reboot the system 18 StoreSetting SS Save currently selected program settings and global settings 18 ClearError CE Clear the error status 19 ChangeDisplayPattern VW Change the display to the specified operation screen 19 ChangelnspectSetting PW Change the setting to the inspection setting number of the speci 20 fied SD card ReadInspectSetting PR Obtain currently selected inspection setting number and 21 its SD card number ChangeLightVolume CLV Set the intensity of the specified lighting 22 ChangeExecuteCondition EXW Set a number of the execution condition currently enabled to the 23 specified number ReadExecuteCondition EXR Obtain a number of the execute condition currently 23 enabled WriteCharReg CW Set a registered string or reference pattern string for the specified 24 tool number ReadCharReg CR Obtain a registered string or reference pattern string for the speci 25 fied tool number ChangeToolParameter DW Set an upper limit or lower limit in the judgment conditions for the 26 specified tool ReadToolParameter DR Obtain an upper limit or lower limit in the judgment 27 conditions for the specified tool ChangeFlawLevel SLW Set the stain level for the specified stain tool 28 ReadFlawLevel SLR Obtain a stain level for the specified stain tool 28 EnableTrigger TE Enable or disable trigger input 29 Proprietary e
17. cription Set a number of the execution condition currently enabled to the specified number Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the execute condition number to 1 caoCtrl ChangeExecuteCondition 1 lt ImplVar gt ReadExecuteCondition Usage Obtain a number of the execute condition currently enabled Syntax lt ImplVar gt ReadExecuteCondition Argument None Return value lt Execute condition number gt Currently enabled execute condition number is returned with integer type data Description Obtain a number of the execute condition currently enabled Example Dim caoCtrl as Object Dim Param as Integer caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain a number of the execute condition currently enabled iParam caoCtrl ReadExecuteCondition 23 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt WriteCharReg Usage Set a registered string or reference pattern string for the specified tool number Syntax lt ImplVar gt WriteCharReg lt Tool No gt lt Line No Reference condition No gt lt Registered string Reference pattern string gt Argument lt Tool No gt Specify a tool number with integer type data ranging from 100 to 499 lt Line No Reference condition No gt Specify a line number or a reference condition number with integer type data If a specified too
18. dase a aaa a 4 1 2 Features of provider Assis sias o i AO 4 1 3 Mechanism of provider cccccccccsssscesseceeneeeeseecescecsscecessecnsecesseeeeseeceseecseecseseeesseeceseecsscecsneeseseeesseeseseecsseeeseseeeges 5 2 Howto Connect in sa a a Mave a ia al a i aa i 6 2 1 J2Eth met Connection Example ai a ias nio a aaa a a A a i A aa ee et eee 6 2725 RS232C Connection Examples session 6 3 Communication SEttIN YS eee eecccccssecssnecesneeeeneeeeseeceseeceseeceesecesseecsseeceeecseseeeeseeenseeceseecsseeceseesaeeseseeenseecseeeeeaseseaeeenaes 7 3 1 Setup for Ethernet COMEN une a i a ss ais 7 3 1 1 Communication setting for CV X series reedene a a a a a 7 3 1 2 Communication setting for Robot controller ccccccccessceeseeeessecsseeeeseeeseeeseeesseeessecseecseeeeseeeeeneeeenseeees 9 3 2 Setup for RS232C NAS 10 3 2 1 Communication setting for CV X Series ccccecccccesscessseceseeesseeeeeeeeseecsseecsseecneecseeeesseeceseecsaeeseseeeeeeeensges 10 3 2 2 Communication setting for Robot controller ooononconnnconinnocnonccnonncconcncnnnncnnn conan ncnonononnonon nn non nncnn nn ncnanno 10 4 Provider Execution Procedur renne menen tano 11 de Command Description sinken Ese ee etc SEERA ee i eR 12 Table 5 1 Command Staind iia 13 6 A SO 34 To Sample O dd i r 34 Revision History ar sn T a a o aaa ie aa e dot o aa r o ed 35 THIRD PARTY PRODUCTS Machine Vision System CV X Series 1 Outline o
19. eries Revision History DENSO Robot Provider User s Manual KEYENCE Machine Vision System CV X Series Version Supported Content RC8 Ver 1 0 0 Ver 1 8 6 First version DENSO WAVE INCORPORATED O No part of this manual may be duplicated or reproduced without permission O The contents of this manual are subject to change without notice O Every effort has been made to ensure that the information in this manual is accurate However should any unclear point error or omission be found please contact us Please note that we will not be responsible for any effects resulted from the use of this manual regardless of the above clauses 35 DENSO Robotics THIRD PARTY PRODUCTS DENSO WAVE INCORPORATED
20. f This Product Provider 1 1 Target device of provider This provider can be used only when a DENSO robot controller RC8 series is connected to the CV X Series Ses CV X Series u Robot controller 1 2 Features of provider This provider is provided to use the CV X Series native commands required to access CV X Series in the robot program Use of this provider allows customers to establish communication with a robot easily without creating a communication program for CV X Series The following shows a diagram of provider embedding Provider Declare provider implementation Class library IF 1 THEN lt 0 mm Provider command ELSE Communication circuit END IF End Sub Using the dedicated communication format for CV X Series data transmission is performed THIRD PARTY PRODUCTS Machine Vision System CV X Series 1 3 Mechanism of provider This provider offers various programs required to control the target device as a single provider Just activate the license to use the provider Once provider implementation is declared on a desired program file the functions prepared by the provider can be used as commands in the user program Since the provider is included in the controller there is no need of installation Also it is possible to implement multiple providers of different type Note that a program procedure cannot contain the providers of the same type If pro
21. f connectors though use a D sub 9 pin connector since the RS232C connector mounted in the robot controller is D sub 9 pin Modular cable Robot controller CV X Series Model OP 26487 D sub 9 pin connector Model OP 26486 THIRD PARTY PRODUCTS Machine Vision System CV X Series 3 Communication settings 3 1 Setup for Ethernet connection 3 1 1 Communication setting for CV X series Communication settings for CV X series is carried out by manipulating a setting window displayed in the monitor sold separately plugged in the CV X series main unit by means of a mouse that comes with CV X series For details refer to the CV X series User s Manual of KEYENCE Note that the following items must be the same settings always Item Setting Auto acquire IP address BOOTP Unchecked Delimiter CR Set Trigger command Response to CV compatible Mode Unchecked THIRD PARTY PRODUCTS Machine Vision System CV X Series This setting example shows when CV X100 series is used From the CV X100 setting window click Globall Communications amp I O Network to display the Network Settings window as shown below Uncheck the Auto acguire IP address BOOTP checkbox When you set IP address and Subnet mask make sure that these of the robot controller and CV X series are in the same subnet mask In this example IP address and Subnet mask are 192 168 0 43 and 255 255 255 0 re
22. l number is set to OCR tool set 1 If specified tool number set to 1D code reader or 2D code reader set 1 to 16 lt Registered string Reference pattern string gt Specify a registered string or reference pattern string with character string type data Return value None Description If a specified tool number set to OCR tool a registered string is set If a specified tool number set to 1D code reader or 2D code reader a reference pattern string is set When neither registered string nor reference pattern string is specified the latest reading result is set Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Set the No 101 OCR tool registered string to DEF caoCtrl WriteCharReg 101 1 DEF 24 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ReadCharReg Usage Obtain a registered string or reference pattern string for the specified tool number Syntax lt ImplVar gt ReadCharReg lt Tool No gt lt Line No Reference condition No gt Argument lt Tool No gt Specify a tool number with integer type data ranging from 100 to 499 lt Line No Reference condition No gt Specify a line number or a reference condition number with integer type data If specified tool number set to OCR tool set 1 If specified tool number set to 1D code reader or 2D code reader set 1 to 16 Return value lt Registered string Reference pattern
23. mitted Description for parameters of each connection For Ethernet Syntax eth lt IP address gt lt Port number gt Argument lt IP address gt Specify IP address of CV X series to connect lt Port number gt Specify port number of CV X series to connect This is optional This should be 8500 if it is omitted THIRD PARTY PRODUCTS Machine Vision System CV X Series For RS232C Syntax com lt COM Port gt lt BaudRate gt lt Parity gt lt DataBits gt lt StopBits gt lt Flow gt Argument lt COM Port gt Specify a COM port number of a robot controller plugged in the CV X series Entered number will be the COM port number For example if you enter 1 it indicates COM1 is specified If you use a serial communication connector on the front side of the controller while expansion RS232C communication module is not used enter 2 in this pa rameter lt BaudRate gt According to the communication speed of CV X series to connect select suitable baud rate from 4800 9600 19200 38400 57600 115200 bps This is optional This should be 9600 if it is omitted lt Parity gt According to the CV X series to connect select suitable parity from the followings N None E Even parity O Odd parity This is optional This should be N if it is omitted lt DataBits gt According to the data bit count of CV X series to connect select suitable number from the followings 7 Thbits 8 8 bits This is optional This should be
24. nt or a mini pendant For detailed information about setting refer to the followings on the DENSO ROBOT USER MANUALS Device Referenced Teach pendant Displaying and Changing Communication Settings Screen of the TEACH PENDANT OPERATION GUIDE Mini pendant Setting DHCP and Setting IP Address of the MINI PENDANT OPERATION GUIDE This example shows the way of communication setting with a teach pendant From the top screen of a teach pendant press F6 Setting F5 Communication and Token F2 Net work and Permission to display the Communication Settings window Permission has no relation to CV X series communication Once DHCP is enabled IP address will automatically set Note that DHCP server may connect to the same network This example select Disable If you set DHCP to Disable make sure that IP addresses and subnet masks of the robot controller and CV X series are the same In this example IP address and the subnet mask are 192 168 0 1 and 255 255 255 0 respectively Set a gateway if necessary In this example 0 0 0 0 is set M 3 EMG MAN YO AUTO Communication Settings T LO Joint WOTO Be ne Property DHCP Disable IP Address 192 168 0 1 Subnet mask 255 255 255 0 Gateway 0 0 0 0 MAC Address 00 0C 29 EC 42 05 Communication settings to communicate with WINCAPS Cancel THIRD PARTY PRODUCTS Machine Vision System CV X Series 3 2 Setup f
25. or RS232C connection 3 2 1 Communication setting for CV X Series RS232C communication setting for CV X series is carried out by manipulating a setting window dis played in the monitor sold separately plugged in the CV X series main unit by means of a mouse that comes with CV X series For details refer to the CV X series User s Manual of KEYENCE Note that the following items must be the same settings always Items Setting Flow Control None Delimiter CR Set Trigger command Response to CV compatible Mode Unchecked This setting example shows when CV X100 series is used From the CV X100 setting window click Global Communications amp I O RS 232C to display the following window You can set arbitrary values except for items on the table above 1 Set000 Presence Discrimination F Sa edit y Globa V Ka es B 11 Go to Interv ms Run Mode Set Camera Current Image RS 232C Non Procedural Settings Configurations of RS 232C non procedural communication with external devices can be Execute Output Utility RS 232C Non Procedural Te 3pecific Area cific Area changed here Upper 45983 Stop Bit 1 02 Parity Bit None Odd O Even Flow Control 8 None CTS RTS Delimiter 8 CR O CR LF Other Data Length 8 bit Set Trigger command Response to CV compatible Mode T T a EEE MM Register Image G Run ED 3 2 2 Communication
26. s normally Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Clear the error status caoCtrl ClearError lt ImplVar gt ChangeDisplayPattern Usage Change the display to the specified operation screen Syntax lt ImplVar gt ChangeDisplayPattern lt Screen type gt lt Screen number gt Argument lt Screen type gt Specify a screen type with integer type data O Image display 1 Operation screen lt Screen number gt Specify a screen number with integer type data Oto4 Camera number 1 to 4 0 is All cameras 0t09 Operation screen number S00 to S09 Return value None Description Change the display to the specified operation screen Example Dim caoCtrl as Object caoCtrl Cao AddController CVX CaoProv KEYENCE CV _ conn eth 192 168 0 10 Change the image display to the camera number 1 caoCtrl ChangeDisplayPattern 0 1 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangelnspectSetting Usage Change the setting to the inspection setting number of the specified SD card Syntax lt ImplVar gt ChangelnspectSetting lt SD card number gt lt Inspection setting number gt Argument lt SD card number gt Specify an SD card number with integer type data 1 SD1 2 SD2 lt Inspection setting number gt Specify an inspection setting number with integer type data ranging from O to 999 Return value None Description
27. spectively Set a Default Gateway if necessary In this example 0 0 0 0 is set Set desired port number to Port The port number specified here will be the port number that is specified at the robot controller s Cao AddController command execution as an option In this ex ample the port number is set to 08500 Delimiter must be set to CR always Uncheck the Set Trigger command Response to CV compatible Mode checkbox Port PC Program has no relation to this provider Mal save Ea v Global vw Prog Time Network Settings Network Settings Settings used when varlous data are Inputted and outputted through the controller s Ethernet port can be changed If the wrong setting is made not only this unit but other devices on the network may not function properly For details of the setting value consult the system or network Current Image Auto acquire IP Address BOOTP IP Address Setting IP Address Lower Upper Subnet Mask 255 N L 35983 45983 Default Gateway 000 Non Procedural Command Result Output Delimiter CR O CR LF Other set Trigger command Response to CV compatible Mode Port PC Program 08502 to 08504 MAC Address En E Register Image G Run THIRD PARTY PRODUCTS Machine Vision System CV X Series 3 1 2 Communication setting for Robot controller To set Ethernet communication setting for a robot controller you can use a teach penda
28. string gt Registered string or reference pattern string you have specified is returned with character string type data Description If a specified tool number set to OCR tool a registered string is returned If a speci fied tool number set to 1D code reader or 2D code reader a reference pattern string is returned Example Dim caoCtrl as Object Dim bstrParam as String caoCtrl Cao AddController CVX CaoProv KEYENCE CVX _ conn eth 192 168 0 10 Obtain the No 101 OCR tool registered string bstrParam caoCtrl WriteCharReg 101 1 25 THIRD PARTY PRODUCTS Machine Vision System CV X Series lt ImplVar gt ChangeToolParameter Usage Set an upper limit or lower limit in the judgment conditions for the specified tool Syntax lt ImplVar gt ChangeToolParameter lt Tool No gt lt Item ID for judgment condition type gt lt Upper limit lower limit gt lt Judgment condition value gt Argument lt Tool No gt Specify a tool number with integer type data lt Item ID for judgment condition type gt Specify an item ID for judgment condition type with integer type data For details refer to the DW command of the KEYENCE CV X Series User s Manual lt Upper limit lower limit gt Specify an upper limit or lower limit with integer type data O Upper limit 1 Lower limit lt Judgment condition value gt Specify the Judgment condition value with character string type data Return value None Description Set an
29. vider is compared to a folder the folder contains various commands Group of providers cannot be used yet Program 2 D Provider prepared in the system This cannot be used yet Saag Provider after embedding This can be used in a provider embedded program Different colors are used to indicate the provider type Note When the same provider exists in different programs like in the above figure exclusion process is re quired between the programs tasks The provider is provided as a dynamic link library abbreviated as DLL which can be used from PacScript THIRD PARTY PRODUCTS Machine Vision System CV X Series 2 How to Connect You can use either Ethernet or RS232C for connection between a robot controller and CV X series When establishing a connection use a cable compatible with the communication specification you use For detailed information about each communication cable refer to the CV X Series User s Manual of KEYENCE 2 1 Ethernet Connection Example To connect to the robot controller via Ethernet use a crossover LAN cable Also when a switching hub router is used use the cable suitable for the switching hub router specifications i t controll CV X Series Robot controller LAN cable 2 2 RS232C Connection Example When you establish a connection with RS232C use a Modular cable and D sub 9 pin connector Both of them are sold by KEYENCE as optional parts There are two types o
30. xtension commands Execute a CV X series command with a syntax of CV X series 29 ExecuteCommand command TriggerAndGetResult Obtain a result after trigger execution 30 RecievePacket Obtain the result of trigger input 31 ClearPacket Delete result data stored in a robot controller 32 SetTimeout Set a time out period 32 GetTimeout Obtain a currently assigned time out period 33 THIRD PARTY PRODUCTS Machine Vision System CV X Series Cao AddController Usage Implements the provider to a variable and makes a connection to CV X series Syntax Cao AddController lt Controller name gt lt Provider name gt lt Provider running machine name gt lt Option gt Argument lt Controller name gt Assign a name The name is used for control character string lt Provider name gt Specify CaoProv KEYENCE CVX with character string type data lt Provider running machine name gt we Specify with character string type data lt Option gt Specify following items with character string type data Syntax Conn lt Connection parameter gt Timeout lt Time gt Argument lt Connection parameter gt This differ from communication methods Refer to De scription for parameters of each connection lt Time gt Set an allowable waiting time given to the response from CV X series at this provider s command execution by milli second unit This is optional This should be 500 millisec onds if it is o
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