Denso Keyence Vision XG Series User manual

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KEYENCE
Image Processing System
MODEL: XG Series

Introduction
This document is a user's manual for the provider to use "KEYENCE Image Processing System XG Series" connected to
the DENSO robot controller RC8 series. Note that some functions may be unavailable on old XG models. For details and
handling of the connected device, refer to the user's manual of "KEYENCE Image Processing System XG 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.
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This manual covers the following product
KEYENCE XG-7000/8000 Series
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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
Introduction...........................................................................................................................................................................2
Important...............................................................................................................................................................................2
Notice to Customers..............................................................................................................................................................2
1. Outline of This Product (Provider) ...............................................................................................................................4
2. How to Connect ............................................................................................................................................................6
3. Communication Settings for Robot Controller and Device Used .................................................................................7
4. Provider Execution Procedure ......................................................................................................................................9
5. Command Description ................................................................................................................................................10
6. Error Code of XG provider .........................................................................................................................................32
7. Operation Panel Screen...............................................................................................................................................33
8. Sample Program..........................................................................................................................................................34
Revision History .................................................................................................................................................................35

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1. Outline of 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 XG-7000/8000 series
(hereinafter referred to as XG).
1.2 Features of provider
This provider is provided to use the XG native commands required to access XG series in the robot program. Use of this
provider allows customers to establish communication with a robot easily without creating a communication program for
XG series. The following shows a diagram of provider embedding.
[XG]
[Robot controller]
Communication
circuit
Using the dedicated communication
format for XG, data transmission is
performed.
Sub Main
Declare provider implementation
IF ** = 1 THEN<0}
Provider command
ELSE ~


END IF
End Sub
Provider
(Class library)

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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.
Note: When the same provider exists in different programs like in the above figure, exclusion process is
required between the programs (tasks).
* The provider is provided as a dynamic link library (abbreviated as DLL) which can be used from PacScript.
If provider is compared to a folder,
the folder contains various commands.
Controller internal image
Group of providers
(cannot be used yet)
Program (1)
Program (2)
Embedding
&
Activation
Provider prepared in the system. This cannot be used yet.
Provider after embedding. This can be used in a provider-embedded program.
Different colors are used to indicate the provider type.

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2. How to Connect
2.1 Ethernet (TCP/IP) connection example
To connect to the robot controller via Ethernet, use the optional dedicated cable (KEYENCE PN:
OP-66843) or a crossover LAN cable. Also, when a switching hub/router is used, use the cable suitable
for the switching hub/router specifications.
[XG series] Crossover cable (3 m)
OP-66843
[Robot controller]

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3. Communication Settings for Robot Controller and Device
Used
Use a teach pendant to adjust the communication settings for the device to be used.
3.1 Communication via Ethernet (TCP/IP)
3.1.1 Ethernet (TCP/IP) communication settings on robot controller
Set the robot controller's IP address.
(1) Press [F6 Setting] - [F5 Communication and Token] - [F2 Network and Permission] to display the
[Communication Settings] window. Set the IP address and subnet mask so that the robot controller and
XG series t are within the same subnet mask.

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3.1.2 Ethernet (TCP/IP) communication settings for XG series
Select [Setting Menu] - [System Settings] on XG Vision Editor to display the [Communications & I/O -
Ethernet(TCP/IP) Settings] window. Set the IP address and subnet mask so that the robot controller and XG series are
within the same subnet mask. Set CR for delimiter.
*For "Command & Data Output", set "8500" at all time. (Fixed value)
3.1.3 Other settings for XG series
(1) After creating a test flow with XG Vision Editor, select [Capture Settings] - [Trigger Settings] tab on [Flow View]
to display the [Trigger Settings] window. Select "External" for the trigger type and check the "Ethernet (TCP/IP)"
check box.

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4. Provider Execution Procedure
The basic process of the provider is implementation (declaration) -> 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("XG", "caoProv.KEYENCE.VWXG", "", "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) Declare the provider error processing routine as needed. (Connection error detection at declaration)
(2) Declare the provider implementation variable as Object type. The variable name can be specified arbitrarily.
(3) Declare the result acquisition variable. The data type depends on the command.
(4) Execute implementation with the provider declaration command cao.AddController. The parameters required for
settings vary by provider. From this point the provider commands are available using the implementation variable
caoCtrl.
(5) Now the program can be stated using the provider commands.

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5. Command Description
This page contains a description of commands. The commands are classified into connection commands, XG commands,
and proprietary extension commands. For the detailed operation of XG commands, refer to the API list in the reference
manual for V-Works for XG ActiveX Control for the KEYENCE XG-7000/8000 series.
Table 5-1 List of commands
command
Commands
supported by
KEYENCE
Usage Refer
to
Connection commands
cao.AddController －Implements the provider to a variable and makes a
connection to XG.
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XG commands
ChangeMode
ChangeMode
Changes the run/stop mode.
12
ChangeModeAsync Change between Online/Offline mode (Asynchronous) 13
ReadMode ReadMode Reads the run/stop mode. 14
Reset Reset Causes a reset. 15
Restart Restart Jumps to the next unit of the start unit. 16
RestartAsync Jumps to the next unit of the start unit. (Asynchronous) 17
Trigger Trigger Issues a trigger. 18
EnableTrigger EnableTrigger Enables/disables trigger input. 19
ReadTriggerEnable ReadTriggerEnable Reads the trigger input enabled/disabled state. 20
WriteVariable WriteVariable Writes a variable value. 21
ReadVariable ReadVariable Reads a variable value. 22
ChangeInspectSetting
ChangeInspectSetting
Changes the inspection setting number.
23
ChangeInspectSettingAsync Change the inspection setting file number.
(Asynchronous)
24
ReadInspectSetting
ReadInspectSetting
Read the inspection setting number.
25
ClearError ClearError Clears a system error. 26
Proprietary extension commands
ExecuteCommand ExecuteCommand Executes a non-procedural command. 27
ExecuteCommandAsync Execute Non-procedure command. (Asynchronous) 28
TriggerAndGetResult －
Issues a trigger and acquires the processing result of
images. 29
GetCommandResult －Get the return value of asynchronous command. 30
RecievePacket －Receive packet. 31
Following abbreviated expressions are used for the command descriptions in this manual.
<Implementation variable>:<ImplVar>
<Property variable>:<PropVar>

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cao.AddController
Usage Implements the provider to a variable and makes a connection to XG.
Syntax cao.AddController(<Controller name>,<Provider name>,
<Provider running machine name>,<Option>)
Argument:
<Controller name> Assign a name (The name is used for control).
<Provider name> "CaoProv.KEYENCE.VWXG"
<Provider running machine name> Omit this parameter.
<Option> [Connection parameter]
[Connection parameter] "conn=eth:<IP address>[:Port number]"
Default port number is 8502.
(The port number is optional.)
[Timeout period] Specify the timeout period (msec) for transmission.
"Timeout[=<Time>]" Default : 500
(The timeout period is optional.)
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".）
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
* Specify a port number as follows:
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10:8503")

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<ImplVar>.ChangeMode
Usage Changes the operation mode to run or stop modes.
Usage <ImplVar>.ChangeMode <Mode>
Argument: <Mode> Switching between run and stop modes (integer)
0: Stop mode
1: Run mode
Usage The operation mode is changed to run or stop.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.ChangeMode 1 'Enter run mode

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<ImplVar>.ChangeModeAsync
Usage Change the operation mode between Online/Offline mode asynchronously.
To obtain and check the return value of the command, use GetCommandResult
command.
Usage <ImplVar>.ChangeModeAsync <Mode>
Argument: <Mode> Switching between run and stop modes (integer)
0: Stop mode
1: Run mode
Usage Change the operation mode between Online/Offline mode asynchronously.
To obtain and check the return value of the command, use GetCommandResult
command.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.ChangeModeAsync 1 'Enter run mode
'Obtain the return value of ChangeModeAsync command
vntResult = caoCtrl.GetCommandResult

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<ImplVar>.ReadMode
Usage Acquires the current operation mode (run, stop, or remote capture mode).
Syntax <ImplVar>.ReadMode
Return value: The current operation mode is stored. If acquisition fails, -1 is stored.
(Variant type)
0: Stop mode
1: Run mode
2: Remote capture mode
Description The current operation mode (run, stop, or remote capture mode) is acquired.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
vntResult = caoCtrl.ReadMode

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<ImplVar>.Reset
Usage Resets the controller.
Syntax <ImplVar>.Reset
Description The controller is reset.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.Reset

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<ImplVar>.Restart
Usage Jumps to the next unit of the start unit.
Syntax <ImplVar>.Restart
Description The command makes a jump to the next unit of the start unit.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.Restart

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<ImplVar>.RestartAsync
Usage Jump to the next unit after the Start unit asynchronously.
To obtain and check the return value of the command, use GetCommandResult
command.
Syntax <ImplVar>.RestartAsync
Description Jump to the next unit after the Start unit asynchronously.
To obtain and check the return value of the command, use GetCommandResult
command.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.Restart
caoCtrl.RestartAsync
'Obtain the return value of RestartAsync command
vntResult = caoCtrl.GetCommandResult

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<ImplVar>.Trigger
Usage Issues a trigger.
Syntax <ImplVar>.Trigger <Trigger No.>
Argument: <Trigger No.> Specify the number of trigger to issue (integer).
1 – 4: Trigger 1 to 4
-1: All triggers
Description A trigger is issued.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.Trigger 2

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<ImplVar>.EnableTrigger
Usage Enables/disables trigger input.
Syntax <ImplVar>.EnableTrigger <Enable mode>
Argument: <Enable mode> Specify whether to enable/disable trigger (integer).
0: Trigger disabled
1: Trigger enabled
Description Trigger is enabled/disabled.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
caoCtrl.EnableTrigger 1

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<ImplVar>.ReadTriggerEnable
Usage Acquires the current trigger status (enabled/disabled).
Syntax <ImplVar>.ReadTriggerEnable
Return value: The trigger status is stored. If acquisition fails, -1 is stored. (Variant
type)
0: Trigger disabled
1: Trigger enabled
Description The trigger status (enabled/disabled) is acquired.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("XG","CaoProv.KEYENCE.VWXG", "", "conn=eth:192.168.0.10")
vntResult = caoCtrl.ReadTriggerEnbale