Festo SBSI-EN User manual

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Vision Sensor User manual
Copyright (English)
No part of this document may be reproduced, published or stored in information retrieval systems or
data bases in any manner whatsoever, nor may illustrations, drawings and the layout be copied without
prior written permission from Festo AG & Co. KG.
We accept no responsibility for printing errors and mistakes which occurred in drafting these
documentations. Subject to delivery and technical alterations.
First publication February 2014
Festo AG & Co. KG
D-73726 Esslingen
Internet: http://www.festo.com
E-Mail: [e-mail]

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Table of Contents
1 Open Source Lizenzen 8
1 General Information and Safety 9
1.1 Safety notes 9
1.2 Components supplied 9
1.3 Requirements for use 9
2 Intended Use 10
2.1 Field of application 10
2.2 Functions overview 11
2.3 Sensor types 12
2.3.1 Object detection 12
2.3.2 Code Reader 12
2.4 Field of view / Depth of view 14
3 Installation 17
3.1 Mechanical Installation 17
3.1.1 Arrangement for dark-field illumination 17
3.1.2 Arrangement for bright-field illumination 18
3.1.3 Alignment for a vertical illumination 19
3.1.4 Assembly Vision Sensor - Mounting bracket SBAM-C6-CP 20
3.2 Electrical installation 20
3.2.1 Connection possibilities 21
3.2.1.1 LED Display 21
3.2.1.2 Focussing screw 22
3.2.1.3 24 V DC Connection 22
3.2.1.4 LAN Connection 22
3.2.1.5 Data Connection 22
3.2.1.6 Plug connections 23
3.2.1.7 Exemplary connection plan and software settings for the following setup: 24
3.2.1.8 Electrical connection supply voltage and shield 25
3.2.1.9 Electrical connection PNP / NPN 25
3.3 Network settings, Short reference 26
3.3.1 Basic settings for PC and Vision Sensor 26
3.3.2 Direct Connection - Setting the IP Address of the PC 27
3.3.3 Network Connection - Setting the IP address of the Vision Sensor 28
4 Vision Sensor – Operating- and configuration software 30
4.1 Vision Sensor – Operating- and configuration software - Overview 30
4.1.1 Structure of PC software 30
4.1.2 Context help 31
4.2 Vision Sensor – Operating- and configuration software – Short introduction 31
4.2.1 Vision Sensor, Short introduction, Starting the software 31
4.2.2 Vision Sensor Device Manager: Open sensors or sensor simulation / Passwords 31
4.2.3 Passwords 33
4.2.4 Password levels: 33
4.3 Vision Sensor Configuration Studio: Setting sensor, Job 35
4.3.1 Job Setup 36
4.3.2 Alignment settings 37
4.3.3 Detector settings 38

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4.3.4 Output, I/O and data output 39
4.3.5 Result 41
4.3.6 Start sensor 42
4.4 Vision Sensor Visualisation Studio, display images and results 43
4.5 Vision Sensor – Operating- and configuration software – Vision Sensor Device Manager, all
functions 44
4.5.1 Active sensors 44
4.5.2 Sensors for simulation mode 46
4.5.3 Find / Add active sensor 46
4.5.4 Configuring a connected sensor 47
4.5.5 Display images and result data 47
4.5.6 Sensor's network settings 47
4.5.7 Update / Firmware update 48
4.5.8 User administration / Passwords 48
4.6 Vision Sensor – Operating- and configuration software – Vision Sensor Configuration Studio, all
functions 50
4.6.1 Jobs (Inspection tasks) 50
4.6.1.1 Creation, modification and administration of jobs 51
4.6.1.2 Loading and saving jobs and job sets 52
4.6.1.3 Parameters for image acquisition 53
4.6.1.4 Parameters for image transmission 54
4.6.1.5 Parameters Archiving 56
4.6.1.6 Filter for image improvement. 57
4.6.1.7 Parameters Cycle time 59
4.6.2 Alignment 60
4.6.2.1 Alignment Contour detection 60
4.6.3 Detectors 61
4.6.3.1 Creating and adjusting detectors 62
4.6.3.2 Selecting a suitable detector 63
4.6.3.3 Detector Pattern matching 64
4.6.3.4 Detector Contour 69
4.6.3.5 Contrast detector 75
4.6.3.6 Grey detector 78
4.6.3.7 Brightness detector 81
4.6.3.8 Barcode detector. 83
4.6.3.9 2D Code detector 91
4.6.4 Output of inspection results 99
4.6.4.1 I/O mapping 99
4.6.4.2 Functions of the programmable, digital inputs: 101
4.6.4.3 Output signals (Digital outputs / Logic) 104
4.6.4.4 Interfaces 106
4.6.4.5 Timing, Digital outputs 107
4.6.4.6 Telegram, Data output 112
4.6.5 Result 116
4.6.6 Start sensor 117
4.6.7 Further topics of Vision Sensor Configuration Studio 118
4.6.7.1 Trigger settings 118
4.6.7.2 Switching between online and offline mode 119
4.6.7.3 Simulation of jobs (offline mode) 119

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4.6.7.4 Creating filmstrips 120
4.6.7.5 Image recorder 122
4.6.7.6 Displays in image window 124
4.6.7.7 Search and parameter zones 124
4.7 Vision Sensor – Operating- and configuration software – Vision Sensor Visualisation Studio, all
functions 126
4.7.1 Image display 126
4.7.2 Commands / Freeze image 128
4.7.2.1 Zoom 128
4.7.3 Image recorder 128
4.7.4 Archiving test results and images 130
4.7.5 Statistics 131
4.7.6 Result 131
4.7.7 Changing active job 132
4.7.8 Upload 134
5 Communication 135
5.1 Possibilities of image- / data transfer and archiving 135
5.1.1 Ethernet, Port 2005 / 2006 135
5.1.1.1 Ethernet example 1: Pure data output from Vision Sensor to PC / PLC 135
5.1.1.2 Ethernet example 2: commands (requests) from PC / PLC to Vision Sensor 140
5.1.2 RS422 145
5.1.2.1 RS422 example 1: Data output from Vision Sensor to PC / PLC, and commands
(requests) to the Vision Sensor 145
5.1.3 PC- Archiving (Vision Sensor Visualisation Studio) 154
5.1.3.1 Start/end archiving: 156
5.1.4 Archiving via ftp or smb 157
5.1.4.1 Example: Archiving via ftp 157
5.1.4.2 Example: Archiving via smb 159
5.1.5 Ram disk (on the sensor) 166
5.2 Backup 169
5.2.1 Backup creation 169
5.2.2 Exchange Vision Sensor 169
5.3 Job switch 169
5.3.1 Job switch via digital inputs 169
5.3.1.1 Job 1 or Job 2 169
5.3.1.2 Job 1… 31 via binary bit pattern 169
5.3.1.3 Job 1..n via pulses 170
5.3.2 Job switch via Ethernet 170
5.3.3 Job switch via Serial 170
5.3.4 Job switch via Vision Sensor Visualisation Studio 170
5.4 Network connection 171
5.4.1 Installation of Vision Sensor into a network / gateway 171
5.4.2 Proceeding/Troubleshooting - Direct Connection 173
5.4.3 Proceeding/Troubleshooting - Network Connection 173
5.4.4 Used Ethernet- Ports 174
5.4.5 Access to the Vision Sensor via network 175
5.4.6 Access to the Vision Sensor via Internet / World Wide Web 177
5.5 Vision Sensor PROFINET, Introduction 179
5.5.1 Electrical connection Vision Sensor in the Profinet network 179

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5.5.2 Configuration of Vision Sensor via Vision Sensor Configuration Studio for the use with
PROFINET 179
5.5.2.1 Settings in Vision Sensor Device Manager 180
5.5.2.2 Setting of IP and name 180
5.5.2.3 Open Vision Sensor Configuration Studio 181
5.5.2.4 Select Interface “Profinet” 182
5.5.2.5 Definition of the telegram 182
5.5.2.6 Start sensor, data output 183
5.5.3 Profinet configuration of PLC, example Siemens S7-1200 TIA 184
5.5.3.1 Create a new project 184
5.5.3.2 Select GSD file 184
5.5.3.3 Adding Vision Sensor to Project 185
5.5.3.4 Connect Vision Sensor to PLC 185
5.5.3.5 Definition of I/O data 186
5.5.3.6 Set IP address of Vision Sensor in the project (Option 1) 186
5.5.3.7 Set IP Address with Vision Sensor Device Manager (Option 2) 187
5.5.3.8 Set the name with TIA interface 187
5.5.3.9 Write name into Vision Sensor 188
5.5.3.10 Translate project and write to PLC 189
5.5.3.11 Mapping of output data 189
5.5.4 Definition of the telegram 194
5.5.4.1 Module1: „Control“ (From PLC to Vision Sensor ) 194
5.5.4.2 Module2: “Status” (From Vision Sensor to PLC) 195
5.5.4.3 Module 3: “Data” (From Vision Sensor to PLC) 198
5.5.4.4 Module 4: „Request“ (From PLC to Vision Sensor ) 199
5.5.4.5 Module 5: „Response“ (From Vision Sensor to PLC) 200
5.5.4.6 Start- / End- criteria per each Profinet command 200
5.5.5 Timing diagrams to the Vision Sensor Profinet communication with a PLC 201
5.5.5.1 Case: Trigger ok 201
5.5.5.2 Case: Trigger not possible (not ready) 201
5.5.5.3 Case: Jobchange ok 202
5.5.5.4 Case: Jobchange delayed 202
5.5.5.5 Case: Jobchange not possible (e.g. wrong job number) 203
5.5.5.6 Case: Switch to run ok 203
5.5.5.7 Case: Switch to run not possible 203
5.5.5.8 Strong recommendations for PLC programmer 204
5.5.5.9 Request sequences 204
5.6 Rescue 206
6 Image settings and accessories 209
6.1 Good images 209
6.2 Environmental light, shrouding, IR- version 209
6.3 External illumination 209
6.4 The most important types of illumination are: Bright field, Dark field and Diffuse illumination. 211
6.4.1 Bright field illumination 211
6.4.2 Dark field illumination 212
6.4.3 Diffuse illumination (external only) 213
7 Technical Data 214
8 Type key 216

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9 Addendum 217
9.1 Telegram, Data output 217
9.1.1 Serial Communication ASCII 217
9.1.2 Serial communication BINARY 232
9.1.3 EtherNet/IP Assembly Request 247
9.1.4 EtherNet/IP Assembly Response 248
9.2 Starting Vision Sensor Visualisation Studio or Vision Sensor Configuration Studio via Autostart 249
9.3 Care and maintainance 249
9.3.1 Cleaning 249
9.3.2 Transport, packaging, storage 250
9.3.3 Waste disposal 250
9.3.4 Softreset 250
9.3.5 Sensor Firmware Update Vision Sensor 250

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1 Open Source Lizenzen
The Sensor software makes use of a couple of third party software packages that come with various
licenses. This section is meant to list all these packages and to give credit to those whos code helped in
the creation of the SBSI Vision Sensor software.
For components that reference the GNU General Public License (GPL) or the GNU Lesser General
Public License (LGPL), please find these licenses and the written offer for source code in this software
installation in \Festo\SBSI Vision Sensor\Eula\OpenSourceLicenses.
The SBSI Vision Senso firmware makes use of Linux Version 2.6.33 (Website: www.kernel.org), which is
distributed under the GNU GPL version 2.
The SBSI Vision Sensor firmware makes use of x-loader, an initial program loader for Embedded boards
based on OMAP processors (Website: http://arago-project.org/git/projects/?p=x-load-omap3.git;
a=summary) which is distributed under the GNU GPL version 2 or higher.
The SBSI Vision Sensor firmware makes use of u-boot, an initial program loader for Embedded boards
based on OMAP processors (Website: http://arago-project.org/git/projects/?p=x-load-omap3.git;
a=summary) which is distributed under the GNU GPL version 2 or higher
The SBSI Vision Sensor firmware makes use of spike Version 0.2,a SPI-driver (Website:
https://github.com/scottellis/spike/blob/master/spike.c ), which is distributed under the GNU GPL version
2 or higher.
The SBSI Vision Sensor firmware makes use of Busy-Box Version 1.18.1 ( Website:
http://www.busybox.net/ ), which is distributed under the GNU GPL version 2 or higher
The SBSI Vision Senso firmware makes use of vsftpd Version 2.0.3 ( Website:
https://security.appspot.com/vsftpd.html ), which is distributed under the GNU GPL version 2 or higher.
The SBSI Vision Sensor firmware makes use of mtd-utils Version 1.5.0 ( Website: http://www.linux-
mtd.infradead.org/doc/general.html ), which is distributed under the GNU GPL version 2 or higher.
The SBSI Vision Sensor firmware makes use of Boa Webserver Version 0.94.13 ( Website:
http://www.boa.org/ ), which is distributed under the GNU GPL version 2 or higher.
The SBSI Vision Sensor firmware makes use of Procps Version 3.2.8 ( Website
http://procps.sourceforge.net/download.html), which is distributed under the GNU GPL version 2 or
higher and GNU LGPL version 2.1 or higher.
The SBSI Vision Sensor firmware makes use of GnuPG Version 1.4.10 ( Website:
https://www.gnupg.org/ ), which is distributed under the GNU GPL version 3 or higher.
The SBSI Vision Sensor firmware makes use of glibc, which is distributed under GNU LGPL version 2.1
or higher.
The SBSI Vision Sensor firmware makes use of Dropbear - a SSH2 server Version 2012.55 ( Website:
https://matt.ucc.asn.au/ dropbear/dropbear.html ). The Dropbear SSH2 server is distributed under the
terms of the Dropbear License which is a MIT/X Consortium style open source license. Please find this
license in this software installation in \Festo\SBSI Vision Sensor\Eula\OpenSourceLicenses
SBSI Vision Sensor software is based in part on the work of the Qwt project (http://qwt.sf.net).

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1 General Information and Safety
1.1 Safety notes
Before starting the Vision Sensor, read these instructions carefully, ensure that you have understood
them and comply with them at all times.
The Vision Sensor should only be connected by a qualified electrician.
Do not tamper with or make alterations on the unit!
The Vision Sensor is not a safety-critical component and its use is prohibited under conditions where the
safety of persons may depend on its function.
The IP address set for the Vision Sensor should be marked on the enclosed label. After installation, stick
the label on the sensor in a clearly visible position.
The IP address of the Vision Sensor must be used once only in any network.
For Use with any Listed (CYJV) cable assembly.
1.2 Components supplied
lVision Sensor including integrated illumination.
lOperating instructions (User manual > www.festo.com/sp)
lMounting clamp, allen key, screwdriver, and protective cap for Ethernet plug.
lComputer software (PC) as download at: www.festo.com/sp
1.3 Requirements for use
Configuration of the Vision Sensor requires a standard PC/Notebook (at least Pentium 4, 1GHz and 512
MB RAM, with Microsoft Windows XP SP3, Vista or Windows 7) with network connection or a network
with TCP-IP protocol. We recommend a Pentium 4 Dual Core > 2GHz and 1GB RAM, for Windows
Vista or Windows 7. We recommend a screen resolution of min. 1024 x 768 pixels. A basic knowledge of
computers is also required. The Vision Sensor is supplied with the IP address 192.168.100.100 and a
subnet mask 255.255.255.0. The Vision Sensor is operated independently of a PC or PLC. A PC/notebook
is only necessary for configuration of the Vision Sensor.
Attention must be paid to sufficient and constant object illumination to ensure reproducible results and
avoid malfunction.
Reflections or varying incident light may affect detection results. If necessary, use an external light source
and/or light-screening / shrouding devices to exclude incident light

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2 Intended Use
2.1 Field of application
The Vision Sensor is an optical sensor and uses several evaluation methods according to the version:
pattern recognition, contrast detection, brightness, grey level, contour detection, barcode or Data Matrix
code reading. The product is designed for industrial use only. In residential areas possibly additional
measures for noise suppression must be done.
Object:
The Vision Sensor precisely detects faulty parts, parts in the wrong place, at the wrong angle or in the
wrong order or a combination of all of these features. A total of five detectors are available for inspection
tasks and interpretation: pattern recognition, contour detection, brightness, grey level and contrast
detection.
The Vision Sensor also offers alignment: it is thus now also possible to reliably detect those features
which do not appear with repeated accuracy in the taught position. All interpretation is carried out
relative to the actual position and angle of the part without having to define an independent characteristic
for each possible position. This high capacity tool also enables you to solve demanding pick and place
applications.
Code Reader:
Identification of products, components or packaging from printed or directly marked – punched or laser-
etched – codes is common practice in many sectors of industry today. The Vision Code Reader
immediately detects which part is in front of it: it can easily read numerous types of barcodes as well as
printed and directly marked data matrix codes according to ECC 200 standard, and this on any base
(metal, plastic, paper, glass). The sensor can even routinely decipher askew or warped codes or codes on
convex, reflective or transparent surfaces. The Vision Code Reader assesses the quality of your printed
or directly marked data matrix codes using standardised ISO and AIM quality parameters. This enables
you to introduce early correctional measures and thus avoid rejects due to illegible codes.
The Vision Sensor range is an economic alternative to conventional image processing systems.

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2.2 Functions overview
Characteristics Vision Sensor Object / Code Reader
Function Object
Std.
Code
Reader
Std.
Frames per second 50 50
Number of Jobs 8 8
Alignment Contour only
Number of detectors 32 2
- Pattern matching
(X-, Y- translation) X
- Contour matching
(X-, Y- translation and rotation) X
- Grey level X
- Contrast X
- Brightness X
- Data code X
- Barcode X
4 digital outputs, 2 inputs, PNP or NPN X X
Free definable digital In- / Outputs, PNP or NPN 2 2
Free shape of ROI contour only
Timeout, specified time response X X
Variable resolutions X X
Illumination quadrant controlled X X
Image recorder X X
Ethernet interface X X
RS422 / RS232 interface X
Profinet X X
EtherNet/IP interface X X
Sensor monitoring by Viewer, Job-Upload X X
R3 integrated 6 / 12 X / X X / X

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2.3 Sensor types
2.3.1 Object detection
Part no. Type Optics Depth of
focus
Internal
illumination
min.
operating
distance /
mm *1
min. Field
of view mm
x mm
R3 Standard White
2942261 SBSI-Q-R3B-F6-W 6 Normal White 6 5 x 4
2942262 SBSI-Q-R3B-F12-W 12 Normal White 30 8 x 6
R3 Standard IR
2942265 SBSI-Q-R3B-F6-NR *2 6 Normal InfraRed 6 5 x 4
2942266 SBSI-Q-R3B-F12-NR *2 12 Normal InfraRed 30 8 x 6
*1 For longer operating distances (from approx. 200 mm) external illumination may be necessary.
*2 External IR illumination is only possible with IR sensors or C-Mount sensors.
2.3.2 Code Reader
Part no. Type Optics Depth of
focus
Internal
illumination
min. operating
distance / mm
*1
min. Field
of view
mm x mm
R3 Standard White
2930232 SBSI-B-R3B-F6-W 6 Normal White 6 5 x 4
2930233 SBSI-B-R3B-F12-W 12 Normal White 30 8 x 6
2930242 SBSI-B-R3B-F6-W-D 6 Enhanced White 6 5 x 4
2930243 SBSI-B-R3B-F12-W-D 12 Enhanced White 30 8 x 6
R3 Standard Red
2930234 SBSI-B-R3B-F6-R 6 Normal Red 6 5 x 4
2930235 SBSI-B-R3B-F12-R 12 Normal Red 30 8 x 6
2930236 SBSI-B-R3B-F6-R-D 6 Enhanced Red 6 5 x 4
2930237 SBSI-B-R3B-F12-R-D 12 Enhanced Red 30 8 x 6
R3 Standard IR
2930238 SBSI-B-R3B-F6-NR *2 6 Normal InfraRed 6 5 x 4
2930239 SBSI-B-R3B-F12-NR *2 12 Normal InfraRed 30 8 x 6

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Part no. Type Optics Depth of
focus
Internal
illumination
min. operating
distance / mm
*1
min. Field
of view
mm x mm
2930240 SBSI-B-R3B-F6-NR-D *2 6 Enhanced InfraRed 6 5 x 4
2930241 SBSI-B-R3B-F12-NR-D
*2 12 Enhanced InfraRed 30 8 x 6
*1 For longer operating distances (from approx. 200 mm) external illumination may be necessary.
*2 External IR illumination is only possible with IR sensors or C-Mount sensors.

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2.4 Field of view / Depth of view
Field of view R3 6mm lens, internal
Fig. 1: Field of view R3 6mm lens, internal
Field of view R3 12mm lens, internal
Fig. 2: Field of view R3 12mm lens, internal

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Depth of view R3 6mm lens internal, normal
Fig. 3: Depth of view R3 6mm lens internal, normal
Depth of view R3 6mm lens internal, enhanced
Fig. 4: Depth of view R3 6mm lens internal, enhanced

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Depth of view R3 12mm lens internal, normal
Fig. 5: Depth of view R3 12mm lens internal, normal
Depth of view R3 12mm lens internal, enhanced
Fig. 6: Depth of view R3 12mm lens internal, enhanced

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3 Installation
3.1 Mechanical Installation
To ensure maximum accuracy of detection, the Vision Sensor should be protected from vibration. Secure
the supply and I/O cables with cable binders to prevent crushing or slipping.
Select a position for the Vision Sensor in which interfering factors such as slight differences in the
position of the object or variations in illumination have little or no effect.
Screw the Vision Sensor onto the mounting clamp (supplied with the unit) and then onto a suitable object.
Use only the mounting clamp MK 45 (no. 543-11000) or the mounting hinge MG2A (no.543-11023).
3.1.1 Arrangement for dark-field illumination
For the prevention of direct reflections and accentuation of edges etc.
Fig. 7: Arrangement for dark-field illumination

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3.1.2 Arrangement for bright-field illumination
For transmitted light/measuring tasks or for the accentuation of highly-reflective objects
Fig. 8: Arrangement for bright-field illumination
Observe the object clearance given in the table Field of View / Working Distance.
To avoid interfering reflection from the detection object, align the Vision Sensor at an angle of approx.
10°- 15° with reference to the optical axis.
Fine adjustment
Important: Fine adjustment of the Vision Sensor should not be carried out until after electrical connection
and start-up (PC software installation).

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3.1.3 Alignment for a vertical illumination
In order to assure the absolutely vertical alignment of the Vision Sensor to the object surface, put a piece
of reflective foil or a mirror on top of the object and start the Vision Sensor operating software. For an
image that is continually updated, select trigger mode „free run ? “ and image update: „continuous ?“. Then
align the sensor to the reflective surface / the mirror as vertical as possible until the integrated
illumination LEDs are directly dazzling in the image of the user interface (Arrangement for bright-field
illumination (Page 18)).
Fig. 9: Alignment for a vertical illumination

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3.1.4 Assembly Vision Sensor - Mounting bracket SBAM-C6-CP
Fig. 10: Assembly Vision Sensor - Mounting bracket SBAM-C6-CP
For fixing the Vision Sensor on a fixing system / machine housing, slide the provided dovetail mounting
bracket SBAM-C6-CP on the dovetail guide at the bottom side of the Vision Sensor and fix it at the
desired position with the hexagon socket in the cross hole of the mounting bracket.
3.2 Electrical installation
The electrical installation of the Vision Sensor must be carried out by a qualified person. When installing
the Vision Sensor, disconnect all electrical components from the power supply. When the unit is being
used in a network, ensure that the network address (IP address) of the Vision Sensor set by the
manufacturer at 192.168.100.100 is free and is not in use for any other unit connected to the system.
If necessary, re-set the IP address of the Vision Sensor as described in the section „Network settings“.
When the Vision Sensor is in use, the protective caps supplied must be pushed onto the M12 sockets
(data and LAN) which are not in use. For error free operation the length of the connecting cables must
not be longer than 30 m (except Ethernet cable). Failure to do this may cause malfunction.