Canon Industrial Imaging Platform Vision Edition 使用説明書

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1 Ver. 1.1

2 Canon Industrial Imaging Platform Vision Edition 2

3 Canon Industrial Imaging Platform Vision Edition * PC PC Power over Ethernet * A 180 ( ) ( ) AF AF 3

4 ( ) A PC PoE PLC PC PC COBOTTA Power over Ethernet (Programmable Logic Controller) USB HDD ( ) [Í] [Î] [ ] ( ) 4

5 5

6

7 PLC D D NCC I/O

8 USB

9

10 (A 11) & (A 111) (A 113) (A 121) (A 123) PLC (A 46) & (A 131) (A 140) 10

11 1 FA PoE PLC & PoE VB-S30D / VB-S30D Mk II VB-H43 / VB-H45 VB-S910F N10-W02 COBOTTA (Ethernet b-cap) PLC PLC (Ethernet SLMP) * 1 *1 QnA 3E 11

12 12

13 PC

14 PoE PC PC PLC PoE PLC PoE IP ( ) PoE PoE PoE PoE LAN ( ) PoE 1 LAN LAN1 ( ) 6 LAN ( ) 2 LAN PoE LAN PoE 14

15

16 (A 17) (IP : ) (A 163) IP IPv4 16

17 (13) (14) (15) (16) (17) (18) (19) (20) (21) (22) (23) 3 (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (24) (25) (12) (26) (1) (2) (A 69) (3) (A 19) (17) 1 (4) (5) (A 23 25) (6) (A 29) (7) (A 33) (8) (A 34) (9) (A 46) (10) (A 64) (11) (12) XY (13) (A 163) (14) (A 63) (15) (A ) (16) (A 168) (18) (A 161) (19) (20) (A 67) (21) (A 67) (22) (A 69) (23) (24) (25) (26) ( ) 17

18 (A 16) (A 69) (A 19) (A 23) (A 25) (A 29) (A 46) (A 33) (A 63) (A 64) (A 34) (A 71) (A 67) (A 69) (A 67) (A 168) (A 46) (A 17) (A 158) 18

19 & [ ] 3 (1) (2) (1) [] No. (2) (1) 10 (10 ) ( ) - ( ) ( ) - ( ) ( ) - ( ) : : : 19

20 ( ) - ( ) ( ) - ( ) ( ) - ( ) ( ) - ( ) ( ) ( ) ( ) ( ) : : : : : : : 1 [ ] [ ] [ ] 2 (1) [ ] (2) [NewJOB] [OK] 3 [OK] [ ] 1 [ ] [ ] 20

21 2 ( ) 3 [OK] 3 1 [ ] [ ] 2 [OK] 1 [ ] [ ] 2 3 [OK] 1 [ ] [ ] [ ] 2 (cve ) [ ] [OK] 3 [OK] 1 [] [] 2 [ ] 3 [OK] 21

22 [JOB 1] [JOB10] (A 34) (A 25) (A 29) (A 33) (A 46) (A 64) (A 17) (A 69) 1 1 No. No. [JOB 1] [JOB 10] 2 No. 3 [ ] No. (A 17) 4 [ ] [ ] [ ] [ ] 22

23 4 3 [ ] (1) (2) (1) XY (2) ( ) 1 [ 1] [ 4] [ 1] 2 [ ] IP IP IP 4 IP IP IP 23

24 3 [ ] 4 [OK] [ ] [ ] 24

25 3 1 [ ] [ ] [ ] [ ] [AF] [AF] 1 [ ] [ ] [ ] [ ] [ ][ ] [ ] 2 [ ] 3 [OK] 1 [ ] [] [ 2 ] [ ] [ ] [ ] 6 [ ] [] 25

26 [ 2 ] [] 1/100 ( ) [] [ ] [ ] 2 [ ] 3 [ ] 4 [ ] 5 [OK] [ ] 1 [ ] [ ] [ ] [] [ ] [ ] [ ] [ ] [ ] 2 [OK] 1 [ ] [ ] [ ] 26

27 2 [WB] 1 3 [OK] 1 [ ] 3 [ ] [ ] [ ] 2 3 [ ] 4 [OK] [ ] 1 [ ] [ ] 256 (0 255) [3 ] R ( ) G ( ) B ( ) [R ] R ( ) [G ] G ( ) [B ] B ( ) [ ] (A 123) 2 [ 180 ]

28 [ ] [3 ] [R ] [G ] [B ] 1 [ ] [ ] 2 [ ] 3 [ ] 4 [OK] 28

29 () (A 23) USB [ ] (1) (3) (2) (4) (1) (2) XY (3) (4) ( ) 29

30 1 [1. ] [ ] [ ] 4 2 [ ] [3. ] [xxx] xxx [ ] 3 [xxx] 1 USB (1) [ ] (A 23) USB (1) USB USB (2) [ ] USB (3) (4) [ ] 4 (A 27) (A 123) [ ] 5 [ ] [ ][xxx] [ ] 30

31 5 [ ] [3 ] [R ] [G ] [B ] [ ] [ ] 3 4 [OK] 1 2 [ ] [ ] 3 [OK] 1 [ ] [3. ] [ ] 2 3 [OK] [3. ] 31

32 1 2 [Í] [Î] [ ] [ ] 32

33 [ ] [ [deg]] [ ] [ ] (1) (1) [ ] [ [deg]] [ ] 2 [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () [OK] 33

34 & [NewJOB] (A 19) [ ] (1) (2) (3) (4) (5) (6) (1) (A 35) (2) (3) (4) (5) (A 35) [ ] OK NG [ [ms]] [ ] 34

35 [NG ] NG (6) 3 1 (A 35) (A 71) (A 37) (A 37) 2 (A 37) 6 (A 71) (A 86) (A 88) (A 89) (A 89) (A 92) (A 93) 35

36 (A 95) (A 97) (A 99) (A 100) (A 103) (A 105) (A 108) (A 111) 1D (A 113) 2D (A 117) (A 119) (A 121) (A 123) ( ) NCC (A 126) (A 128) (A 131) (A 136) (A 140) (A 141) I/O (A 142) (A 144) (A 145) (A 146) (A 149) (A 150) (A 151) 2 (A 152) 2 (A 153) 1 [ ] 36

37 2 3 1 [ ] [ ] [ ] 3 2 2[ ] [ ] 1 (A 36) (A 37) 2 [ ] 1 [ No.xxx]xxx [] [ ] [OK] 1 1 (A 36) 2 [ ] [ ] 3 [OK] 37

38 1 1 (A 36) 2 [ ] [ ] 3 [ ] 1 [OK] USB PNG 1 USB USB 2 [ ] 3 [ ] USB 4 USB (A 165) [ ] 38

39 (1) (2) (3) (4) (5) (6) 3 (1) No. (2) (3) [0] (4) [ ] [ ] (5) (6) 1 2 [ No.] [ ] [ ] [ ] [ ] 3 [OK] 1 39

40 (A 126) [ ] (1) (2) (3) (4) (1) No. (2) (3) (4) NCC (5) (6) (7) (5) (6) (7) 40

41 NCC : 3 (1) (2) (1) (2) NCC 1 [ ] [NCC ] [ ] [NCC xxx] xxx 2 [NCC xxx] [ ] NCC (A 23) (A 29) [ ] (A 73) [ ] (A 81) 41

42 6 [ /] (1) [ ] (2) XY [ ] XY [] 7 (1) [ [ms]] 8 [ ] (1) [ ] [ ] [1] [7] (2) [ ] (3) [ ] (4) (5) [ ] 42

43 9 [OK] [ ] 3 1 [ ] [ ] [ ] [ xxx] xxx 2 [ xxx] [ ] (A 23) (A 29) [ ] (A 73) [ ] (A 81) 6 [ /] (1) [ ] (2) XY [ ] XY [] 7 (1) [ [ms]] 43

44 8 [ ] (1) [ ] [ ] [1] [7] (2) [ ] (3) [ ] (4) 9 (1) (2) (3) [ ] (4) [ ] [ ] (5) 44

45 (6) [ ] 10 [OK] [ ] 3 45

46 PLC PLC PLC (A 61) (A 46) PLC (A 53) IP IP ANY* 1 AUTO* 1 b-cap *1 (A 131) (A 133) (A 2) (A 131) b-cap () I I 46

47 b-cap ( ) b-cap ONLINEMODE 3 b-cap Command Data Command ( ) CommandCodeSet CommandExe OPT [Timer > ] CommnadExe Timeout Command ( ) Command ( ) Command OPT [Command[3]>=91 and Command[3]<=99] Receive ErrorCode CommandProcessing OPT [Timer > ] CommandProcessing Timeout Command CommandEnd 47

48 5 5 I Command No Command Command[1] Command[2] Command[3] Command[4] Command[5] = = = = 4 1 = JOB01 2 = JOB02 3 = JOB03 4 = JOB04 5 = JOB05 6 = JOB06 7 = JOB07 8 = JOB08 9 = JOB09 10 = JOB10 91 = 92 = JOB 0 1 = 0 1 = 0 * 1 I[0] I[1] I[2] I[3] I[4] *1 [ I ] 0 48

49 D D Data No Data * 1 Data[1] JOB ( ) D[0] Data[2] ( ) D[1] Data[3] () [ ] No.01 D[2] Data[4] () [ ] No.02 D[3] Data[5] () [ ] No.03 D[4] Data[6] () [ ] No.04 D[5] Data[7] () [ ] No.05 D[6] Data[8] () [ ] No.06 D[7] Data[9] () [ ] No.07 D[8] Data[10] () [ ] No.08 D[9] Data[11] () [ ] No.09 D[10] Data[12] () [ ] No.10 D[11] Data[13] () [ ] No.11 D[12] Data[14] () [ ] No.12 D[13] Data[15] () [ ] No.13 D[14] 3 49

50 Data No Data Data[16] () [ ] No.14 () [ Data[17] ] No.15 () [ Data[18] ] No.16 () [ Data[19] ] No.17 * 1 D[15] D[16] D[17] D[18] *1 [ D ] 0 50

51 3 #Include "sub_visionedition.pcs Sub Main Call vision_command(101) End Sub #include sub_visionedition.pcs '!TITLE "VisionEdition SampleProgram " Sub vision_command(byval Command_num As Integer) End Sub I 0 D 0 51

52 ( ) '!TITLE "VisionEdition SampleProgram " #Pragma Optimize( "wait-idling-time", 100 ) Sub vision_command(byval Command_num As Integer) '//// Variable declaration Dim index_num as integer 'Data index number '//// To specify a starting location for data index number index_num = 0 '//// CommandCodeSet I[index_num + 1] = Command_num '//// CommandExe I[index_num + 0] =1 Wait I[index_num + 2] <> 0, '//// Receive ErrorCode If (I[index_num + 2] >= 91 and I[index_num + 2] <= 99 )Then Err.Raise &h c 'Error Occur_VisionEdition Receive ErrorCode GOTO *PrgEND End IF '//// CommandExe Timeout If I[index_num + 2] <> I[index_num + 1] Then Err.Raise &h 'Error Occur_VisionEdition CommandExe Timeout GOTO *PrgEND End IF '//// CommandProcessing Wait I[index_num + 3] = 1, '//// CommandEnd Wait I[index_num + 4] = 1, '//// CommandProcessing Timeout If I[index_num + 4] <> 1 Then Err.Raise &h 'Error Occur_VisionEdition CommandProcessing Timeout GOTO *PrgEND End IF '//// Finalization *PrgEND: End Sub 52

53 PLC PLC PLC IP IP RUN ON TCP MC (SLMP) QnA 3E 3 PLC PLC PLC QnA 3E PLC () PLC PLC 53

54 PLC PLC SLMP ( ) SLMP ONLINEMODE SLMP Command Data Command ( ) CommandCodeSet CommandExe OPT [Timer > ] CommnadExe Timeout Command ( ) Command ( ) Command OPT [Command[3]>=91 and Command[3]<=99] Receive ErrorCode CommandProcessing OPT [Timer > ] CommandProcessing Timeout Command CommandEnd 54

55 PLC 5 (D) Command No Command Command[1] Command[2] Command[3] Command[4] Command[5] 101 = = = = 4 1 = JOB01 2 = JOB02 3 = JOB03 4 = JOB04 5 = JOB05 6 = JOB06 7 = JOB07 8 = JOB08 9 = JOB09 10 = JOB10 91 = 92 = JOB 1 = 1 = PLC * 1 D000 D001 D002 D003 D004 3 *1 [ D ] 0 55

56 PLC PLC (D) (D) Data No Data PLC * 1 Data[1] JOB ( ) JOB D010 Data[2] ( ) Data[3] * 2 No.1 () Data[4] * 2 No.2 () Data[5] * 2 No.3 () () Data[6] * 2 No.4 Data[7] * 2 No.5 () () Data[8] * 2 No.6 () Data[9] * 2 No.7 () Data[10] * 2 No.8 () Data[11] * 2 No.9 Data[12] * 2 No.10 () Data[13] * 2 No.11 () Data[14] * 2 No.12 () () Data[15] * 2 No.13 D011 D012 D013 D014 D015 D016 D017 D018 D019 D020 D021 D022 D023 D024 D025 D026 D027 D028 D029 D030 D031 D032 D033 D034 D035 D036 D037 56

57 Data No Data Data[16] * 2 () No.14 () Data[17] * 2 No.15 Data[18] * 2 No.16 () () Data[19] * 2 No.17 PLC * 1 D038 D039 D040 D041 D042 D043 D044 D045 3 *1 [ D ] 10 *2 [ ] 1 PLC : No D012 D

58 PLC PLC 58

59 (D ) 0 (D ) 10 PLC (Sensing Start) M1 - (CommandExe) M2 - (CommandProcessing) M3 - (CommandEnd) M4 - (ErrorReset) M5 - (CommandExeTimeout) T0 60 (CommandProcessingTimeout) T1 60 (Error_CommandExe Timeout) L1 - (Error_CommandProcessing Timeout) L2 - (Error_Receive ErrorCode) L3 - D [ ] 59

60 1 [ ] [ ] 2 [ ] [ ] (1) IP IP IP 4 (2) [ I ] (3) [ D ] (4) 3 [ ] [] [ ] (A 173) 4 [OK] [] 5 [OK] PLC 1 [ ] [PLC(SLMP)] 2 [PLC(SLMP)] [ ] IP PLC (1) IP PLC IP IP 4 (2) PLC [ D ] [ D ] [ ] [PC ] [ I/O ] [ ] [CPU ] 60

61 (3) PLC 3 [ ] PLC [PLC ] [ ] (A 173) 4 [OK] [] 3 5 [OK] 1 [ ] [ ] [ ] [ ] [ ] 4 [ ] 2 (1) [] (2) [0] (3) 3 [OK] 4 [OK] [] [0] [ ] [ ] [ ms ] [ ] [ ] 61

62 [ ] 1 [ ] [ ] [ ] [ ] [ ] [ ] [ ] (A 33) 2 [OK] 1PLC (A 49) 62

63 [ ] 3 [OK] [NG] [NG] [ ] [ ] [OK] [ 1] [ 4] (A 89) 63

64 [ ] (1) (2) (3) (1) (2) (3) (A 23) 1 2 [ ] [ ] [ ] [ ][ ] 3 64

65 [ ] 4 (1) [ ] 3 (2) [NG ] (3) [ ] 4 (1) [ ] [ ] [ ] [ ] [ ] [ ] (A 33) (2) [ ] (3) [ ] (4) [ ] 4 (1) (XY ) [X] [Y] [X] [Y] (2) [ ] 5 [NG] 65

66 (1) [ ] (2) [ ] (3) [ ] [ ] [ ] (4) [ ] 6 [OK] [ ] 66

67 3 1 2 (A 35) [ ] [ ] [ ][ ] 3 [OK] ( ) [NG] ( ) 1 (A 72) 67

68 2 [ ] [ ] 3 [ /] [ ] 2 [] (A 82) XY 4 [ ] [ ] [][] 5 [OK] ( ) [NG] ( ) 6 [OK] 68

69 : 3 : PLC [ ] [OK] [] (ms) [NG ] NG [ ] [] 69

70 70

71

72 (A 35) : 1D (6) (7) (8) (9) (10)(11)(12)(13) (14)(15)(16)(17) (1) (18) (19) (20) (2) (3) (4) (5) (21) (22) (1) (A 30) (2) (3) XY (4) (A 173) (5) (6) (7) (8) (9) (10) (11) ( ) (12) 72

73 (13) (14) (A 67) (15) (A 67) (16) (17) (A 168) (18) 4 (19) (20) (21) ( ) (22) [ ] [ ] (1)(2) (3) (4) (5) (6)(7)(8) (9) (10) (11) (12) (13) (14) (1) (2) (3) (4) (5) (6) 73

74 (7) (8) (9) (10) (11) (12) (13) (14) (XY ) 1 [ ] 2 [ ] [ ] [ ] [ ] [ ] [ ] 6 3 [ ] [ ] ( ) [ ] ( ) 4 [OK] 74

75 4 1 [ ] [ ] [ ] 2 3 [ X] [ Y] [ X] [ Y] [ ] [ ] [ ] [ ] [ ] [ ] (A 33) 4 [ ] 75

76 1 [ ] [ ] [ ] 2 3 [ X] [ Y] [ ] [ 1] [ 2] [ X] [ Y] [ 1] [ 2] : [ ] [ ] [ ] [ ] : [ [deg]] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [ ] (A 33) 4 76

77 [] 4 1 [ ] [ ] [ ] 2 3 [ X] [ Y] [ ] [ X] [ Y] : [ ] [ ] [ ] [ ] : [ ] [ ] [ ] [ ] [ ] [ ] [sin] ( ) [cos] ( ) [tan] () [ ] 77

78 [ ] (A 33) 1 [ ] [ ] [ ] 2 3 [ X] [ Y] [ ] [ ] [ ] [ X] [ Y] [ ] [ ] :[ ] [ ] [ ] [ ] : [ [deg]] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] 78

79 [ ] (A 33) 4 [ ] [ ] 4 1 [ ] [ ] [ ] [ X] [ Y] [ ] [ ] [ ] [ ] [ X] [ Y] : [ ] [ ] [ ] [ ] [ ] : [ ] [ ] [ ] [ ] [ ] [ ] : [ [deg]] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () 79

80 [ ] [ ] (A 33) 1 [ ] [ ] [ ] [ X] [ Y] [ ] [ ] [ X] [ Y] : [ ] [ ] [ ] [ ] [ ] : [ ] [ ] [ ] [ ] [ ] [ ] [sin] ( ) [cos] ( ) [tan] () 80

81 [ ] [ ] (A 33) 4 OK OK 1 [ ] [ ] (A 35) [ ] (1) (2) (3) (4) (1) (2) (3) (4) 81

82 1 [ ] [ 2 ] [ ] [ ] [ ] X Y [ ] ([] [ ]) + 2 [ ] [ ] 2 ( ) ( ) 3 [ ] (A 29) [ ] 82

83 [ ] 4 1 [ ] [ ] OK [ ] [ ] NG 2 (XY ) ( ) ( ) X Y (XY ) (A 67) 3 [ ] NCC [ ] (Avg) (Max) (Min) [ ] ( ) 83

84 (1) (2) (1) [ ] [ ] [ ] (2) 1 (A 35) [ ] (XY ) [ ] [X] [Y] [ ] [ ] [ ] [ ] [ ] [ ] [sin] ( ) [cos] ( ) [tan] () [ ] [ ] (A 33) [ ] [ ] (XY ) [ ] (A 84) [ ] [X] [Y] [ ] [ ] [ ] [ ] [ ] [ [deg]] [ ] [ ] 84

85 [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () [ ] [ ] 4 [ ] (A 33) * * [ ] [ ] 30 [ ] [ ] [ ] 2 [ ] [ ] [ ] [ ] 85

86 (A 23) (A 72) 1 [ ] (A 30) 2 1 [ ] 3 [ 1] [ 2] [ ] [ 1] [ 2] (A 25) 86

87 (1) [ 1] [ ] [ ] [ ] (2) [ ] (A 27) (3) [ ] [ 180 ] 4 (4) [ 2] [ ] (5) [ ] [ ] (A 29) (6) [OK] 4 [ ] ( ) [ ] (ms) 5 [ ] [ ] [ ] (A 82) 6 [OK] 87

88 (A 23) 1 1 [ ] (A 23) (A 30) 2 1 [ ] 3 (A 25) (1) (2) [OK] 4 [ ][ ] ( ) [ ] (ms) 5 [OK] 88

89 Yes No Yes No 4 1 [ ] 2 [OK] 3 Yes No Yes (A 67) Yes No [OK] Yes [NG] No 20 89

90 1 1 [ ] [ ] [ ] [ ] [ ] [ ] (A 33) [ ] [ 1] [ 4] (A 63) 2 [ ] 1 [ ] 6 [ 1 ] [ 1] [ 1 ] [ 1 ] [ 1 ] [ 1 ] [ 1 2 ] [ 1 2 ] 3 [ 1] [ 1] [ ] [ [deg]] [ ] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () 90

91 [ ] [ ] (A 33) 4 [ 2] [ 2] [ 1 2 ] [ 1 2 ] [ ] [ ] [ ] [0] 6 [OK] 7 xxx xxx [] (A 67) [OK] [NG] [NG] 91

92 ( ) (A 72) (1) (2) (1) ( ) (2) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 73) 92

93 4 [ ] 5 6 [ ] [ ] [ ] ( ) [ ] [ ] [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] (A 72) (2) (3) (4) (5) (1) (6) (7) (8) (1) X Y 93

94 (2) ( ) (3) (4) (5) (6) ( ) (7) ( ) (8) 1 (A 30) (A 30) 2 3 [ ] (A 73) 4 [ ] [ ] 5 [ ] [ ] [ X] [ Y] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) 94

95 8 2 9 [OK] 4 (A 72) (3)(4) (1) (2) (5) (6) (1) XY (2) ( ) (3) ( ) [ ] [ ] 95

96 (4) ( ) (5) () (6) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 76) [ ] 4 [ ] (1) [ ] [ ] [ ] [ ] (2) [ ] [] [] [ ] (3) [ ] (4) [ ] 5 [ ] [ X] [ Y] [ ] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] 96

97 2 ( ) (A 72) (2) (3) (4) 4 (1) (5) (6) (7) (8) (9) (10) (1) X Y X Y X Y (2) ( ) (3) ( ) (4) ( ) (5) ( ) (6) (7) ( ) (8) ( ) (9) ( ) (10) ( ) 97

98 1 (A 30) (A 30) 2 3 [ ] (A 76) [ ] 4 [ ] (1) [ ] [ ] [ ] (2) [ ] [ ] [ ] [ ] (3) [ ] [] [] [ ] (4) [ ] (5) [ ] 5 [ ] [ ] [ X] [ Y] [ X] [ Y] [ ] [ X] [ Y] [ ] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] 98

99 (A 72) (4) 4 (1) (2) (3) (1) XY (2) ( ) (3) () (4) 1 (A 30) (A 30) 2 99

100 3 [ ] (A 79) [ ] [ ] ( ) [ ] (1) [ ] [ ] [ ] [ ] (2) [ ] [] [] [ ] (3) [ ] (4) [ ] 5 [ ] [ ] () [ X] [ Y] [ ] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] 100

101 (A 72) (5) (6) (7) (8) 4 (1) (9) (2) (10) (11) (3) (4) (1) X Y X Y X Y X Y (2) ( ) (3) ( ) (4) () (5) ( ) (6) ( ) (7) ( ) (8) ( ) (9) (10) ( ) (11) 101

102 1 (A 30) (A 30) 2 3 [ ] (A 76) [ ] [] 4 [ ] [ ] (1) [ ] [ ] [ ] [ ] (2) [ ] [] [] [ ] (3) [ ] (4) [ ] (5) [ ] 5 [ ] [ ] (1) [ ] [ ] [ ] [ ] [ ] [ ] ( ) [ ] [ ] (2) [ ] [Ü] [+] 102

103 6 [ ] 7 8 [ X] [ Y] [ X] [ Y] [ ] ( ) [ X] [ Y] [ X] [ Y] [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] 2 ( ) ( ) (A 72) 103

104 (3) (4) (5) (1) (2) (6) (7) (8) (9) (1) X Y (2) ( ) (3) ( ) (4) ( ) (5) (6) ( ) (7) ( ) (8) ( ) (9) ( ) 1 (A 30) (A 30) 2 104

105 3 [ ] (A 76) [ ] 4 [ ] [ 1] (1) [ ] [ ] [ ] [ ] 4 (2) [ ] [] [] [ ] (3) [ ] (4) [ ] 5 [ ] [ 2] (1) [ ] 6 [ ] [ ] ( ) [ X] [ Y] [ X] [ ] 7 8 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] (A 72) 105

106 (4) (5) (1) (2) (3) (1) X Y (2) ( ) ( ) (3) (4) ( ) (5) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 80) [ ] 106

107 4 [ ] [ 1] (1) [ ] [ ] [ ] [ ] (2) [ ] [] [] [ ] (3) [ ] (4) [ ] 4 5 [ ] [ 2] (1) [ ] [ ] [ ] (2) [ ] 6 [ ] (1) [ ] [ahuber] [algebraic] [atukey] [geometric] [geohuber] [geotoukey] (2) [ ] 7 [ ] [ ] (1) [ ] [ ] [ ] ( ) (2) [ ] [ ] [Ü] [+] 107

108 8 [ ] 5 [ ] [ ] ( ) 9 [ ] [ X] [ Y] [ ] [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] (A 72) 108

109 (4) (5) (6) (1) 4 (2) (3) (1) X Y (2) ( ) ( ) (3) ( ) (4) (5) ( ) (6) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 78) [ ] 109

110 4 [ ][ 1] (1) [ ] [ ] [ ] [ ] (2) [ ] [] [] [ ] (3) [ ] (4) [ ] 5 [ ][ 2] (1) [ ] [ ] [ ] (2) [ ] 6 [ ] [ ] (1) [ ] [ ] [ ] ( ) (2) [ ] [ ] [Ü] [+] 7 [ ] [ X] [ Y] [ ] ( 0 ) [ ] [ ] [ ] 8 9 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) 110

111 [OK] 4 ( ) (A 72) (4) (5) (6) (7) (1) (8) (2) (3) (1) X Y X Y X Y X Y X Y X Y [ ] (A 83) (2) 111

112 (3) ( ) (4) ( ) (5) ( ) (6) (7) (8) 1 (A 30) (A 30) 2 3 [ ] (A 73) 4 [ ] [ ] [ ] (1) [ ] [ ] [ ] (2) [ ] (3) [ ] [ ] [ ] [ ] [ ] 5 [ ] [ X] [ Y] [X] [Y] [X] [Y] 112

113 [ ] [ ] [ X] [ Y] [X] [Y] [ X] [Y] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] 1D ( ) 1D (A 72) (1) (2) (3) (5) (6) (4) (1) X Y[ ] [0] (2) ( ) 1 113

114 (3) ( ) 1 (4) 1 ( ) (5) 1D1 (6) ( ) 1D 1 [ ] 1D2D 1D2D [ ] (1) [ ] [ ] A 115 UPC-A UPC-A Add-On 2 UPC- A Add-On 5 A 117 (1) (2) [ ] (csv ) [OK] [ ] (3) [] [OK] (2) (3) (4) (4) [][OK] 2 (A 30) (A 30) 3 4 [ ] 1 (A 73) 114

115 5 [ ] 1[ ] 1 1 (1) [ ] 1 2/5 Industrial 2/5 Interleaved Codabar Code 39 Code 93 Code 128 MSI PharmaCode EAN-8 EAN-8 Add-On 2 EAN-8 Add-On 5 EAN-13 EAN-13 Add- On 2 EAN-13 Add-On 5 UPC-A UPC-A Add-On 2 UPC-A Add-On 5 UPC-E UPC-E Add-On 2 UPC-E Add-On 5 GS1-128 GS1 DataBar Omnidir GS1 DataBar Truncated GS1 DataBar Stacked GS1 DataBar Stacked Omnidir GS1 DataBar Limited GS1 DataBar Expanded GS1 DataBar Expanded Stacked 4 (2) [ ] (3) [] [] 1 6 [ ] 1[ ] 1 1 (1) [ ] 1 (2) [ ] 1 (3) [ ] 1 115

116 7 [ ] 1[ ] 1 (1) [ [deg]] 1 (2) [ [deg]] [ ] [ ] 1 [OK] [ ] 9 [ ] [] [ ] 1 [ ] [ ] 10 [ ] 1 [] [ X] [ Y] [ ] ( 0 ) [ ] 1D (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] [ ] PharmaCode [,] ( ) [ ] 116

117 [ ] A 115 UPC-A UPC-A Add-On 2 UPC-A Add-On 5 [ ] 0 : abc abc 2D ( ) 4 2D (A 72) (2) (3) (1) (4) (1) X Y[ ] [0] (2) ( ) 2 (3) 2 ( ) 2 (4) ( ) 2 117

118 2D 1 [ ] (A 114) 1D 1[ ] 2 (A 30) (A 30) [ ] 2 (A 73) [ ] 2[ ] 2 2 (1) [ ] 2 Aztec ECC 200 GS1 Aztec GS1 DataMatrix GS1 QR Micro QR PDF417 QR (2) [ ] 2 [ ] [ ] [ ] (3) [ ] 2 (4) [] 2 [ ] [ ] (5) [ ] 2 [ ] [ ] [ ] 6 [ ] 2[ ] [ ] 5 (1) 2 2 [PDF417] (2) 2 2 [PDF417] 118

119 (3) 2 2 [PDF417] (4) 2 2 [ECC200] [QR] (5) [[deg]] 2 2 [ECC200] 7 [ ] [ ] 2 [OK] [ ] 4 8 [ ] 2 [] [ X] [ Y] [ ] ( 0 2 ) 9 [ ] 2 (A 81) 10 [ ] [ ] [ ] [ ] (A 82) [OK] (0 9) 15 (A 72) 119

120 (2) (3) (1) (1) (2) ( ) (3) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 73) 4 [ ] (1) [ ] ( ) ( ) [ ] 120

121 (2) [ ] (3) [ ] [ ] [ ] [ ] [ ] [ ] 4 (4) [] (5) [ ] 5 [ ] [ ] [] 6 7 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] (A 72) 121

122 (2) (3) (1) (4) (5) (1) (2) ( ) (3) ( ) (4) ( ) (5) ( ) 1 (A 30) (A 30) 2 3 [ ] (A 79) [ ] [ ] ( ) (A 100) 122

123 4 [ ] (1) [ ] [ ] [ ] [ ] (2) [ ] (3) [ ] 4 5 [ ] [ ] (1) [ ] ( ) (2) [ ] (3) [ ] ( ) (4) [ ] (5) [ ] ( ) 6 [ ] [] 7 8 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82) [OK] R G B RGB (A 72) 123

124 (1) (2) (1) R G B (2) RGB ( ) 1 (A 23) (A 29) 2 3 [ ] RGB (A 73) 4 [ ] RGB XY RGB [R ] [G ] [B ] 5 [ ] RGB (A 81) 124

125 6 [ ] [ ] [ ] [ ] (A 82) [OK] 4 125

126 NCC NCC (A 41) NCC (A 72) (2) (3) (1) (1) X Y X Y (2) ( ) (3) ( ) NCC 1 (A 30) (A 30) 126

127 2 3 [ ] (A 73) 4 [ ] (1) NCC (A 41) 4 (2) [] [ ] (1) [ ] (2) [ ] [ ] ( ) (3) [ ] [ ] ( ) 6 [ ] [ ] ( ) [ ] (NCC ) [ X] [ Y] (NCC NCC (A 41) ) [ ] ( ) 7 8 [ ] (A 81) [ ] [ ] [ ] [ ] (A 82)

128 10 [OK] (A 43) (A 72) (2) (3) (1) (1) X YX YX Y X Y (2) ( ) (3) (A 43) 1 (A 30) (A 30) 128

129 2 3 [ ] (A 73) 4 [ ] 4 (1) (A 43) (2) [] 1.00 [none] ( ) [interpolation] [least_squares] [least_squares_high] [least_squares_very_high] (3) [ ] [ ] (1) [ ] (2) [ ] [ ] ( ) (3) [ ] [ ] ( ) 6 [ ] [ ] ( ) [ ] ( ) [ X] [ Y] ( (A 43) ) [ ] ( ) [ X] [ Y] ( ) 7 [ ] (A 81) 129

130 8 [ ] [ ] [ ] [ ] (A 82) [OK] 130

131 (A 46) 4 1 [ ] [ ROBOT] (A 133) 2 2 (1) Approach Depart [ ] [Approach] [Depart] [ ] 131

132 [Approach] [ ] A 134 -Zt Approach [Depart] A 134 -Zt Depart (2) [CP] [PTP] [CP] [PTP] (3) [1%] [10%] [50%] [100%] 3 [ ] [ ] XYZ RxRyRz [] [ ] (P ) [ P ] (P ) [P] [ ] [ ] [ ] [ ] (P ) 4 [ ] (A 46) 5 [ ][ ] (A 82) 6 [OK] 132

133 4 1 [ ] [Motor] ON [Motor] [Motor] OFF 2 [ ] [XY- ] [ ] [ ] [XY- ] ( ) *1 X (-X) Y (-Y) Z (-Z) Rx (-Rx) Ry (-Ry) Rz (-Rz) *1 133

134 +Rz +Rx +Ry +Z +X +Y [ ] *2 Xt (-Xt) Yt (-Yt) Zt (-Zt) Rxt (-Rxt) Ryt (-Ryt) Rzt (-Rzt) *2 +Rzt +Zt +Ryt +Yt +Rxt +Xt [ ] (J1 J6) +J3 +J6 +J5 +J4 +J2 +J1 3 1 [ ] [1] [5] [10] [50] [100] 134

135 [ ] [1] [5] [10] [50] [100] 4 1 (A 139) [XY- ] [ ] [ ] XYZ RxRyRz [ ] [ ] [ ] XtYtZt RxtRytRzt [ ] [ ] [ ] [ ] (J1 J6) 4 5 [ ] [ ] 6 [ ]1 (A 25) [ 1] (A 23) 7 [ ] 135

136 1 [ ] [ ROBOT] (A 133) 2 2 [ ] [ ] XYZ RxRyRz [] [ ] (P ) [ P ] (P ) [P] [ ] [ ] [ ] [ ] (P ) [ ] 136

137 3 (A 139) Xt Yt [pixel mm] [mm] Xt Yt Zt Rzt [Xt] [Yt] [Zt] : [ ] [ ] [ ] [Rzt[deg]] : [ ] [ [deg]] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [ ] (A 33) X Y [pixel mm] [ ] [] [ ] [][ ] 6 [] 5 [ ] (A 33) 5 [ ] 4 [] (1) [ ] 137

138 (2) [ ] (3) [ ] [ ] (4) (3) [mm] [inch] (5) [ ] (6) [ ] [OK] 6 [ ] [1 ] [10 ] [50 ] [100 ] 7 [ ] (A 46) 138

139 8 [ ][ ] (A 82) 9 [OK] (A 136) 3 5 [J6 ] J6 4 +Zt +Xt +Yt +x 0.0 +y (0.0) x y y0 y1 a xt 1 -Rzt 0 x0 -Yt x1 a 139

140 4 1 [ ] [ ROBOT] (A 133) 2 2 [1. ] [ ] [ ] [ ] [ ] [ ] [ ] XYZ RxRyRz [] [ ] (P ) [ P ] (P ) [P] [ ] [ ] [ ] [ ] (P ) 3 [ ] [ ] ( ) [ ] ( ) 4 Approach 140

141 [Approach] [1. ] [2. ] A 134 -Zt 5 [ ] [1%] [10%] [50%] [100%] 6 (A 46) (1) [ ] 3 (2) [ ] 3 4 Ag Sa 8 Af [ ][ ] (A 82) 8 [OK] 1 [ ] [ ROBOT] (A 133) 2 2 (1) [] 141

142 (2) [ ] [1%] [10%] [50%] [100%] 3 [] ( ) (ms) 4 [ ] 5 [ ][ ] (A 82) 6 [OK] COBOTTA I/O I/O I/O I/O 1 [ ] [ ROBOT] (A 133) 2 2 [ON/OFF ] [ ] [ON/OFF ] [ON] [OFF] ON/OFF 142

143 [ ] [ ] 3 (1) [I/O ] (2) [] I/O ( ) (ms) 4 I/O [ ] I/O (A 46) 4 5 [ ][ ] (A 82) 6 [OK] 143

144 10 (A 72) (1) (1) 1 [ ] No.1 [ ] [ [deg]] [ ] [ ] [ ] [ ] [ ][ ] ( ) [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () [ ] [ ] (A 33) 2 [ ] No.2 144

145 No.2 [ ]1 [ ] [ ] [ ] [ ] [ ] [MOD] [MOD] : 10[MOD]3 1 ( ) 3 [ ] [ ] 4 4 [ ] [ ] [ ] (A 82) 5 [OK] 10 (A 72) (1) (1) 1 [ ] No.1 [ ] [ ] [ ] [ ] [ ] [ ][ ] ( ) [ ] [ ] 145

146 [ ] [sin] ( ) [cos] ( ) [tan] () [ ] [ ] (A 33) 2 No.2 No.2 [ ]1 [ ] [ ] [ ] [ ] [ ] [MOD] [MOD] : 10[MOD]3 1 ( ) 3 [ ] [ [deg]] [ [rad]] [ ] [ [deg]] [ ] 4 [ ] [ ] [ ] (A 82) 5 [OK]

147 (1) (2) 4 (1) (2) 1 1 [ ] [ ] [ ] [ ] [ ] [ ] (A 33) 2 [ ] 1 2 [ 1 ] [ 1] [ 1 ] [ 1 ] [ 1 ] [ 1 ] [ 1 2 ] [ 1 2 ] 147

148 3 [ 1] [ 1] [ ] [ [deg]] [ ] [ ] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [sin] ( ) [cos] ( ) [tan] () [ ] [ ] (A 33) 4 [ 2] [ 2] [ 1 2 ] [ 1 2 ] 3 5 [ ] [ ] [ ] [ ] [ ] [0] 8 [ ] [ ] [ ] 9 [ ][ ] [ ] (A 82) 10 [OK] []

149 10 ( ) 4 1 [ ] [ ] (1) [ ] [ ] [ ] [ ] (2) [ ] [ ] 2 [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] 149

150 [ ] (A 33) 3 [ ] [ ] [ ] 4 [ ][ ] [ ] (A 82) 5 [OK] 1 [ ] (1) [ ] [sin] [cos] [tan] [arcsin] [arccos] [arctan] [ ] [e ] [10 ] [ ] [ ] [ ] [ ] (2) [ ] [ ] (1) ([sin] [cos] [tan]) [ [deg]] [ ] [ ] [ ] [ ] [ ] [ ] [ [deg]] [ ] [ [deg]] [ ] [ ] (A 33) 150

151 2 [ ] 3 [ ] 4 [ ] [ ][ ] [ ] (A 82) 5 [OK] 4 1 [ ] [ ] [ ] 2 [ ] [ ] [ ] [ ] [ ] 3 [ ][ ] (A 82) 4 [OK] 151

152 2 A B XY [ ] A B XY A B XY XY [ ] [ ] [ ] [ ] [ ] [ ] (A 33) 2 [ ] [ ] 2 3 [ ] [ X] [ Y] 4 [ ][ ] [ ] (A 82) 5 [OK] 152

153 [ ] XY 2 ( ) XY XY [ ] [ ] [ ] [ ] [ ] [ ] (A 33) 2 [ ] 3 [ ] [ ] ( 0 ) [ ] [ X] [ Y] [ ] 4 [ ][ ] [ ] (A 82) 5 [OK] 153

154 154

155

156 3 [ ] [ ] (A 156) [ ] [ ] (A 158) [ ] [ ] (A 161) [ ] USB Zip 1 [ ] [ ] [ ] [ ] [OK ] [NG ] 156

157 [ ] [ ] [OK ] OK [NG ] NG 2 OK NG [JPEG *.jpg ] [PNG *.png ] [BMP *.bmp ] 3 [] [] 5 4 [] 5 [OK] 1 USB USB 2 [ ] [] 3 [ ] [OK] 4 [OK] 5 USB (A 165) 1 [ ] [ ] [OK] 2 [OK] 157

158 USB Zip 50 [ ] 1 [ ] [ ] [ ] [ ] [NG ] [ ] [ ] [NG ] NG 2 [ ] 3 [] [] 158

159 4 [ ] (1) (2) [ ] [ ] [ ] [ ] [ ] [ ] (A 33) (3) 5 5 [OK] [ms] _101112_ _111213_ _123456_ OK 1 NG 0 [ms] USB USB 2 [ ] [] 3 [ ] [OK] 4 [OK] 159

160 5 USB (A 165) 1 [ ] [ ] [OK] 2 [OK] 160

161 (A 168) Zip [ ] 5 1 [ ] 2 [ ] [JPEG *.jpg ] [PNG *.png ] [BMP *.bmp ] 3 [OK] 1 [ ] 1 USB USB 2 [ ] [] 161

162 3 [ ] [OK] 4 [OK] 5 USB (A 165) 1 [ ] [ ] [OK] 2 [OK] 162

163 IP LAN [ ] 5 (1) (2) (3) (1) [ ] [ ] (2) (3) 1 (1) [ ] (2) [OK] 2 [ ] [LAN ] [ ] ( ) 163

164 IP 4 IP IP IP (Ethernet) [ ] (1) [ ] (2) [ ] [Í] / [Î] (3) [OK] (4) [ ] [] (5) [OK] (6) [OK] 3 [ ] 4 [OK] 1 A [ ] [ ] 3 [OK] 2 1 USB 2 USB 164

165 3 (A 163) 4 [ ] [ ] [ ] 5 [ ] 6 USB (A 165) Zip 1 USB USB 5 2 [] [] 3 [ ] [OK] 4 [ ] 5 USB (A 165) USB USB 1 [ ] 2 [ ] 3 USB USB 165

166 166

167

168 (A 158) (A 156) USB [ ] [ ] (1)(2)(3) (4) (5)(6) (7)(8) (9) (10) (11) (1) (2) (3) (4) (5) (6) (7) (8) (9) (A 170) (10) (11) (A 156) 1 [ ] [Î] 168

169 2 [ ] [ ] [ ] ( ) 3 [ ] [ ] 4 [ ] [ ] [OK] [NG] [ ] 5 6 [ ] [ ] [ ] [ ] [ ] 6 1 USB USB 2 [ ] 1 169

170 3 [ ] [OK] [ ] [] [ ] [ ] [ ] [ ] [OK] 4 [OK] 5 [ ] [ ] [ ] [ ] [ ] (A 158) (A 156) (CSV ) 1 [ CSV] [ CSV] [ ] [ CSV] 2 [ ] 170

171

172 A 1 IP [] [1. ] NG [] [ ] [ ] [] [ ] [] [ ]

173 A [XXXXX] 20 (XXXXX ) SYSTEM ERROR SYSTEM ERROR 0002 SYSTEM ERROR 0003 SYSTEM ERROR D 2D 114 [ ] IP 23 [ ] 161 [ ] D 2D

174 A [ ] [ ] IP [ ] [ ] WB []

175 A D 2D [ ] [ ] [ ] [] [] [ ] [ ] PoE LAN PoE LAN 175

176 1D 113 2D I IP 46, 53, 163 L LAN 163 N NCC 126 NG 35 P PLC ( ) 4, 53, 60 PoE 4, 14 S SLMP... 11, [deg] , (I ) ,

177 PC... 4, 14 11, 139 4, 46, , (OK / NG) & (D )... 59, 60 (D )... 59, (D )... 51, NCC

178 , I/O

179 7 179

180 PUB. DIJ A CANON INC. 2018

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