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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