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1、EPSON RC+ 7.0 OptionVision Guide 7.0Ver. 7.1Properties and Results ReferenceRev.2EM149S2783FEPSON RC+ 7.0 OptionVision Guide 7.0 (Ver.7.1) Properties and Results Reference Rev.2EPSON RC+ 7.0 OptionVision Guide 7.0 (Ver.7.1) Properties and Results ReferenceRev.2Copyright Ó2012-2014 SEIKO EPSON C

2、ORPORATION.Vision Guide 7.0 (Ver.7.1) Properties & Results Reference Rev.2xvFOREWORDWARRANTY for purchasing our robot products. This manual contains the information necessary for the correct use of the EPSON RC+ software.Please carefully this manual and other related manuals when using this soft

3、ware. Keep this manual in a handy location for easy access at all times.The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests and inspections to certify its compliance with our high performance standards.Product malfunctions

4、 resulting from normal handling or operation will be repaired of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):1.

5、Damage or malfunction caused by improper use which is not described in the manual, or careless use.2. Malfunctions caused by customers unauthorized disassembly.3. Damage due to improper adjustments or unauthorized repair attempts.4. Damage caused by natural disasters such as earthquake, flood, etc.W

6、arnings, Cautions, Usage:1. If the robot or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accide

7、nt, even if the result is injury or death.3. We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.TRADEMARKSMicrosoft, Windows, Windows logo, Visual Basic, and Visual C+ are either registered trademarks or trademarks of Microsof

8、t Corporation in the United States and/or other countries.Other brand and product names are trademarks or registered trademarks of the respective holders.TRADEMARK NOTIFICATION IN THIS MANUALMicrosoft® Windows® XP Operating system Microsoft® Windows® Vista Operating system Micros

9、oft® Windows® 7 Operating system Microsoft® Windows® 8 Operating systemThroughout this manual, Windows XP, Windows Vista, Windows 7, and Windows 8 refer to above respective operating systems. In some cases, Windows refers generically to Windows XP, Windows Vista, Windows 7, and W

10、indows 8.NOTICEINQUIRIESNo part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.Contact the following se

11、rvice center for robot repairs, inspections or adjustments. If service center information is not indicated below, please contact the r office for your region.Please prepare the following items before you contact us.- Your controller m and its serial number- Your manipulator m and its serial number-

12、Software and its version in your robot system- A description of the problemSERVICE CENTERMANUFACTURERSeiko Epson CorporationToyoshina PlantIndustrial Solutions Division 6925 Toyoshina Tazawa,Azumino-shi, Nagano, 399-8285 JapanTEL: +81-(0)263-72-1530FAX: +81-(0)263-72-1495RSNorth & South AmericaE

13、pson America, Inc.Factory Automation/Robotics 18300 Central AvenueCarson, CA 90746 USATEL:FAX: infoEuropeEpson Deutschland GmbH Factory Automation Division Otto-Hahn-Str.4D-40670 Meerbusch GermanyTEL: +49-(0)-2159-538-1391FAX: +49-(0)-2159-538-3170: sepson.deEpson () Co., .Factory Automati

14、on Division7F, Jinbao Building No. 89, Jinbao Street, Dongcheng District, , 100005TEL: +86-(0)-10-8522-1199FAX: +86-(0)-10-8522-1120Epson Technology & Trading .Factory Automation Division14F, No.7, Song Ren Road, Taipei 110, , ROCTEL: +886-(0)-2-8786-6688FAX: +886-(0)-2-8786-6677KoreaEpson Korea

15、 Co.,.Marketing Team (Robot Business) 27F DaeSung D-Polis A, 606Seobusaet-gil, Geumcheon-gu, Seoul, 153-803 KoreaTEL: +82-(0)-2-3420-6692FAX: +82-(0)-2-558-4271Southeast AsiaEpson Singapore Pte.Factory Automation System1 HarbourFront Place, #03-02, HarbourFront Tower One, Singapore 098633TEL: +65-(0

16、)-6586-5696FAX: +65-(0)-6271-3182IndiaEpson India Pvt. .Sales & Marketing (Factory Automation) 12th Floor, The Millenia, Tower A, No. 1, Murphy Road, Ulsoor, Bangalore,India 560008TEL: +91-80-3051-5000FAX: +91-80-3051-5005JapanEpson Sales Japan Corporation Factory Automation Systems Department N

17、ishi-Shinjuku Mitsui Bldg. 6-24-1Nishishinjuku, Shinjuku-ku, Tokyo 160-8324 JapanTEL: +81-(0)3-5321-4161SAFETY PRECAUTIONSInstallation of robots and robotic equipment should only be performed by qualified nel in accordance with national and local codes. Please carefullythis manual and other related

18、manuals when using this software.Keep this manual in a handy location for easy access at all times.Table of ContentsVision Properties and Results Reference1Overview1Vision Properties and Results Format Description1Vision Constants2AbortSeqOnFail Property5Accept Property6AcquireState Result7AllFound

19、Result8AllPassed Result9AllRobotXYU Result10Angle Result11Angle1 Result12Angle2 Result13AngleAccuracy Property14AngleEnable Property15AngleEnd Property16AngleMaxIncrement Property17AngleObject Property18AngleOffset Property19AngleRange Property20AngleStart Property22ArcObject Property23ArcObjResult

20、Property24Area Result25AsyncMode Property26CalComplete Result27Calibration Property28CalRobotPlacePos Property29Camera Property30CameraBrightness Property32CameraContrast Property33CameraOrientation Property34CameraX Result35CameraX1 Result36CameraX2 Result37Table of ContentsCameraXYU Result38Camera

21、Y Result39CameraY1 Result40CameraY2 Result41Caption Property42CenterPntObjResult Property43CenterPntRotOffset Property44CenterPntOffsetX Property45CenterPntOffsetY Property46CenterPointObject Property47CenterX Property48CenterY Property49CharToTeach Property50CodabarChecksumEnabled Property51Coderba

22、rOutputChecksum Property52CodabarOutputStartStop Property53Code39ChecksumEnabled Property54Code39OutputChecksum Property55Code39OutputStartStop Property56Code128OutputChecksum Property57CodeType Property58ColorIndex Result59ColorMode Property60ColorName Result61ColorValue Result62Compactness Result6

23、3Confusion Property64Contrast Result65ContrastTarget Property66ContrastVariation Property67Count Property68CurrentMProperty69CurrentResult Property70DataMatrixConnectDots Property72DataMatrixMinLength Property73DataMatrixPolarity Property74DefectAreaExtended Property75Table of ContentsDefectLevel Re

24、sult76DefectLevelThreshNeg Property77DefectLevelThreshPos Property78Level Property79Direction Property80EdgeCameraXYU Result81EdgePixelXYU Result82EdgeRobotXYU Result83EdgeThreshold Property84EdgeType Property85EndPntObjResult Property86Object Property87Type Property88ExportFont Property90ExposureDe

25、lay Property91ExposureTime Property92Extrema Result93FailColor Property94FitError Result95FittingThreshold Property96Found Result97FoundCodeType Result98FoundOnEdge Result100FoundRadius Result101FOVHeight Result102FOVWidth Result103Frame Property104FrameResult Property105Graphics Property106Holes Re

26、sult107ImageBuffer Property108ImageBuffer1 Property109ImageBuffer2 Property110Table of ContentsImageColor Property111ImageFile Property112ImageFileScale Property113ImageSize Property114ImageSource Property115ImportFont Property116Index Property117InspectEndOffset Property118InspectStartOffset Proper

27、ty119InvalidChar Property120Iterations Property121ITFChecksumEnabled Property122ITFOutputChecksum Property123KeepRGBRatio Property124KernelHeight Property125KernelWidth Property126LabelBackColor Property127Lamp Property128LampDelay Property129Length Result130LineObject Property131LineObjResult Prope

28、rty132LineObj1Result Property133LineObj2Result Property134LineObject1 Property135LineObject2 Property136MajorDiameter Result137MaxArea Property138MaxErrorResult139MaxFeretDiameter Result140MaxLength Property141MaxPixelLength Property142MaxRGB Property143MaxX Result144MaxY Result145Table of ContentsM

29、inArea Property146MinorDiameter Result147MinLength Property148MinMaxArea Property149MinPixelLength Property150MinRGB Property151MinX Result152MinY Result153MissingEdgeType Property154M Color Property155M ColorTol Property156M Name Property157M Object Property158M OK Property159M OrgAutoCenter Proper

30、ty160M OrgX Property161M OrgY Property162M Win Property163M WinAngle Property164M WinCenterX Property165M WinCenterY Property166M WinHeight Property167M WinLeft Property168M WinTop Property169M WinType Property170M WinWidth Property171MotionDelay Property172Name Property173NumberFound Result174Numbe

31、rOfEdges Property176NumberOfMs Property177NumberOfResults Property178NumberToFind Property179Objects Property181Operation Property182Orientation Property185Table of ContentsOriginAngleEnabled Property186OriginPntObjResult Property187OriginPoint Property188Overlapped Result189PassColor Property190Pas

32、sed Result191PassType Property192PDFScanInterval Property193Perimeter Result194PixelLength Result195PixelLine Result196PixelRadius Result197PixelX Result198PixelX1 Result199PixelX2 Result200PixelXYU Result201PixelY Result202PixelY1 Result203PixelY2 Result204PointsTaught Property205PointType Property

33、206Polarity Property207QRLargeSize Property209QRMinContrast Property210QRMinLength Property211QRNarrowQuietZone Property212QROutputID Property213Radius Property214RadiusInner Property215RadiusOuter Property216RejectOnEdge Property217ReferenceType Property218Reversed Result219RobotAccel Property220Ro

34、botArm Property221Table of ContentsRobotLimZ Property222RobotLocal Property223RobotNumber Property224RobotPlacePos Result225RobotPlaceTargetPos Property226RobotPos Property227RobotSpeed Property228RobotTool Property229RobotToolXYU Result230RobotU Result231RobotUOffset Property232RobotX Result233Robo

35、tX1 Result234RobotX2 Result235RobotXYU Result236RobotY Result237RobotY1 Result238RobotY2 Result239RotationAngle Property240Roughness Result241RuntimeAcquire Property242Runtime ze Property244SaveImage Property245Scale Result246ScaleEnable Property247ScaleFactorMax Property248ScaleFactorMin Property24

36、9ScaleTarget Property250ScaleTargetPriority Property251Score Result252ScoreWeightContrast Property253ScoreWeightStrength Property254SearchPolarity Property255SearchReducedImage Property256SearchType Property257SearchWidth Property258SearchWin Property259Table of ContentsSearchWinAngle Property260Sea

37、rchWinCenterX Property261SearchWinCenterY Property262SearchWinHeight Property263SearchWinLeft Property264SearchWinTop Property265SearchWinType Property266SearchWinWidth Property267SeparationAngle Property268SeparationMinX Property269SeparationMinY Property270SeparationScale Property271SharedEdges Pr

38、operty272ShowAllResults Result273ShowConfirmation Property274ShowExtensions Property275ShowMProperty276ShowProcessing Property277SizeToFind Property278Smoothness Property279Sort Property280StartPntObjResult Property282StartPointObject Property283StartPointType Property284Strength Result286StrengthTa

39、rget Property287StrengthVariation Property288StrobeBlack Property289StrobeDelay Property290StrobeTime Property291TargetSequence Property292Text Result293Thickness Property294ThresholdColor Property295ThresholdHigh Property296ThresholdLow Property297Time Result298Table of ContentsTimedOut Result299Ti

40、meout Property300TotalArea Result301TriggerDebounce Property302TriggerMode Property303TwoRefPoints Property304UPCExpansionEnabled Property305UPCOutputChecksum Property306UpwardLamp Property307UpwardSequence Property308VCal Statement309VCalPoints Statement311VCls Statement312VCreateCalibration Statem

41、ent313VCreateObject Statement314VCreateSequence Statement315VDeleteCalibration Statement316VDeleteObject Statement317VDeleteSequence Statement318VGet Statement319VLoad Statement321VLoadMStatement322VRun Statement323VSave Statement324VSaveImage Statement325VSaveM Statement326VSet Statement327VShowM S

42、tatement329VStatsReset Statement330VStatsResetAll Statement331VStatsSave Statement332VStatsShow Statement333VTeach Statement334VTrain Statement335Table of ContentsX Property336X1 Property337X2 Property338XAvgError Result339XMaxError Result340XmmPerPixel Result341XTilt Result342Y Property343Y1 Proper

43、ty344Y2 Property345YAxisPntObjResult Property346YAxisPoint Property347YAvgError Result348YMaxError Result349YmmPerPixel Result350YTilt Result351ZoomFactor Property352Vision Properties and Results ReferenceOverviewThis reference manual explains all Vision Guide sequence, object, and calibration prope

44、rties and results, and all Vision Guide SPEL+ds. For more information on how to use Vision Guide, refer to the Vision Guide manual.Vision Properties and Results Format DescriptionAll Vision Guide properties and results are listed in the pages that follow. An explanation of the headings for the prope

45、rty and result reference pages is given below:Applies ToIf the property or result is used with vision objects, then this section simply lists the vision objects for which this property applies. (Ex. Blob, Correlation, Polar.)If the property or result is used with vision sequences then the words Visi

46、on Sequence will appear in this section.If the property or result is used with vision calibration then the words Vision Calibration will appear in this section.DescriptionA simple description is given for each property or result. This section is normally very short for simplicity.UsageThe Usage Sect

47、ion describes how to access the property or result from the SPEL+ Language.ValuesDescribes the range of acceptable values which the property can be set to or which the result will return. A default value is also shown for those properties that have a default.RemarksExplains more s than the Descripti

48、on Section. This section is normally used to describe any caveats or special information that may apply to the specific property or result. (It is highly recommended to the Remarks Section for each property prior to its usage.)See AlsoGives a list of related properties, results, vision objects and o

49、ther topics that may prove useful to review.Runtime onlyThis is displayed under the property or result name when it applies. Runtime only properties and results cannot be accessed from the Vision Guide GUI. They can only be accessed from the SPEL+ language or from RC+ API .Vision Guide 7.0 (Ver.7.1)

50、 Properties and Results Reference Rev.2351Vision Constants Vision ConstantsFollowing constants are provided for Vision Guide 7.0. Constants are used at program creation as needed.TipAlthough values can be specified directly instead of using constant names, it is recommended to use the constant names

51、 for programs.Constant NameValueApplicationVISION_ACQUIRE_NONE0VISION_ACQUIRE_STATIONARY1RuntimeAcquire propertyVISION_ACQUIRE_STROBED2VISION_CAMORIENT_FIXEDDOWN2VISION_CAMORIENT_FIXEDUP3VISION_CAMORIENT_MOBILEJ24VISION_CAMORIENT_MOBILEJ45CameraOrientation propertyVISION_CAMORIENT_MOBILEJ56VISION_CA

52、MORIENT_MOBILEJ67VISION_CAMORIENT_STANDALONE1VISION_CODETYPE_AUTO0VISION_CODETYPE_CODABAR6VISION_CODETYPE_CODE393VISION_CODETYPE_CODE1285VISION_CODETYPE_DATAMATRIX1VISION_CODETYPE_EAN8VISION_CODETYPE_EAN13CodeType propertyVISION_CODETYPE_INTERLEAVED25VISION_CODETYPE_PDF417VISION_CODETYPE_QRVISION_CO

53、DETYPE_UPCVISION_CODETYPE_UPCAVISION_CODETYPE_UPCE19VISION_LEVEL_HIGH2VISION_LEVEL_MEDIUM1Level propertyVISION_LEVEL_VERYHIGH3VISION_EDGETYPE_SINGLE1VISION_EDGETYPE_PAIR2VISION_GRAPHICS_ALL1VISION_GRAPHICS_NONE3VISION_GRAPHICS_POSONLY2VISION_IMAGECOLOR_ALL1VISION_IMAGECOLOR_BLUE4VISION_IMAGECOLOR_GRAYSCALE5VISION_IMAGECOLOR_GREEN3VISION_IMAGECOLOR_RED2VISION_IMAGESIZE_320X2401VISION_IMAGESIZE_640X4802VISION_IMAGESIZE_800X6003VISION_IMAGESIZE_1024X7684VISION_IMAGESIZE_1280X10245VISION_IMAGESIZE_1600X12006VISIO