Robot Vision exercise

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(No Transcript)
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Robot Vision

• Exercise

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The task
Robot co-ordinate system

• To locate the picking point of the object
  Centre of Gravity of the object
• To measure the rotation of the object the angle
  between Y axes and the line going from centre
  point of mid hole and to centre point outer hole
• To send the picking point co-ordinates (x,y) and
  rotation (angle) in the robot co-ordinate system
  to the Robot system using RS232

Origo
X
Y
Picking point
Angle
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Configuring of Scorpion Robot vision system

1. Create a new Scorpion Profile
2. Configure the image source - camera/file
3. Calibration of images
4. Locate the object and find the pick-up x,y
   coordinates
5. Calibration in Robot co-ordinates
6. Establish reference system to measure rotation
7. Configure the User Interface
8. Configure communication to external systems

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Restore Robot Vision Start profile

• 1. Open Scorpion and click on restore(if the
  menu is not visible right click on the mouse,
  click on Show Buttons for permanent display)
• 2. Browse to the catalogue unsupportedprofileso
  n the Scorpion CD
• 3. Select RobotVision_Start.zipan open the file

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Create MyRobotVision profile

• Step 1 Create a new Profile
• Select New
• Give it the nameMyRobotVision

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Copy the content of RobotVision_Start to the new
profile

1. You can copy the content of an existing profile
   (including images) to automatically add
   functionality to the new profile
2. Mark the profile called RobotVision_start and
   select copy
3. Select copy to the new profileMyRobotVision
4. Start MyRobotVision profile

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Starting point

• Operation mode (No password)
• For operators
• Can start and stop the inspection
• Read history list, curves and statistics
• No access to any configuration
• Settings mode (Password 1234)
• For operators certified to adjust certain
  parameters, alarm limits and logic states
• Service mode (Password 911)
• Full access to all functions
• Enter Service mode by pressing the service button
  and enter the password

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Configure the image source

1. Select Service Tab
2. We will use stored images therefore activate
   Simulation ON
3. Click on Snapshot
4. If no image the image directory must be checked
5. Click on the image setting source
6. Browse to find the selected image directory
7. Assure that the directory for images are set
   to\Scorpion_200\MyRobotVision\Images

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Vision Strategy
Robot co-ordinate system

• Calibration for correcting lens distortion to
  get high precision
• 4 point robot calibration to synchronize image
  and robot co-ordinate system
• Use blob to find centre of gravity of the object
• Use the big outer hole centre and mid hole centre
  to establish a local reference system handling
  rotation

Origo
X
Y
Picking point
Angle
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Lens calibration

• In robot vision application the camera often have
  a large Field Of View (FOW) and a relative short
  distance to the object
• This require a wide angle lens and consequently
  large lens distortion
• Without correcting the distortion, the inaccuracy
  in the outer part of the FOW might cause the
  robot to fail picking the object correctly

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4 point robot calibration

• By using 4 point calibration you can establish a
  co-ordinate system equal to the one used by the
  robot
• By moving the robot to the centre of each point
  the robot co-ordinates are found
• In Scorpion the centre of each is found in the
  Scorpion reference system
• This enable you to communicate pick up points and
  rotation in the robot co-ordinate system

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Understanding lens correction and robot
calibration

• Correction of lens distortion is independent of
  distance to the object
• The lens correction is done in one planeand
  valid for allrobot planes

• Robot calibration is only valid for a specific
  distance to the object (Robot plane)
• For each different robot picking plane a
  individual robot calibration must be done
• Scorpion can handle multiple robot planes

Robot plane 3
Robot plane 2
Robot plane 1
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Pixel co-ordinate system
Origo X0, Y0
X0, Y1024
Y

• Default co-ordinate system with Origo in upper
  left corner
• X and Y pixels according to camera resolution
• VGA 760 x 480
• XGA 1024 x 768(used in the exercise)

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X768, Y1024
X768, Y0
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Show Info on the image

• With the cursor on the image right click the
  mouse and select Show info from the menu
• X and Y number are pixel position, origo (X0 and
  Y0) is in the upper left corner
• Pixel value is the greyscale value (0 Black,
  256 White)

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Zoom the image

• Press the left button on the mouse and mark the
  zoom area
• Release the button and the image is zoomed in
• Click on the image to zoom out

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Operating the Tool Box

1. Go to the Toolbox and click on New
2. Give the Tool a NameFor easy understanding of
   the task for this specific tool use names
3. Select a Tool category and then a Tool
4. Use help to get information about the tool

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Using a Tool step 1

• GENERALShow the name and type of tool. Comments
  can be entered in the description field
• SETUPFor entering parameters controlling the tool

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Using a Tool step 2

• VISUALISATIONFor adding graphics on the image,
  visualising the operation of the toolAll or this
  tool only visualisation, can be selected
• RESULTDisplaying all the results from the
  operation of the tool

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Create a tool - Calibration

1. Click on the button New
2. Name the tool - Calibration
3. Select the tool category Advanced
4. Select CalibratorUse help if you want
   information about the tool
5. Click OK

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Selecting the image for calibration
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• Open the tool named Calibration (double click on
  it) and click on the Set-up tab
• Browse to find the calibration image in the
  MyRobotVision/References directory
• Select calib1.bmp image and open

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Configure the Calibration tool

• Set number of rows and column count from image
• Set row and column spacing to 8 mm, and the unit
  to mm (millimetre)
• Click on compute

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Results from Calibration

• Scaling
• Under the Result tab you will find the scaling
  factor
• The scaling factor is only valid in the grid
  plane
• Lens correction
• On the image the actual correction is visualised
  as yellow arrows
• Lens correction is valid in any plan (not only
  in the grid plane)

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Multi co-ordinate system
Y

• Pixel co-ordinate system (red)
• the default coordinate system
• Scaling is in pixels
• Calibration co-ordinate system (blue)
• Generated by the Calibration tool
• Scaling is in mm

Y
X
X
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Cursor information on the image

• With the cursor you can now display the x and y
  values in both co-ordinate system
• Position the mouse over the image and right click
• Highlight Referencesystem
• Select the co-ordinate system

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Centre hole co-ordinates
Pixel co-ordinates
Calibrationco-ordinates
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Manual measurements on the image

• Position the mouse on the image and right click
  to get the menu (be sure that Show info is
  activated first
• Select Measure
• With the cursor you now can measure the distance
  from the default pixel co-ordinate origo and the
  angle of the line

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To measure from an arbitrary point

1. To set a new origo position the mouse where you
   want the new origo (i.e. centre of mid hole) and
   right click on the mouse
2. Select Set Origo and the cursor display
   distance from the new origo

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Saving and storing the configuration

• Saving configuration
• Pressing Profile button
• Every time you press the Start button
• Every time you close the application

• Archiving
• The archive file is a zip file containing all
  configuration and images
• Used for storing your profile
• Ideal for sending to a Scorpion support centre
  for remote support

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Archiving a profile

• Enter to Service mode
• Press the Maintenance tab
• Check that the Archive directory is selected
• Press the Backup button
• Scorpion suggest a default name
• You can add comments before the zip file is
  generated

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Trigger the camera

• Hardwire trigger
• Direct on camera from sensor
• Soft trigger
• External from PLC
• RS232, TCP/IP, I/O
• Internal - used in this exercise
• Using Scheduler (pressing Start button)
• Manual user input (pressing Snapshot button)

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Scheduler
1

• For setting up tasks running at scheduled
  intervals
• The task Trigger is configured to grab an image
  every 1000 ms
• When Start button is pressed a new image
  according to the Trigger period
• By pressing edit you can adjust the time interval

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Start and Stop of Inspections

• Automatic inspection
• Pressing Start button set Scorpion in Running
  mode
• For every new image an inspection is
  automatically executed
• The image can either be triggered from an
  external system or from an internal scheduler
• Pressing the Stop button stop the process

• Manual inspection
• Pressing Snapshot button grab a new picture
• Pressing Inspection button execute the
  inspection
• Pressing Snapshot button again will grab
  another new picture.

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Using a Blob to locate the object

• Add a new tool in the toolbox
• Name FindObject
• Tool BlobTool

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Tool references

• All tools can have a Reference
• To relate Search area to a specific point (i.e.
  Centre of Gravity of an area)
• To relate Search area to a specific co-ordinate
  system, Calibration in this exercise

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ROI Region of Interest

• Each tool can must be configure to search in a
  specific area on the image (Range of Interest
  ROI)
• Move the mouse to the centre of the image and
  read the X and Y coordinates.

• Enter the co-ordinates and specify the delta X
  and delta Y values
• The ROI visualisation is shown on the picture

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Understanding the Blob tool

• A blob search for areas in the specified ROI with
  greyscale values within a given range
• Place the mouse on the object and read the
  greyscale value
• If the maximum Threshold is set to higher value
  and the minimum to a lower, the Blob tool will
  find the object

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Apply your configuration

• To apply a new parameter set by you, the button
  apply must be pushed
• You can also set minimum and/or maximum
  requirements to the blob area to be located

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Blob visualisation

• Through the visualisation you can see how the
  tool works on the image
• Activate only CenterofGravity, MaxContour and ROI
• Remember to push Apply to see the result!

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Blob result

• In the result tab you find the different results
  of the blob tool
• Number of blobs (1)
• total blob area (2)
• centre of gravity of the largest blob, blob0
  (3)
• Number of Holes in blob0(4)
• If there is more than 1 blob you will find values
  for blob1-n also

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Holes in a Blob

• A Hole is an area inside a blob with greyscale
  values outside the max and min values set in the
  blob tool

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Picking location

• In this application the pick-up position is the
  centre of the object
• This is equal to the centre of gravity
  co-ordinates found for the blob

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Strategies to find a picking location

• Geometrical characteristic of the object is used
  to find the correct picking localisation. In this
  example the centre of gravity was the correct
  picking location. However other localisations
  might very well be used as well. Below are some
  examples
• Mid point short edge
• One corner of the long edge
• Centre point of the small hole on the short edge

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Co-ordinate systems

• The picking point is the centre of gravity of the
  blob. However the x,y co-ordinates we found in
  the blob is according to the Calibration
  co-ordinate system (Blue) used as the reference
  in the blob tool
• We now need to recalibrate according to the Robot
  Calibration system

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4 point calibration steps

1. By moving the robot to the centre of each point
   the robot co-ordinates are found
2. In Scorpion the centre of each point is found in
   the Scorpion reference system
3. By using the ExternalReference tool Scorpion
   can calibrate the image in robot co-ordinates

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4 point Robot calibration

• First we need to find the four points and their
  centre of gravity in the robot calibration grid
• Add a new tool in the toolbox
• Name FindRefPoints
• Tool BlobTool

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Find Ref Point image
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• The image of the 4 point calibration grid is
  located in the directoryMyRobotVision/References
• Follow the steps (1 5) and push the Snapshot
  button (6) until you get the right image

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Configure FindRefPoints tool

• Follow the steps to set reference to
  Calibration (1), the correct search area (2)
  and threshold levels (3). To eliminate disturbing
  blobs from the text 5cm activate Smallest area
  10

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RefPoints co-ordinates

• In the Result tab you find the centre of gravity
  x,y co-ordinates
• Check by using the cursor in the image, that you
  note down the correct x and y values for point 1
  4

Point 1
Point 2
Point 3
Point 4
1 2 3 4
X 8.12 8.63 58.05 58.55
Y 9.48 59.78 8.92 59.22
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Robot co-ordinate system

• By moving the robot to the four points you get
  the equivalent robot co-ordinates

Origo
Point 1
Point 2
1 2 3 4
X 0 0 50 50
Y 0 50 0 50
Point 3
Point 4
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External Reference tool

• Next we need to co-ordinate the image and robot
  co-ordinate systems
• Add a new tool in the toolbox
• Name ExternalRefSystem
• Tool ExternalReference

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Configure ExternalRefSystem tool

• Select Calibration as a reference (1)
• Fill inn the local co-ordinates for all 4 points
  (2)
• Fill in the external coordinates for all 4 points
  (3)

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The different Reference system

• In the image you now have 3 different co-ordinate
  systems
• The original Pixel systems (green)
• The Calibration co-ordinate system (blue)
• The Robot co-ordinate system (red)

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Deactivate/active a tool

• The Blob tool FindRefPoints is only used to
  find the centres of each point during robot
  calibration
• During normal operation this tool has no task and
  should be deactivated (1) or deleted
• Highlight the tool FindRefPOints and click the
  button Deactivate

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Changes back to normal images
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• To continuo we need to change back to the
  original images found in the directoryMyRobotVis
  ion/Images
• Follow the steps (1 5) and push the Snapshot
  button (6) to check that you get the right image

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Changing reference to the FindObject Tool

• To be able to find the centre of gravity x and y
  values we need to change the reference of the
  FindObject blob tool to the new
  ExternalRefSystem
• Open the tool named FindObject select Setup tab
  and push the button (1)
• Here you find the available references, but
  ExternalRefSystem is not THERE

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Understanding the tool sequence

• All tools are executed in a sequence starting
  from the top of the toolbox
• Only results from tool being executed before can
  be used
• Therefore results from ExternalRefSystem cannot
  be accessed by FindObject

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Editing the tool sequence

• By highlighting the tool and then using the Up
  and Down buttons, any tool can be moved
• Move the FindRefPoints to number 2 and
  ExternalRefSystem to number 3.

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Changing the reference toRobot co-ordinates

• Now you can change the reference of the
  FindObject blob tool to the new
  ExternalRefSystem
• Open the tool named FindObject select Setup tab
  and push the button (1)
• Select the ExternalRefSystem

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Adjusting the search area according to the new
reference system

• Since the reference system is changed, the
  parameter values must be changed to give the
  correct search area

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Scorpion logical conditions

• In an industrial application a number of
  situations may occur
• In Scorpion you can define a set of conditions
  that will help you to handle the different
  situations during robot picking or inspection
• The worst scenario is that a situation occur and
  neither the vision system nor the robot knows how
  to handle it
• Then the system will fail and the process stop

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Potential logical conditions inRobot Vision

• OK
• Object present
• Can measure rotation
• No Object
• Object NOT present
• Cannot measure rotation
• Object present
• Cannot measure rotation(missing the outer hole
  used to define rotation)

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Understanding Logical Tool

• In a Logical tool any results in all prior tools
  can be tested against max and min conditions
• Typical applications are
• Establish OK and Fail conditions
• Testing measurements against tolerances
• Verify presence of object
• Validate type of object
• Validate functionality of a tool

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Object Present

• For testing whether an object is present we could
  choose different parameter
• Number of blobs(could be sensitive to dirt and
  small particles that may be identified as blobs)
• Size of Blob area a known parameter for the
  specified product
• We will use Blob area

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Object Present logical condition
1

• Add a new tool (1), name it ObjectPresent (2) and
  select the LogicTool (3)
• Open it and select the measured value from the
  tool FindObject (4) and the parameter blob
  area0 (5) and set the minimum conditions to 500
• Normal value for the blob area is around 1100

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Checking the ObjectPresent tool

• Select the result panel and go through all images
  and check that the result is correct
• Object present should give Value 1
• Object absent should give Value 0

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Controlling the orientation

• The task is to establish a new reference system
  that will give the rotation/angle relative to the
  external robot co-ordinate system (red)
• By finding the centre point of the outer big hole
  a reference line can be designed and using the
  centre of gravity of the blob as origo we can
  generate the new reference system (blue)

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Y
Y
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Find the outer big hole

• Add a new tool, name it FindHole and select the
  Blob2 tool
• Open the tool and select FindObject as the
  reference and Apply
• When FindObject is used as reference, the Centre
  of Gravity of the object represent centre X 0
  and Y 0 wherever the object is located on the
  image

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Multi Polygon and Multi ROIs
Point co-ordinatesdefining the ROI

• Multi polygon ROI
• An ROI constructed from arbitrary points
• The ROI is constructed by clicking the mouse
  while the Ctrl button is pressed on the points
  defining the ROI
• Multi ROIs
• One tool can operate in several ROIs

ROI-1
Mouse clicking points
ROI-2
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Difference ROI in Blob2

• Using two ROIs where ROI-2 is a segment inside
  ROI-1, the difference area will be the final ROI
  for the tool
• The red circle is ROI-1
• The blue circle is the ROI-2
• The search are is the difference, the grey area,
  and we can locate the the white outer hole

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Define ROI-1

1. Select Add polygon tab
2. Select Circle polygon
3. Enter 0 for centre X and Y
4. Enter Radius 16 (mm). You can use the cursor to
   find the correct radius to use
5. Set Minimum threshold to 100 and maximum to 256
   since we are looking for white holes
6. Click on Add
7. Click on Apply and the ROI is active

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Editing multiple ROIs

• Select the tab Polygon and you have an overview
  of the ROIs
• Number 1 is a default ROI and number 2 is the
  polygon you added
• You can highlight the individual ROIs by
  selecting Highlight selection
• To delete the default ROI highlight 1 and click
  on the Delete button
• Finally click on Apply

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Constraints

• In many tools you can set a number of constraints
  to eliminate unwanted results
• In this case you may detect small blobs that have
  no interest
• They can be eliminated by setting constraints for
  the blob area
• Setting smallest blob area to 10 will eliminate
  these blobs

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Define ROI-2

• Define the ROI-2 with the following parameters
• Centre X and Y 0
• Radius 10
• Add the polygon and then Apply
• You now have to polygons and you see the two
  circles visualised in the image

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FindHole results

1. Click on Visualisation this only to remove
   visualisation from the other tools
2. Select the Result tab and you will find all the
   results
3. Number of Blobs
4. Centre of Gravity

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The Guard function

• Used to activate tools only for a specific
  condition
• Typical applications
• Selecting a set of tools tailored to a specific
  product (used when Scorpion is set to handle
  multiple products)
• To prevent tools from giving false results when
  the condition is not fulfilled

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Configure the Guard function

• When the condition ObjectPresent is False (no
  object in the image), the FindHole tool have no
  meaning and should be guarded
• Select the General tab
• Click to the list of possible guard functions
• Select ObjectPresent

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Status for tools

• In the Status column or in the Result tab you can
  see the status of the tool
• Status 1 - tool is OK
• Status 3 - there is an error in the tool
• Tool is blocked by guard or reference
• Tool is deactivated
• Tool is not run
• When tool is either blocked, deactivated or not
  run the Status in the result tab 0

Run through all images andsee how status
changeswhen there is no object
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Toolbox overview

• In the toolbox overview you will find the
  following columns with info
• 1 Status
• 2 Processing time for the tool
• 3 The name you gave the tool
• 4 The type of tool
• 5 Image number reference
• 6 The reference used by the tool
• 7 The guarding tool

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Hint to see all columns you may have to adjust
the column widths
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Understanding Geometry tools

• The Geometry tools are used to create new points
  and lines based on results from previous tools
• Typical applications
• To construct geometrical structures without image
  processing techniques
• Do measurements
• Distances between lines and points
• Length and angle of lines

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Make the reference line
1

• Add a new tool named ReferenceLine and select
  the tool LineFromPoints
• Guard with ObjectPresent condition
• Use ExternalRefSystem (Robot co-ordinates) as
  reference and select centre of gravity of the
  object as point 1 and centre of gravity of the
  outer hole as point 2

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Reference Line check

• Scorpion visualise a line between the two points
  and a direction (from point 1 to point 2)
• In the result tab you will find results as length
  and angle
• If one of the points are missing the tool will
  have an error (status 3)

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Configure the ReferenceLineOK logic tool

• We can use a logical tool to establish a
  condition validating the ReferenceLine
• The procedure is
• Name ReferenceLineOK
• Tool Logical tool
• Guard ObjectPresent
• Add new logical parameter
• Select Tool ReferenceLine
• Parameter Status
• Min and Max condition 1
• Check the result

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Create the local co-ordinate system

• Based on the Reference Line and Centre of Gravity
  of the object we can create e new co-ordinate
  system.
• Name RotationRefSystem
• Tool PointLine Reference
• Guard ReferenceLineOK

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Define the co-ordinates

• Select ExternalRefSystem to link this
  co-ordinate system to the robot system
• Select Centre of Gravity as the origo point
• Select ReferenceLine as the Line and the
  co-ordinate system will follow the rotation of
  the object

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Scorpion co-ordinate systems

• We now have 4co-ordinate systems
• The Pixel system (green)
• The Calibration system (blue)
• The Robot system (ExtrenalRefSystem) (red)
• The Rotation system(light blue)
• With the cursor you can toggle between the systems

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OK condition - Object Present

• Double click on the existing OK state
• Now you can enter a name, description and select
  the colour for display in the result panel

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Defining the OK (Present) condition
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3

• Click on Constrains and New
• The box shows a list of all available logical
  classifications in the Toolbox
• Select ObjectPresent
• The OK condition is now true when the logical
  classification ObjectPresent is true (1)

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Including ReferenceLineOK

• The OK condition is also dependent of that
  correct angle can be measures
• Correct angle can only be measured when the
  logical statement ReferenceLineOK is true
• Add ReferenceLineOK using the same procedure as
  for ObjectPresent

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Testing the OK condition

• Run through all pictures and check the result of
  the condition (true or false) and the display on
  the result panel
• When no object and the object missing a hole
  occur, the result panel display Undefined
  Condition since no condition for No Object and
  No Reference line is yet defined

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Adding a NoObject Condition
1

• Click on New for adding a new condition
• Name it No Object
• Select Yellow as background colour (when this
  condition is true the result panel will be yellow)

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Configuring the No Object condition

• To define the No Object condition we can use
  ObjectPresent Logical classification
• Click on New and select ObjectPresent
• To make the No Object condition true when the
  logical classification ObjectPresent is false, we
  invert the statement by pushing the invert button

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Testing No Object State

• Run through the pictures and check
• the result of the both conditions (true or false)
• The colour and text in the result panel

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Adding Cannot Measure Rotation logic condition

• Add a new state
• Name it Cannot Measure Rotation
• Select background colour Red

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Configure Cannot Measure Rotation

• The constrains needed are
• Object present
• ReferenceLineOK
• ReferenceLineOK must be inverted to give the
  result true (1 in the result) when the line is
  failing

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Testing the logic conditions

• Run through all images and check that all logical
  conditions are working correctly

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Displaying measurement values

• Any results from any tool can be displayed in the
  result panel
• We want to display the inner and outer radius
• Position the mouse inside the result panel and
  right click, select General, No of
  measumentvalues and enter 3 for 3 values
• Check the result panel

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Selecting parameters to be displayed

• Position the mouse over Tagvalue 1 and right
  click, select Measured Values, Parameter.
• In the new dialog box click the .. button.
• In the new dialog box you can select the tool and
  the parameter you want
• Select the tool ReferenceSystem and the parameter
  Origo_x

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Add name and unit to the value

• Position the mouse over Tag Value 2, right click,
  select Measured Values and Caption.
• Enter the name X value
• Through the same procedure you can add unit (mm)
  and change the number of decimals
• Repeat the procedure for displaying the outer
  radius as Tag Value 2 and name it Y value

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Adding angle value

• Finnaly select Tagvalue 3 and name it Angle
• In the tool RotationRefSystem you will find the
  parameter Angle
• Since the reference to this tool is the robot
  system (ExternalRefSystem) this value is relative
  to the robot co-ordinate system

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Check all conditions
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Sending data to a Robot or PLC

• We want to send status data (OK, No Object and
  Cannot Measure Rotation) using the RS232
  interface
• When the status is OK we want to send the data x,
  y and angle
• We will link the timing of sending the data to
  the event Inspection
• Initially the event inspection activate the
  command Inspect (running the tools)
• After that we want the system to send status data

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Adding a RS232 command

• In command sequence for Inspection click on New
• Select RS232Cmd
• Name the command SendStatus

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1
4
2
3
103
The command protocol

• Syntaxdparameter
• d format instruction for the result value
  (Integer number format)
• Parameter The parameter name from any of the
  tools in the toolbox
• To find the parameter description of the result
  push the Parameters button on the top toolbar
• Select ObjectPresent and Value and click on the
  copy button

104
Writing the command protocol

• Open the SendStatus command
• In the Parameter field write the following
• Statusd
• Place the cursor after the d and paste (right
  click the mouse)
• StatusdObjectPresent.Value

105
Adding Cannot Measure Rotation
3

• We can make a 2 bit code where the first bit is
  Object Present and second Cannot Measure Rotation
• Copy the parameter Value from ReferenceLineOK
  tool
• The parameters must be separated by a comma
• Add d to format the number
• Paste the parameter

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106
Testing the communication
1

• Mark the SendStatus command
• Push the Execute button Now the command is run
  once
• In Communication select RS232 - here the out
  messages are logged
• Check that the correct status value is sent

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107
Testing the Scorpion Profile

• Activate automatic inspection (push Start) and
  check that the status value sent over RS232 is
  correct for each inspection

108
New command for sending data

• When the logical condition is OK x, y and angle
  values should be sent also over RS232
• Add a new command after SendStatus
• Name SendData
• Command RS232
• Guard ReferenceLineOK

109
Configure the parameters

• f for floating point number format
• Tool RotationRefSystem
• Parameters
• Origo.x
• Origo.y
• Angle
• Remember to format each parameter and to separate
  them with a comma

110
Testing the communication
1

• Mark the SendData command
• Push the Execute button Now the command is run
  once
• In Communication select RS232 - here the out
  messages are logged
• Check that the correct data values are sent

2
3
4
5
111
End of Robot Vision exercise
Congratulations!You have made your firstRobot
Vision system using Scorpion Vision Software