Adept AdeptSight Reference Guide Manual de usuario Pagina 1

AdeptSight Reference Guide, v3.2.xThis is a PDF/print version of the AdeptSight Reference Guide online documentation. ATable of Contents is provided s

Histogram245HistogramPixelCount246HistogramThreshold247HoleFillingEnabled248ImageHeight249ImageOriginBelt250ImageOriginRobot252ImagePixelCount254Image

BlobInertiaMaximumVRESULT1633Moment of inertia about the minor axis, which corresponds to the highest moment of inertia. Read onlySyntaxMicro V+value

BlobInertiaMinimumVRESULT1632Moment of inertia about the major axis, which corresponds to the lowest moment of inertia. Read only.SyntaxMicro V+value

BlobInertiaXAxisVRESULT1634Moment of inertia about the X-axis of the Tool coordinate system. Read only.SyntaxMicro V+value = VRESULT (sequence_id, too

BlobInertiaYAxisVRESULT1635Moment of inertia about the Y-axis of the Tool coordinate system. Read onlySyntaxMicro V+value = VRESULT (sequence_id, tool

BlobIntrinsicBoundingBoxBottomVRESULT1639The bottommost coordinate of the bounding box with respect to the X-axis (major axis) of the principalaxes. R

BlobIntrinsicBoundingBoxCenterXVRESULT1628X-coordinate of the center of the bounding box with respect to the X-axis (major axis) of the principal axes

BlobIntrinsicBoundingBoxCenterYVRESULT1629Y-coordinate of the center of the bounding box with respect to the Y-axis (minor axis) of the principal axes

BlobIntrinsicBoundingBoxHeightVRESULT1630Height of the bounding box with respect to the Y-axis (minor axis) of the principal axes. Read only.SyntaxMic

BlobIntrinsicBoundingBoxLeftVRESULT1636The leftmost coordinate of the bounding box aligned with respect to the X-axis (major axis) of the principalaxe

BlobIntrinsicBoundingBoxRightVRESULT1637The rightmost coordinate of the bounding box aligned with the X-axis (major axis) of the principal axes.Read o

InterpolatePositionMode300InterpolatePositionModeEnabled301IntrinsicBoxResultsEnabled303InverseKinematics305KernelSize308LastOperation309LastOutputTyp

BlobIntrinsicBoundingBoxRotationVRESULT1640Rotation of the intrinsic bounding box with respect to the X-axis of the selected coordinate system. Readon

BlobIntrinsicBoundingBoxTopVRESULT1638The topmost coordinate of the bounding box aligned with the Y-axis (minor axis) of the principal axes. Readonly.

BlobIntrinsicBoundingBoxWidthVRESULT1631Width of the bounding box with respect to the X-axis of the Tool coordinate system. Read only.SyntaxMicro V+va

BlobIntrinsicExtentBottomVRESULT1644Distance along the minor axis between the blob's center of mass and the bottom side of the intrinsicbounding

BlobIntrinsicExtentLeftVRESULT1641Distance along the major axis between the blob's center of mass and the left side of the intrinsic boundingbox.

BlobIntrinsicExtentRightVRESULT1642Distance along the major axis between the blob's center of mass and the right side of the intrinsicbounding bo

BlobIntrinsicExtentTopVRESULT1643Distance along the major axis between the blob's center of mass and the top side of the intrinsic boundingbox. R

BlobPositionXVRESULT1612X coordinate of the center of mass of a given blob in the currently selected coordinate system. Read only.SyntaxMicro V+value

BlobPositionYVRESULT1613Y coordinate of the center of mass of a given blob in the currently selected coordinate system. Read only.SyntaxMicro V+value

BlobPrincipalAxesRotationVRESULT1617Angle of axis of the smallest moment of inertia with respect to the X-axis of the selected coordinatesystem. Read

MinimumClearPercentage344MinimumClearPercentageEnabled345MinimumGreylevelValue346MinimumLinePercentage347MinimumModelPercentage348MinimumRequiredFeatu

BlobRawPerimeterVRESULT1615Raw perimeter of the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1615, index

BlobRoundnessVRESULT1623The degree of similarity between the blob and a circle. The roundness is 1 for a perfectly circular blob. Readonly.SyntaxMicro

CalibratedUnitsEnabledVPARAMETER103Returns 1 if the image the virtual camera image the tool is operating on has an active calibration applied. Ifno ca

CandidatePointsCountVPARAMETER5300Sets the number of candidate locations where the tool tries to evaluate the sharpness. When the tool isexecuted, it

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5300: the value used to reference this property.index_id N/Aobject_id N/ACand

ChainCodeResultsEnabledVPARAMETER1607Enables the computation of the blob chain code properties: BlobChainCode, BlobChainCodeDeltaX,BlobChainCodeDeltaY

Parameters$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index

ColorFilterCountVPARAMETER5700ColorFilterCount indicates the number of filters that are defined for the Color Matching tool. Read only.SyntaxMicro V+v

ColorFilterMatchPixelCountVRESULT2502Number of pixels that match the conditions set by the filter. This result is output for each filter, starting atF

ColorFilterMatchQualityVRESULT2501ColorFilterMatchQuality is the percentage of pixels matched to the specified filter. This value is equal to thenumbe

PairPositionX389PairPositionY391PairRotation392PairScore393PairSize394ParametersBasedOn395PatternHeight397PatternPositionX399PatternPositionY401Patter

CommunicationToolResultsVRESULT2600CommunicationToolResults reads the total number of results that have been queued by allcommunication tools within a

ConformityToleranceVPARAMETER556Maximum local deviation between the expected model contours of an instance and the contours actuallydetected in the in

address format, for example: 192.168.1.120.sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision s

ConformityToleranceRangeEnabledVPARAMETER553When ConformityToleranceRangeEnabled is set to True, the allowable range of values forConformityTolerance

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

ConnectivityVPARAMETER5120Defines a minimum number of connected edges required to generate a point hypothesis from a a specificfound edge that satisfi

ConstraintsVPARAMETER5220Defines the edge detection constraints of an Arc Locator tool or an Edge Locator tool. Constraints can beset for position and

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5220: the value used to reference this property.index_id N/Aobject_id N/ACons

ContrastPolarityVPARAMETER522Selects the type of polarity accepted for object recognition. Contrast polarity identifies the direction ofchange in grey

Value hsContrastPolarity Description0 hsContrastPolarityNormal The Locator accepts only instances having the samepolarity as that of the model and doe

SegmentationDark439SegmentationDynamicDark441SegmentationDynamicInside443SegmentationDynamicLight445SegmentationDynamicOutside447SegmentationInside449

ContrastThresholdVPARAMETER303Defines the minimum contrast needed for an edge to be detected in the input image and used for arccomputation. This thre

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 303: the va

ContrastThresholdModeVPARAMETER302Selects the method used to compute the threshold used for detecting edges in the input image.SyntaxMicro V+VPARAMETE

Value Contrast Threshold Mode Name Description2 hsContrastThresholdAdaptiveHighSensitivityUses a high sensitivity adaptive thresholdfor detecting edge

CoordinateSystemVPARAMETER1000Coordinate system used to express the results. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id, tool_id, 1000, in

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 1000: the v

DefaultConformityToleranceVPARAMETER552Default value for ConformityTolerance computed by the Locator by analyzing the calibration, the contourdetectio

MaximumConformityToleranceMinimumConformityToleranceInstanceLocationGripperOffsetMinimumDefaultConformityToleranceAdeptSight Reference Guide, v3.2.x,

DetailLevelVPARAMETER301The coarseness of the contours at the Detail level. This property can only be set when ParametersBasedOnis set to hsParameters

ID 301: the value used to reference this property.index_id N/Aobject_id N/ADetailLevelAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 149

TopologicalResultsEnabled495TransformFlags496Variance497VideoExposure498VideoGain499VisionOriginBelt500VisionOriginRobot502VisionRotation504VisionXPos

Edge1ConstraintsVPARAMETER5221Defines the detection constraints for the first edge of the selected pair. Constraints can be set for positionand/or mag

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5221: the value used to reference this property.index_id Index of the edge pa

Edge1MagnitudeVRESULT1940Magnitude of the first edge of the selected pair. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id,

Edge1MagnitudeConstraintVPARAMETER5227Indexed property used to set the magnitude constraint function. Two points are used: Base and Top.SyntaxMicro V+

Edge1MagnitudeScoreVRESULT1942Magnitude score of the first edge of the selected pair. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, i

Edge1PolarityModeVPARAMETER5211Selection criterion of the first edge of the selected pair. The grey-scale transition of the edge must respectthe polar

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5211: the value used to reference this property.index_id Index of the edge pa

Edge1PositionConstraintVPARAMETER5224Indexed property used to set the position constraint function of the first edge of the selected pair. Fourpoints

Edge1PositionScoreVRESULT1944Position score of the first edge of the selected pair. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, ins

Edge1PositionXVRESULT1946X coordinate of the center of the first edge of the selected pair in the currently selected coordinate system.Read only.Synta

Line Finder Properties567Locator Tool Properties569Overlap Tool Properties572Pattern Locator Properties573Point Finder Properties575Remote Vision Tool

Edge1PositionYVRESULT1947Y coordinate of the center of the first edge of the selected pair in the currently selected coordinate system.Read only.Synta

Edge1RadiusVRESULT1954Radius of the first edge of the selected pair. ToolPositionX and ToolPositionY ar at center of the circular arcdescribed by the

Edge1RotationVRESULT1950Rotation of the first edge of the selected pair in the vision coordinate system. Read only.SyntaxMicro V+value = VRESULT (sequ

Edge1ScoreVRESULT1952Minimum score to accept an edge as the first edge of the selected pair. The score is computed according tothe constraints set by

index_id Index of the edge pair. Range [1, PairCount -1].frame_id Index of the frame containing the edge pair.Edge1ScoreAdeptSight Reference Guide, v3

Edge1ScoreThresholdVPARAMETER5241Minimum score to accept an edge as the first edge of the selected pair. The score of the first edge isreturned by the

Edge2ConstraintsVPARAMETER5222Defines the detection constraints for the second edge of the selected pair. Constraints can be set forposition and/or ma

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5222: the value used to reference this property.index_id Index of the edge pa

Edge2MagnitudeVRESULT1941Magnitude of the second edge of the selected pair. Read onlySyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id,

Edge2MagnitudeConstraintVPARAMETER5228Indexed property used to set the magnitude constraint function of the second edge of the selected pair.Two point

AdeptSight Reference GuideThe AdeptSight Reference Guide applies to AdeptSight version 3.2 and later. It contains the followingtopics:Recent ChangesAd

Edge2MagnitudeScoreVRESULT1943Magnitude score of the second edge of the selected pair. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id,

Edge2PolarityModeVPARAMETER5212Selection criterion of the second edge of the selected pair. The grey-scale transition of the edge mustrespect the pola

ID 5212: the value used to reference this property.index_id Index of the edge pair. Range [1, PairCount -1].object_id N/AEdge2PolarityModeAdeptSight R

Edge2PositionConstraintVPARAMETER5225Indexed property used to set the position constraint function of the second edge of the selected pair. Fourpoints

Edge2PositionScoreVRESULT1945Position score of the second edge of the selected pair. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, in

Edge2PositionXVRESULT1948X coordinate of the center of the second edge of the selected pair in the currently selected coordinatesystem. Read only.Synt

Edge2PositionYVRESULT1949Y coordinate of the center of the second edge of the selected pair in the currently selected coordinatesystem. Read only.Synt

Edge2RadiusVRESULT1955Radius of the second edge of the selected pair. ToolPositionX and ToolPositionY ar at center of the circulararc described by the

Edge2RotationVRESULT1951Rotation of the second edge of the selected pair in the vision coordinate system. Read only.SyntaxMicro V+value = VRESULT (seq

Edge2ScoreVRESULT1953Minimum score to accept an edge as the second edge of the selected pair The score is computed accordingto the constraints set by

index_id Index of the edge pair. Range [1, PairCount -1].frame_id Index of the frame containing the edge pair.Edge2ScoreAdeptSight Reference Guide, v3

Edge2ScoreThresholdVPARAMETER5242Minimum score to accept an edge as the second edge of the selected pair. The score of the second edge isreturned by t

EdgeCountVRESULT1900Number of edges detected by the tool. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1900, index_id,

EdgeFilterHalfWidthVPARAMETER5203Half-width of the convolution filter used to compute the edge magnitude curve from which actual edgesare detected. Th

EdgeMagnitudeVRESULT1901Magnitude of the selected edge. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1901, index_id, fr

EdgeMagnitudeScoreVRESULT1902Magnitude score of the selected edge. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1902, i

EdgeMagnitudeThresholdVPARAMETER5201Magnitude threshold is used to find edges on the magnitude curve. A subpixel peak detection algorithm isapplied on

EdgePolarityModeVPARAMETER5210Edge selection criterion. The grey-scale transition of the edge must respect the polarity set by thisproperty.SyntaxMicr

ID 5210: the value used to reference this property.index_id N/Aobject_id N/AEdgePolarityModeAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page

EdgePositionScoreVRESULT1903Position score of the selected edge. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1903, ind

Recent ChangesFor the most recent change information, please see the ReadMe.rtf file, which can be viewed by selectingthe following from the Windows S

EdgePositionXVRESULT1904X coordinate of the center of the selected edge in the currently selected coordinate system. Read only.SyntaxMicro V+value = V

EdgePositionYVRESULT1905Y coordinate of the center of the selected edge in the currently selected coordinate system. Read only.SyntaxMicro V+value = V

EdgeRadiusVRESULT1908Radius of the selected edge, ToolPositionX and ToolPositionY being the center of the circular arc describedby the selected edge.

EdgeRotationVRESULT1906Rotation of the selected edge with respect to the currently selected coordinate system. Read only.SyntaxMicro V+value = VRESULT

EdgeScoreVRESULT1907Score of the selected edge. The score is computed according the constraints set by the Constraintsproperty. Read only.SyntaxMicro

EdgeSortResultsEnabledVPARAMETER5243Property that specifies if edges are sorted in descending order of score values.SyntaxMicro V+VPARAMETER (sequence

ElapsedTimeVRESULT1001Total time elapsed (in milliseconds) during the last execution of the Locator tool. This time includes thetime for the learn pro

Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.E

ExtrinsicInertiaResultsEnabledVPARAMETER1604Enables the computation of the following blob properties: BlobInertiaXAxis, BlobInertiaYAxis andBlobPrinci

Parameters$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index

Property Name CodeLoadProject 10300LoadSequence 10301LoadColorCalibration 10302LoadVisionCalibration 10303LoadRobotCalibration 10304LoadBeltCalibratio

FilterCountVPARAMETER5601Number of filters applied by tool. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id, tool_id, 5601, index_id, object_id

FilterHalfWidthVPARAMETER5202Half-width of the convolution filter used by the tool to compute an edge magnitude curve from whichedges are detected. Th

FilterHueToleranceVPARAMETER5716Value of the tolerance allowed for Hue value defined by FilterHueValue, for the selected filter. TheFilterHueTolerance

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5716: the value used to reference this property.filter_id Index of the filter

FilterHueValueVPARAMETER5713Value of the Hue component, in the HSL colorspace, for the selected filter. This value may be modified ifany changes are m

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

FilteringClippingModeVPARAMETER5370FilteringClippingMode sets the clipping mode applied by a filtering operation. Typically, thehsClippingAbsolute mod

address format, for example: 192.168.1.120.sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision s

FilteringKernelSizeVPARAMETER5371Kernel size applied by a fixed (predefined) filtering operation.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5371,

FilteringScaleVPARAMETER5372Scaling factor applied by a filtering operation. After the operation has been applied, the value of each pixelis multiplie

Property Name CodeModelBoundingAreaLeft 419ModelBoundingAreaRight 420ModelOriginPositionX 421ModelOriginPositionY 422ModelOriginRotation 423ModelRefer

FilterLuminanceToleranceVPARAMETER5718Value of the tolerance allowed for Luminance value defined by FilterLuminanceValue, for the selectedfilter. The

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5718: the v

FilterLuminanceValueVPARAMETER5715Value of the Luminance component, in the HSL colorspace, for the selected filter. This value may bemodified if any c

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

FilterResultVRESULT2301Result of a specified filter, for a specified output instance. The Results Tool can contain any number offilters. The global re

FilterSaturationToleranceVPARAMETER5717Value of the tolerance allowed for the saturation value defined by FilterSaturationValue, for the selectedfilte

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5717: the v

FilterSaturationValueVPARAMETER5714Value of the Saturation component, in the HSL colorspace, for the selected filter. This value may bemodified if any

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

FitModeVPARAMETER5140Specifies the mode used by the tool to calculate and return values for the found arc.SyntaxMicroV+VPARAMETER (sequence_id, tool_i

Property Name CodeModelBasedScaleFactorMode 220ModelBasedMinimumScaleFactor 221ModelBasedMaximumScaleFactor 222ModelBasedRotationMode 223ModelBasedMin

ID 5140: the value used to reference this property.index_id N/Aobject_id N/AFitModeAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 220

FitQualityVRESULT1803Normalized average error between the calculated arc or line entity and the actual edges matched to thefound entity. Fit quality r

Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.F

FoundVRESULT1800Found specifies if an entity was found. If True, then at least one entity (point, line or arc) was found in thecurrent image. Read onl

FrameCountVRESULT2410Uses the frame index to return the number of results relative to the specified frame. Read only.NOTE:This AdeptSight property is

ResultCountInstanceCountFrameCountAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 225

FrameIntrinsicBoundingBoxVRESULT2420Sets the coordinates of the instrinsic bounding box that defines a frame. The intrinsic bounding box is thesmalles

6: Y coordinate of the corner7: X coordinate of the corner8: Y coordinate of the cornerframe_id Index of frame.$ip IP address of the vision server. Ap

FrameRotationVRESULT2402The rotation of the specified output frame. It does not include a tool offset or camera calibration offset.Read only.NOTE: Ins

FrameTranslationXVRESULT2400The X coordinate of the origin of the specified output frame. It does not include a tool offset or cameracalibration offse

$ip IP address of the vision serversequence Not used. Must be -1.Tool The tip numberIndex The robot numberObject The index of the signal number to acc

FrameTranslationYVRESULT2401The Y coordinate of the origin of the specified output frame. It does not include a tool offset or cameracalibration offse

GreylevelRangeVRESULT1508Range of greylevel values of the pixels in the tool's region of interest that are included in the finalhistogram. Pixels

GreyLevelResultsEnabledVPARAMETER1608Enables the computation of the following blob greylevel properties: BlobGreyLevelMaximum,BlobGreyLevelMean, BlobG

ID 1608: the value used to reference this property.index_id N/Aobject_id N/AGreyLevelResultsEnabledAdeptSight Reference Guide, v3.2.x, Updated: 5/8/20

GripperInputCloseVPARAMETER5515Returns the close input signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id,

GripperInputExtendVPARAMETER5518Returns the extend input signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id

GripperInputOpenVPARAMETER5514Returns the open input signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id, to

GripperInputRetractVPARAMETER5519Returns the retract input signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_

GripperOffsetVLOCATION10100Allows an application program to extract the gripper offsets for the tips associated with a robot in theworkspace. The &quo

GripperOutputCloseVPARAMETER5512Returns the close output signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id

10. The following vision tools were added for AdeptSight 3:Calculated ArcCalibration Grid Locator Inspection ToolCalculated Frame Custom Vision Tool R

GripperOutputExtendVPARAMETER5516Returns the extend output signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_

GripperOutputOpenVPARAMETER5511Returns the open output signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id,

GripperOutputReleaseVPARAMETER5513Returns the release signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequence_id, t

GripperOutputRetractVPARAMETER5517Returns the retract output signal for a given tip on the gripper. Read only.SyntaxMicroV+value = VPARAMETER (sequenc

GripperToolTransformVLOCATION11000Returns the tool transformation for a given tip on the gripper. Read only.SyntaxMicroV+value = VLOCATION (sequence_i

HistogramVRESULT1511Histogram of greylevel values of the pixels in the tool's region of interest that are included in the finalhistogram. Pixels

HistogramPixelCountVRESULT1512Total number of pixels in the histogram. The number of pixels in the histogram is equal toImagePixelCount minus the pixe

HistogramThresholdVPARAMETER5385Threshold value applied by a histogram thresholding operation.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5385, in

HoleFillingEnabledVPARAMETER5002Enables the filling of the holes in each blob.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5002, index_id, object_i

ImageHeightVRESULT1021Height of the tool's region of interest expressed in pixels. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id,

CAUTION: If an AdeptSight vision sequence and an Adept AnyFeeder have thesame index value, only the AdeptSight vision sequence will be executed. Thisp

ImageOriginBeltVLOCATION10053Origin of the Image frame of reference. Expressed as a transform relative to the Robot frame of reference.Read only.Figur

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

ImageOriginRobotVLOCATION10051Origin of the Image frame of reference. Expressed as a transform relative to the Robot frame of reference.Read only.Figu

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

ImagePixelCountVRESULT1513Number of pixels in the tool's region of interest. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, insta

ImageSubsamplingVPARAMETER5324Factor used to subsample the grey-scale image in the tool's region of interest. With a subsampling factor of1, the

Parameters$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index

ImageWidthVRESULT1020Width of the tool's region of interest expressed in pixels. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, i

InspectionFilterMeasuredValueVRESULT2700The code returns the measured value of the specified filter for the instance. Read only.SyntaxMicro V+value =

V+value = VRESULT ($ip, sequence_id, tool_id, instance_id, 2701, index_id)TypeLongParameters$ip IP address of the vision server. Applies to V+ syntax

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

InstanceClearQualityVRESULT1319Measure of the unencumbered area surrounding the specified object instance. Clear quality ranges from 0to 1, with 1 bei

frame_id Index of frame that contains the specified instance.Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only.

InstanceCountVRESULT1310Uses the frame index to return the number of results relative to the specified frame. Read only.NOTE:This AdeptSight property

Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.R

InstanceFitQualityVRESULT1317Normalized average error between the matched model contours of the selected object instance and theactual contours detect

frame_id Index of frame that contains the specified instance.Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only.

InstanceIntrinsicBoundingBoxVRESULT1330Gets the coordinates of the instrinsic bounding box that defines an instance. The intrinsic bounding box isthe

6: Y coordinate of the corner7: X coordinate of the corner8: Y coordinate of the cornerframe_id Index of frame that contains the specified instance.Ra

InstanceLocationVLOCATION1311Returns the location of the selected instance, in the frame of reference of the specified robot. If a gripperoffset has b

How Can I Get Help?For details on getting assistance with your Adept software or hardware, you can access the followinginformation sources on the Adep

Related PropertiesInstanceRobotLocationInstanceLocationGripperOffsetMaximumInstanceLocationGripperOffsetMinimumInstanceLocationAdeptSight Reference Gu

InstanceLocationGripperOffsetMaximumVLOCATION1499InstanceLocationGripperOffsetMaximum is the maximum number of gripper offsets. Read only.SyntaxMicroV

object_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.Related Proper

InstanceLocationGripperOffsetMinimumVLOCATION1400InstanceLocationGripperOffsetMiniimum is the minimum number of gripper offsets. Read only.SyntaxMicro

object_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.Related Proper

InstanceMatchQualityVRESULT1318Amount of matched model contours for the selected object instance. Match quality ranges from 0 to 1,with 1 being the be

Range: [1, ResultCount -1]$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.I

InstanceModelVRESULT1312Index of the model associated to the selected object instance. Read only.SyntaxMicroV+value = VRESULT (sequence_id, tool_id, i

InstanceOrderingVPARAMETER530Order in which the instances are processed and output.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 530, index_id, objec

Value Mode Name Description4 hsBottomToTopInstances are processed and output in the order theyappear in the search area, from bottom to top.5 hsQualit

InstanceOrderingReferenceXVPARAMETER531Reference X coordinate used to compute the distance when either of the hsDistanceImage orhsDistanceWorld orderi

InstanceOrderingReferenceYVPARAMETER532Reference Y coordinate used to compute the distance when either of the hsDistanceImage orhsDistanceWorld orderi

InstanceRobotLocationVLOCATION1371Returns the location of the selected instance, in the frame of reference of the specified robot. No offsettransforma

InstanceLocationInstanceLocationGripperOffsetMaximumInstanceLocationGripperOffsetMinimumInstanceRobotLocationAdeptSight Reference Guide, v3.2.x, Updat

InstanceRotationVRESULT1314Angle of rotation of the Object coordinate system of the selected object instance. It does not include a tooloffset or came

InstanceScaleFactorVRESULT1313Scale factor of the selected object instance, giving its relative size with respect to its associated model.Read only.Sy

instance_id Index of the instance for which you want the result.ID 1313: the value used to reference this property.index_id N/Aframe_id Index of frame

InstanceSymmetryVRESULT1320Index of the object instance of which the selected object instance is a symmetry of. Read only.SyntaxMicroV+value = VRESULT

instance_id Index of the instance for which you want the result.ID 1320: the value used to reference this property.index_id N/Aframe_id Index of frame

InstanceTimeVRESULT1322Time needed to recognize and locate the selected object instance, expressed in milliseconds. Read only.SyntaxMicroV+value = VRE

AdeptSight V+ and MicroV+ KeywordsThe following keywords are required for programming AdeptSight applications in MicroV+ or V+.Click on a keyword to v

ID 1322: the value used to reference this property.index_id N/Aframe_id Index of frame that contains the specified instance.Range: [1, ResultCount -1]

InstanceToolOffsetVLOCATION1372Returns the location of the selected instance relative to the position of the robot at the last pictureposition. Read o

ID 1372: the value used to reference this property.index_id N/Aframe_id Index of frame that contains the specified instance.Range: [1, ResultCount -1]

InstanceTranslationXVRESULT1315X translation of the Object coordinate system of the selected object instance. It does not include a tooloffset or came

InstanceTranslationYVRESULT1316Y translation of the Object coordinate system of the selected object instance. It does not include a tooloffset or came

InstanceVisibleVRESULT1321The percentage of the instance bounding box that was found in the image. If the entire instance boundingbox is in the field

Figure: Instance Visible at less than 100%SyntaxMicroV+value = VRESULT (sequence_id, tool_id, instance_id, 1321, index_id, frame_id)V+value = VRESULT

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.instance_id In

IntermediateFilterResultVRESULT2312Value of a specified filter, for a specified filter, for a specified Input Frame. The IntermediateFilterResult isus

Copyright NoticeThe information contained herein is the property of Adept Technology, Inc., and shall not be reproduced inwhole or in part without pri

VLOCATION transformation functionSyntaxMicroV+VLOCATION (sequence_id, tool_id, instance_id, result_id, index_id, frame_id)V+VLOCATION ($ip, sequence_i

InterpolatePositionModeVPARAMETER5122Sets the mode used by the Point Finder tool to compute a point hypothesisSyntaxMicro V+VPARAMETER (sequence_id, t

InterpolatePositionModeEnabledVPARAMETER5123When InterpolatePositionModeEnabled is set to True, the Point Finder tool uses the value set by theInterpo

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5123: the value used to reference this property.index_id N/Aobject_id N/AInte

IntrinsicBoxResultsEnabledVPARAMETER1605Enables the computation of the following intrinsic bounding box and intrinsic extent:BlobIntrinsicBoundingBoxB

Value Description1 The intrinsic box properties will be computed0 No intrinsic box properties will be computedParameters$ip IP address of the vision s

InverseKinematicsVLOCATION10060For a robot with a tool-mounted or an arm-mounted camera, InverseKinematics retrieves the location towhich to move the

ID 10060: the value used to reference this property.index The robot number, as defined in Keyword Mapping parameter of the AdeptSightCamera Calibratio

MOVES locBREAKEND.ENDRelated PropertiesRobotXPositionRobotYPositionRobotConfigurationVisionXPositionVisionYPositionVisionRotationInverseKinematicsAdep

KernelSizeVPARAMETER5304KernelSize sets the size of the kernel of the operator for the sharpness process. The default setting of 5 (a5X5 kernel) is ge

LastOperationVRESULT2200Operation applied by the Image Processing tool at the last iteration. Read Only.TypeLongRangeValue Name Description0 hsArithme

To retrieve specific valuesTo retrieve global values: sequence_id = -1, tool_id = -1To retrieve cameravalues:sequence_id = -1, tool_id = cameraIndexTo

Value Name Description9 hsLogicalAndAND operation is applied to the Operand value (constant orOperand image pixel) and the corresponding pixel in the

Value Name Descriptionby the selected kernel size.27 hsMorphologicalErodeSets each pixel in the output image as the smallest luminancevalue of all the

LastOutputTypeVRESULT2201Type of the image output by the Image Processing tool at the last iteration. Read Only.TypeLongRangeValue Name Description1 h

LoadBeltCalibrationVPARAMETER10305This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support fo

LoadCameraSettingsVPARAMETER10306This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for

LoadColorCalibrationVPARAMETER10302This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support f

LoadProjectVPARAMETER10300This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for progra

LoadRobotCalibrationVPARAMETER10304This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support f

LoadSequenceVPARAMETER10301This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for progr

LoadVisionCalibrationVPARAMETER10303This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support

; set 6th gripper offset locationSET location = VLOCATION ($ip, 1, 2, 1, 1405)Example 3; Retrieve the location of the Belt frame; BeltCalibrationFrame

LogicalConstantVPARAMETER5380Constant applied by a logical operation when no valid operand image is specified.TypeLongRangeMinimum: -32768Maximum: 327

MagnitudeConstraintVPARAMETER5226Indexed property used to set the magnitude constraint function for edge detection. Two points are used:Base and Top.S

MagnitudeThresholdVPARAMETER5200Magnitude threshold sets the threshold used to find edges on the magnitude curve. A subpixel peakdetection algorithm i

MatchCountVRESULT2100Number of matched patterns found. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 2100, index_id, fra

MatchPositionXVRESULT2102X coordinate of a matched pattern in the currently selected coordinate system. Read only.SyntaxMicro V+value = VRESULT (seque

MatchPositionYVRESULT2103X coordinate of a matched pattern in the currently selected coordinate system. Read only.SyntaxMicro V+value = VRESULT (seque

MatchQualityVRESULT1802Percentage of edges actually matched to the found entity (point, arc, or line). MatchQuality ranges from 0to 1, with 1 being th

MatchRotationVRESULT2104Rotation of a matched pattern in the currently selected coordinate system. Read only.SyntaxMicro V+value = VRESULT (sequence_i

MatchStrengthVPARAMETER2101Strength of the match matrix for the selected matched pattern. Match value ranges from 0 to 1, with 1being the best quality

MatchThresholdVPARAMETER5420Sets the minimum match strength required for a pattern to be recognized as valid. A perfect match valueis 1.SyntaxMicroV+V

VPARAMETER program instructionNOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the AdeptAnyFeeder User's Guid

index_id N/Aobject_id N/AMatchThresholdAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 330

MaximumAngleDeviationVPARAMETER5102Maximum deviation in angle allowed for a detected edge to be used for generate an entity hypothesis.RemarksFor an a

MaximumBlobAreaVPARAMETER5001Maximum area for a blob. This validation criterion is used to filter out unwanted blobs from the results.SyntaxMicroV+VPA

MaximumGreylevelValueVRESULT1507Highest greylevel value of all pixels in the tool's region of interest that are included in the final histogram.P

MaximumInstanceCountVPARAMETER519Maximum number of object instances that are searched for in the input grey-scale Image. All of the objectinstances re

object_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.MaximumInstanc

MaximumInstanceCountEnabledVPARAMETER518When MaximumInstanceCountEnabled is True, the search is limited to the number of instances set bythe MaximumIn

MaximumRotationVPARAMETER517Maximum angle of rotation allowed for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5

MaximumScaleFactorVPARAMETER513Maximum scale factor allowed for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 513

MeanVRESULT1500Mean of the greylevel distribution of the pixels in the tool's region of interest that are included in the finalhistogram. Pixels

; Set a Locator to find; a maximum of 4 object instances.; MaximumInstanceCount = 519VPARAMETER(1, 2, 519) $ip = 4VPARAMETER program instructionAdeptS

MeasurementPointsCountVRESULT2002The number of points where the local sharpness is evaluated. When the Image Sharpness tool is executed,it scans the r

MedianVRESULT1501Median of the greylevel distribution of the pixels in the tool's region of interest that are included in the finalhistogram. Pix

MinimumArcPercentageVPARAMETER5142Minimum percentage of arc contours that need to be matched for an arc hypothesis to be considered asvalid.SyntaxMicr

MinimumBlobAreaVPARAMETER5000Minimum area for a blob. This validation criterion is used to filter out unwanted blobs from the results.SyntaxMicroV+VPA

MinimumClearPercentageVPARAMETER559When MinimumClearPercentageEnabled is set to true, MinimumClearPercentage sets the minimumpercentage of the model b

MinimumClearPercentageEnabledVPARAMETER558When MinimumClearPercentageEnabled is set to true, the MinimumClearPercentage constraint is appliedto the se

MinimumGreylevelValueVRESULT1506Lowest greylevel value of all pixels in the tool's region of interest that are included in the final histogram.Pi

MinimumLinePercentageVPARAMETER5130Minimum percentage of line contours that need to be matched for a line hypothesis to be considered asvalid.SyntaxMi

MinimumModelPercentageVPARAMETER557Minimum percentage of model contours that need to be matched in the input image in order to considerthe object inst

MinimumRequiredFeaturesVPARAMETER560Minimum percentage of required features that must be recognized in order to consider the object instanceas valid.S

VPARAMETER real-valued functionSyntaxMicroV+value = VPARAMETER (sequence_id, tool_id, parameter_id, index_id, object_id)V+value = VPARAMETER ($ip, seq

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 560: the va

MinimumRotationVPARAMETER516Minimum angle of rotation allowed for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5

MinimumScaleFactorVPARAMETER512Minimum scale factor allowed for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 512

ModeVRESULT1504Mode of the greylevel distribution of the pixels in the tool's region of interest that are included in the finalhistogram. Pixels

ModelDisambiguationEnabledVPARAMETER403When set to True (default), the Locator applies disambiguation to discriminate between similar models andbetwee

ID 403: the value used to reference this property.index_id N/Aobject_id N/AModelDisambiguationEnabledAdeptSight Reference Guide, v3.2.x, Updated: 5/8/

ModePixelCountVRESULT1505Number of pixels in the histogram bin which corresponds to the Mode of the greylevel distribution of allpixels in the tool&ap

MorphologicalNeighborhoodSizeVPARAMETER5390Neighborhood applied by a morphological operationTypeLongRangeFixed value: 3MorphologicalNeighborhoodSizeAd

NominalRotationVPARAMETER515Required angle of rotation for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 515, ind

NominalRotationEnabledVPARAMETER514Specifies whether the rotation of a recognized instance must fall within the range set by MinimumRotationand Maximu

Scale(10004)sequence_id = -1, tool_id = cameraIndex, index_id = robotIndex, object_id =n/aTo retrieve sequence-related valuesMode(10200)sequence_id =

ID 514: the value used to reference this property.index_id N/Aobject_id N/ANominalRotationEnabledAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012

NominalScaleFactorVPARAMETER511Required scale factor for an object instance to be recognized.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 511, index

NominalScaleFactorEnabledVPARAMETER510Specifies whether the scale factor of a recognized instance must fall within the range set byMinimumScaleFactor

ID 510: the value used to reference this property.index_id N/Aobject_id N/ANominalScaleFactorEnabledAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2

OperationVPARAMETER5355Operation applied by the Image Processing tool.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5355, index_id, object_id) = valu

Value Name Descriptionminimal value.6hsAs-signmentInitializationAll the pixels of the output image are set to a specific constantvalue. The height and

Value Name Description21hsFil-teringHorizontalPrewittApplies a Horizontal Prewitt filter.22 hsFilteringVerticalPrewitt Applies a Vertical Prewitt filt

Value Name Description35 hsTransformDCTConverts and outputs a frequency description of the inputimage by applying a Discrete Cosine Transform (DCT).-P

OperatorVPARAMETER5600Logical operator applied by the Results Inspection tool.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5600, index_id, object_id

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5600: the value used to reference this property.index_id N/Aobject_id N/AOper

VRESULT real-valued functionSyntaxMicroV+value = VRESULT (sequence_id, tool_id, instance_id, result_id, index_id, frame_id)V+value = VRESULT ($ip, seq

OutlineLevelVPARAMETER300The coarseness of the contours at the Outline level. This property can only be set whenParametersBasedOn is set to hsParamete

OutputArcAngleVRESULT1841Angle of the specified arc entity. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1841, index_id

OutputArcCenterPointXVRESULT1846X coordinate of the center point of the specified arc entity. Read only.SyntaxMicro V+value = VRESULT (sequence_id, to

OutputArcCenterPointYVRESULT1847The Y coordinate of the center point of the specified arc entity. Read only.SyntaxMicro V+value = VRESULT (sequence_id

OutputArcRadiusVRESULT1840The radius of the specified arc entity. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1840, in

OutputLineAngleVRESULT1820Angle of the specified line entity. Read only.TypeDoubleRangeMinimum: -180Maximum: 180OutputLineAngleAdeptSight Reference Gu

OutputLineEndPointXVRESULT1823X coordinate of the end point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineEndPointXAdeptSi

OutputLineEndPointYVRESULT1824Y coordinate of the end point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineEndPointYAdeptSi

OutputLineStartPointXVRESULT1821X coordinate of the start point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineStartPointXA

OutputLineStartPointYVRESULT1822Y coordinate of the start point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineStartPointYA

code. It continues up the chain until it finds a tool that supports the code. If no valid tool is found, aninvalid vision result error is generated.Fo

OutputLineVectorPointXVRESULT1825X coordinate of the vector point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineVectorPoin

OutputLineVectorPointYVRESULT1826Y coordinate of the vector point of the specified line entity. Read only.TypeDoubleRangeUnboundedOutputLineVectorPoin

OutputPointXVRESULT1810X coordinate of the specified point entity. Read only.TypeDoubleRangeUnboundedOutputPointXAdeptSight Reference Guide, v3.2.x, U

OutputPointYVRESULT1811Y coordinate of the specified point entity. Read only.TypeDoubleRangeUnboundedOutputPointYAdeptSight Reference Guide, v3.2.x, U

OutputSymmetricInstancesVPARAMETER520When set to true, all the symmetric pose of the object instances are output. If False, only the best qualityof th

index_id N/Aobject_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.Ou

OverrideTypeVPARAMETER5351Output image type when OverrideTypeEnabled property is set to True. By default, the Image ProcessingTool outputs all resulti

OverrideTypeEnabledVPARAMETER5350Enables or disables the OverrideType propertyTypeLongRangeValue State Description1 Enabled0Dis-abledThe output image

PairCountVPARAMETER1920PairCount indicates the number of pairs that have configured for the tool. Read only.SyntaxMicro V+value = VPARAMETER (sequence

PairPositionXVRESULT1921X coordinate of the center of the selected pair. The position of a pair is defined as the middle of the linesegment drawn from

VRUN program instructionNOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the AdeptAnyFeeder User's Guide, Rev

$ip IP address of the vision server. Applies to V+ syntax only. Uses standardIP address format, for example: 192.168.1.120.sequence_id Index of the vi

PairPositionYVRESULT1922Y coordinate of the center of the selected pair. The position of a pair is defined as the middle of the linesegment drawn from

PairRotationVRESULT1923Angle of rotation of the selected pair in the currently selected coordinate system. The rotation of a givenpair is always the s

PairScoreVRESULT1924Score of the selected pair. The score of the pair is equal to the mean score of the two edges (Edge1Scoreand Edge2Score) that comp

PairSizeVRESULT1925Score of the selected pair. The score of the pair is equal to the mean score of the two edges (Edge1Scoreand Edge2Score) that compr

ParametersBasedOnVPARAMETER304Sets how the contour detection parameters are configured. When set to hsContourParametersAllModels,the contour detection

Value Detection Mode Descriptionfrom 1 -10of a model are used.Parameterssequence_id Index of the vision sequence. The first sequence is 1.tool_id Inde

PatternHeightVPARAMETER5403Height of the region of interest of the Pattern. This is the sample pattern for which the Pattern Locatorsearches.Figure: I

address format, for example: 192.168.1.120.sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision s

PatternPositionXVPARAMETER5400X coordinate of the center of the pattern region of interest. This is the sample pattern for which thePattern Locator se

VSTATE real-valued functionNOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the AdeptAnyFeeder User's Guide,

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

PatternPositionYVPARAMETER5401Y coordinate of the center of the pattern region of interest. This is the sample pattern for which the PatternLocator se

PatternRotationVPARAMETER5404Angle of rotation of the pattern region of interest. This is the sample pattern for which the Pattern Locatorsearches.Fig

index_id N/Aobject_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.Pa

PatternWidthVPARAMETER5402Width of the pattern region of interest.This is the sample pattern for which the Pattern Locator searches.Figure: Illustrati

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5402: the v

PerimeterResultsEnabledVPARAMETER1602Enables the computation of the following blob properties: BlobRawPerimeter, BlobConvexPerimeter andBlobRoundness.

PolarityModeVPARAMETER5100Selects the type of polarity accepted for finding an entity. Polarity identifies the change in greylevel valuesfrom the tool

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

PositionConstraintVPARAMETER5223Indexed property used to set the position constraint function for edge detection. Four points are used:Base Left, Top

MicroV+Value Description2 Completed3 ErrorV+Value Description0 Idle1 Running2 Paused3 Done4 Error5 StartingExample; Get the state of the first sequenc

PositioningLevelVPARAMETER561Configurable effort level of the instance positioning process. The value is expressed as a percentage. Theminimal allowab

ProjectionModeVPARAMETER140Projection mode used by the tool to detect edges.Figure: Projection Modes used by Arc Caliper and Arc Edge CaliperSyntaxMic

Parameters$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index

RecognitionLevelVPARAMETER550Configurable effort level of the search process. A value of 0 will lead to a faster search that may missinstances that ar

ResetVPARAMETER5500Resets the data currently stored for the tool. Write only.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5500, index_id, object_id)

ResultVRESULT2300Global result of the Results Inspection Tool for the specified output frame. The Results Inspection toolgenerates an output frame for

ResultCountVRESULT1010Returns the total number of results found by the tool in all frames of reference. If you want the number ofresults within a spec

RobotXPositionVPARAMETER10404X coordinate of a location in the robot frame of reference required for the InverseKinematics property.TypeLongExampleSee

RobotYPositionVPARAMETER10405Y coordinate of a location in the robot frame of reference required for the InverseKinematics property.TypeLongExampleSee

SamplingStepCustomVPARAMETER124When SamplingStepCustomEnabled is True, defines the sampling step used to sample the region ofinterest from the input i

VTIMEOUT system parameterSyntaxMicroV+PARAMETER VTIMEOUT = valueV+PARAMETER VTIMEOUT = valueDescriptionSets a timeout value so that an error message i

ID 124: the value used to reference this property.index_id N/Aobject_id N/ARelated PropertiesSamplingStepCustomEnabledSamplingStepCustomAdeptSight Ref

SamplingStepCustomEnabledVPARAMETER121When enabled, the tool uses the user-defined sampling step (SamplingStepCustom) instead of thedefault optimal sa

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 121: the value used to reference this property.index_id N/Aobject_id N/ARelat

SaveBeltCalibrationVPARAMETER10325This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support fo

SaveCameraSettingsVPARAMETER10326This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for

SaveColorCalibrationVPARAMETER10322This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support f

SaveImageVPARAMETER10327Saves the current image to file. Various file formats are available, including the Adept hig file format. Thehig format saves

SaveProjectVPARAMETER10320This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for progra

SaveRobotCalibrationVPARAMETER10324This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support f

SaveSequenceVPARAMETER10321This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support for progr

VWAITI program instructionNOTE:This keyword can also be used to control the Adept AnyFeeder. For details, see the AdeptAnyFeeder User's Guide, R

; Load Test ProjectCALL as.load(load_project, $path+"Project2.hsproj", $pc_ip, empty_parameter, empty_param-eter); Save TestingCALL as.save(

CALL as.load(load_cam_settin, $path+"CamSettings.xml", $pc_ip, camera_index, empty_parameter)CALL as.load(load_color_cal, $path+"ColorC

old_timeout = PARAMETER(VTIMEOUT)PARAMETER VTIMEOUT = 10*old_timeoutfile_index = 0$as.filename[file_index] = $filenameTYPE "Saving... Please wait

SaveVisionCalibrationVPARAMETER10323This command code is not directly supported in AdeptSight 3.x at this time. Pleasecontact Adept Technical Support

ScoreThresholdVPARAMETER5240Minimum score to accept an edges. The score of an edge is returned by the EdgeScore property.SyntaxMicroV+VPARAMETER (sequ

SearchBasedOnOutlineLevelOnlyVPARAMETER521When set to True, the Locator does not use the models at the Detail level for the positioning process. Thism

SearchCoarsenessVPARAMETER5430Subsampling level used to find pattern-match hypotheses. High values provide a coarser search and lowerexecution time th

SearchModeVPARAMETER5101Specifies the method used by a Finder tool to select a hypothesis.TypeLongRangeThe range depends on the type of entity. For ar

Value Description1 hsPointClosestToGuideline Selects the point hypothesis closest to the Guideline.2hsPoint-WithMaximumNegativeXOffsetSelects the poin

SegmentationDarkVPARAMETER5005Indexed property used to access the Dark Segmentation function. Two points are available, from left toright: Top and Bot

; Wait for full completion of first sequenceVWAITI (1) $ip, 0VWAITI program instructionAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 44

2: DarkBottom pointobject_id N/ASegmentationDarkAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 440

SegmentationDynamicDarkVPARAMETER5009Indexed property used to access the Dynamic Dark Segmentation function. Two points are available, fromleft to rig

2: DarkBottom pointobject_id N/ASegmentationDynamicDarkAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 442

SegmentationDynamicInsideVPARAMETER5010Indexed property used to access the Dynamic Inside Segmentation function. Four points are available,from left t

1: hsInsideTopLeft point2: hsInsideTopRight point3: hsInsideBottomRight pointobject_id N/ASegmentationDynamicInsideAdeptSight Reference Guide, v3.2.x,

SegmentationDynamicLightVPARAMETER5008Indexed property used to access the Dynamic Light Segmentation function. Two points are available (fromleft to r

2: hsLightTop pointobject_id N/ASegmentationDynamicLightAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 446

SegmentationDynamicOutsideVPARAMETER5011Indexed property used to access the Dynamic Outside Segmentation function. Four points are available,from left

1: hsOutsideBottomLeft point2: hsOutsideBottomRight point3: hsOutsideTopRight pointobject_id N/ASegmentationDynamicOutsideAdeptSight Reference Guide,

SegmentationInsideVPARAMETER5006Indexed property used to access the Inside Segmentation function. Four points are available: from left toright, Bottom

AdeptSight Properties Reference for V+ and MicroV+This chapter provides details on all AdeptSight properties and their use in V+ and MicroV+.• All pro

1: hsInsideTopLeft point2: hsInsideTopRight point3: hsInsideBottomRight pointobject_id N/ASegmentationInsideAdeptSight Reference Guide, v3.2.x, Update

SegmentationLightVPARAMETER5004Indexed property used to access the Light Segmentation function. Two points are available, from left toright: Bottom an

2: hsLightTop pointobject_id N/ASegmentationLightAdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012Page 452

SegmentationModeVPARAMETER5003Segmentation mode used by the tool to segment the input image.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5003, inde

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

SegmentationOutsideVPARAMETER5007Indexed property used to access the Outside Segmentation function. Four points are available, from left toright: Top

1: hsOutsideBottomLeft point2: hsOutsideBottomRight point3: hsOutsideTopRight pointobject_id N/ASegmentationOutsideAdeptSight Reference Guide, v3.2.x,

SequenceExecutionModeVPARAMETER10200Sets the mode for execution of the sequence. When VRUN is called the sequence is run if single executionmode is se

object_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.SequenceExecut

SharpnessVRESULT2000Average sharpness computed in the region of interest. When the Image Sharpness tool is executed, itscans the region of interest an

Image Sampling Tool PropertiesImage Sharpness Tool PropertiesInspection Tool PropertiesLine Finder PropertiesLocator Model Tool Properties (NOTE: This

SharpnessPeakVRESULT2001Maximum Sharpness value computed by the tool. Read only.TypeDoubleRangeMinimum: 0Maximum: 1000SharpnessPeakAdeptSight Referenc

ShowResultsGraphicsVPARAMETER150When enabled, vision results are displayed in the image display control. When disabled, vision results arenot displaye

SortBlobsByVPARAMETER1601Sorting mode used by the tool to sort the found blobs.Remark(s)Default Value: 0:hsAreaSyntaxMicro V+VPARAMETER (sequence_id,

Value Sorting Mode9 hsBoundingBoxWidth10 hsChainCodeDeltaX11 hsChainCodeDeltaY12 hsChainCodeLength13 hsChainCodeStartX14 hsChainCodeStartY15 hsConvexP

Value Sorting Mode37 hsIntrinsicBoundingBoxRotation38 hsIntrinsicBoundingBoxTop39 hsIntrinsicBoundingBoxWidth40 hsIntrinsicExtentBottom41 hsIntrinsicE

SortResultsEnabledVPARAMETER1600SortResultsEnabled specifies if the found blobs are sorted descending order of the sorting mode set by theSortBlobsBy

StandardDeviationVRESULT1503Standard deviation of the greylevel distribution of the pixels in the tool's region of interest that areincluded in t

StandardDeviationThresholdVPARAMETER5302Threshold used to validate candidate measurement points before computing their local sharpness. Whenthe tool i

SubsamplingLevelVPARAMETER5110Subsampling level used to detect edges that are used by the tool to generate hypotheses. High valuesprovide a coarser se

TailBlackVPARAMETER5323Amount of pixels to ignore at the dark end of the greylevel distribution in the tool's region of interest.TailBlack is exp

AbortVPARAMETER5501Stops the execution of the specified Virtual Camera tool. Write only.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5501, index_id

TailBlackGreylevelValueVRESULT1509When is TailBlack is used to ignore pixels at the dark end of the greylevel distribution,TailBlackGreylevelValue rep

TailWhiteVPARAMETER5322Amount of pixels to ignore at the bright end of the greylevel distribution in the tool's region of interest.TailWhite is e

TailWhiteGreylevelValueVRESULT1510When is TailWhite is used to ignore pixels at the bright end of the greylevel distribution,TailWhiteGreylevelValue r

ThresholdBlackVPARAMETER5320Darkest greylevel value to consider when building the histogram. Greylevel values below ThresholdBlackare ignored during t

ThresholdWhiteVPARAMETER5321Brightest greylevel value to consider when building the histogram. Greylevel values above ThresholdWhiteare ignored during

TimeoutVPARAMETER501Time (in milliseconds) after which the Locator tool aborts its search process. This timeout period does notinclude the model learn

ID 501: the value used to reference this property.index_id N/Aobject_id N/A$ip IP address of the vision server. Applies to V+ syntax only. Uses standa

TimeoutEnabledVPARAMETER500Specifies if the timeout period set by the Timeout property is used to limit the search time.SyntaxMicroV+VPARAMETER (seque

ToolGuidelineOffsetVPARAMETER130The radial offset of the Guideline marker from the center of the tool search area.SyntaxMicroV+VPARAMETER (sequence_id

ToolHeightVPARAMETER111Height of the tool region of interest.Figure: Illustration of Tool Height and WidthSyntaxMicroV+VPARAMETER (sequence_id, tool_i

ActiveCalibrationVPARAMETER5504Reads and writes the index of the active calibration relative to a camera.SyntaxMicroV+VPARAMETER (sequence_id, tool_id

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 111: the va

Parameters$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index

ToolPositionXVPARAMETER100X coordinate of the center of the tool region of interest.Figure: Illustration of the Tool positionSyntaxMicroV+VPARAMETER (

address format, for example: 192.168.1.120.sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision s

ToolPositionYVPARAMETER101Y coordinate of the center of the tool region of interest.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 101, index_id, obje

ToolRadiusVPARAMETER135The radius of the tool corresponds to the radius of the median annulus of the tool’s sector.Figure: Illustration of the ToolRad

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

ToolRotationVPARAMETER112Angle of rotation of the tool region of interest.Figure: Illustration of Tool RotationMicroV+VPARAMETER (sequence_id, tool_id

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.ToolRotationAdeptSight Refe

ToolSkewVPARAMETER113Skew angle of the tool region of interest. The angle of skew is defined as the angle between the Y-axis of anorthogonal Tool coor

ActiveSettingsVPARAMETER5505Reads and writes the index of the active settings relative to a camera.SyntaxMicroV+VPARAMETER (sequence_id, tool_id, 5505

sequence_id Index of the vision sequence. The first sequence is 1.tool_id Index of the tool in the vision sequence. The first tool is 1.ID 113: the va

ToolThicknessVPARAMETER136Distance between the two bounding annuli of the tool region of interest.Figure: Illustration of the ToolThickness PropertySy

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

ToolWidthVPARAMETER110Width of the tool region of interest.Figure: Illustration of Tool Height and WidthSyntaxMicroV+VPARAMETER (sequence_id, tool_id,

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 110: the value used to reference this property.index_id N/Aobject_id N/A$ip I

TopologicalResultsEnabledVPARAMETER1609Enables the computation of the BlobHoleCount property.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 1609, ind

TransformFlagsVPARAMETER5395Sets the flag used by a transform operation, either FFT or DCTTypeLongRangeValue Transform Flag Type Description0 Transfor

VarianceVRESULT1502Variance of the greylevel distribution of the pixels in the tool's region of interest that are included in thefinal histogram.

VideoExposureVPARAMETER5502Reads and writes the exposure setting for the active settings object relative to a camera.SyntaxMicroV+VPARAMETER (sequence

VideoGainVPARAMETER5503Reads and writes the gain setting for the active settings object relative to a camera.SyntaxMicroV+VPARAMETER (sequence_id, too

Table Of ContentsAdeptSight Reference Guide 17Recent Changes 19Compatibility Differences19How Can I Get Help? 27AdeptSight V+ and MicroV+ Keywords 29V

ArcMustBeTotallyEnclosedVPARAMETER5141When ArcMustBeTotallyEnclosed is True, the start and end points of the arc must be located on theradial bounding

VisionOriginBeltVLOCATION10052Origin of the Vision frame of reference, defined during the calibration. Expressed as a transform relative tothe Belt fr

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

VisionOriginRobotVLOCATION10050Origin of the Vision frame of reference, defined during the calibration. Expressed as a transform relative tothe Robot

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

VisionRotationVPARAMETER10403Specifies the rotation required to define the InverseKinematics property for a tool-mounted camera. Thisrotation is defin

VisionXPositionVPARAMETER10401X coordinate of a position in the vision frame of reference (mm) required for the InverseKinematicsproperty.TypeDoubleEx

VisionYPositionVPARAMETER10402X coordinate of a position in the vision frame of reference (mm) required for the InverseKinematicsproperty.TypeDoubleEx

AdeptSight Properties Quick ReferenceThe following lookup tables provide a quick reference for AdeptSight properties.• Property Name: The name of the

Property Name V+/MicroV+ Keyword Property IDAutoCoarsenessSelectionEnabled VPARAMETER 5421AutomaticCandidateCountEnabled VPARAMETER 5301AverageContras

tool_id Index of the tool in the vision sequence. The first tool is 1.ID 5141: the value used to reference this property.index_id N/Aobject_id N/AArcM

Property Name V+/MicroV+ Keyword Property IDBlobExtentRight VRESULT 1651BlobExtentTop VRESULT 1652BlobGreyLevelMaximum VRESULT 1622BlobGreyLevelMean V

Property Name V+/MicroV+ Keyword Property IDCandidatePointsCount VPARAMETER 5300ChainCodeResultsEnabled VPARAMETER 1607ColorFilterCount VPARAMETER 570

Property Name V+/MicroV+ Keyword Property IDEdge2MagnitudeConstraint VPARAMETER 5228Edge2MagnitudeScore VRESULT 1943Edge2PolarityMode VPARAMETER 5212E

Property Name V+/MicroV+ Keyword Property IDFilteringClippingMode VPARAMETER 5370FilteringKernelSize VPARAMETER 5371FilteringScale VPARAMETER 5372Filt

Property Name V+/MicroV+ Keyword Property IDHistogramPixelCount VRESULT 1512HistogramThreshold VPARAMETER 5385HoleFillingEnabled VPARAMETER 5002ImageH

Property Name V+/MicroV+ Keyword Property IDInstanceTranslationX VRESULT 1315InstanceTranslationY VRESULT 1316InstanceVisible VRESULT 1321InstanceVisi

Property Name V+/MicroV+ Keyword Property IDMaximumBlobArea VPARAMETER 5001MaximumConformityTolerance VPARAMETER 555MaximumGreylevelValue VRESULT 1507

Property Name V+/MicroV+ Keyword Property IDOperator VPARAMETER 5600OutlineLevel VPARAMETER 300OutputArcAngle VRESULT 1841OutputArcCenterPointX VRESUL

Property Name V+/MicroV+ Keyword Property IDPerimeterResultsEnabled VPARAMETER 1602PolarityMode VPARAMETER 5100PositionConstraint VPARAMETER 5223Posit

Property Name V+/MicroV+ Keyword Property IDSegmentationInside VPARAMETER 5006SegmentationLight VPARAMETER 5004SegmentationMode VPARAMETER 5003Segment

ArithmeticClippingModeVPARAMETER5360Clipping mode applied by an arithmetic operation.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5360, index_id, o

Property Name V+/MicroV+ Keyword Property IDToolWidth VPARAMETER 110TopologicalResultsEnabled VPARAMETER 1609TransformFlags VPARAMETER 5395UseDefaultC

Property ID Property Name V+/MicroV+ Keyword137 ToolOpening VPARAMETER140 ProjectionMode VPARAMETER150 ShowResultsGraphics VPARAMETER300 OutlineLevel

Property ID Property Name V+/MicroV+ Keyword553 ConformityToleranceRangeEnabled VPARAMETER554 MinimumConformityTolerance VPARAMETER555 MaximumConformi

Property ID Property Name V+/MicroV+ Keyword1400 InstanceLocationGripperOffsetMinimum VLOCATION1499 InstanceLocationGripperOffsetMaximum VLOCATION1500

Property ID Property Name V+/MicroV+ Keyword1616 BlobElongation VRESULT1617 BlobPrincipalAxesRotation VRESULT1618 BlobGreyLevelMean VRESULT1619 BlobGr

Property ID Property Name V+/MicroV+ Keyword1646 BlobBoundingBoxRight VRESULT1647 BlobBoundingBoxTop VRESULT1648 BlobBoundingBoxBottom VRESULT1649 Blo

Property ID Property Name V+/MicroV+ Keyword1846 OutputArcCenterPointX VRESULT1847 OutputArcCenterPointY VRESULT1900 EdgeCount VRESULT1901 EdgeMagnitu

Property ID Property Name V+/MicroV+ Keyword1953 Edge2Score VRESULT1954 Edge1Radius VRESULT1955 Edge2Radius VRESULT2000 Sharpness VRESULT2001 Sharpnes

Property ID Property Name V+/MicroV+ Keyword5003 SegmentationMode VPARAMETER5004 SegmentationLight VPARAMETER5005 SegmentationDark VPARAMETER5006 Segm

Property ID Property Name V+/MicroV+ Keyword5223 PositionConstraint VPARAMETER5224 Edge1PositionConstraint VPARAMETER5225 Edge2PositionConstraint VPAR

$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IPaddress format, for example: 192.168.1.120.sequence_id Index of the vi

Property ID Property Name V+/MicroV+ Keyword5372 FilteringScale VPARAMETER5380 LogicalConstant VPARAMETER5385 HistogramThreshold VPARAMETER5390 Morpho

Property ID Property Name V+/MicroV+ Keyword5700 ColorFilterCount VPARAMETER5713 FilterHueValue VPARAMETER5714 FilterSaturationValue VPARAMETER5715 Fi

Property ID Property Name V+/MicroV+ Keyword10324 SaveRobotCalibration VPARAMETER10325 SaveBeltCalibration VPARAMETER10326 SaveCameraSettings VPARAMET

AdeptSight Framework PropertiesAdeptSight framework properties are properties that do not apply to vision tools.The table below lists the AdeptSight p

Property NameV+/MicroV+KeywordV+/-MicroV+ IDAccess TypeSaveBeltCalibration VPARAMETER 10325 R - W LongSaveCameraSettings VPARAMETER 10326 R - W LongSa

AdeptSight Tool PropertiesThe following sections list the properties that apply to the selected vision tool.Arc Caliper PropertiesArc Edge Locator Pro

Arc Caliper PropertiesThe Arc Caliper finds and locates one or more edge pairs on an arc-shaped or circular area and measuresdistances between the two

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeEdge2Radius VRESULT 1955 R - O DoubleEdge2Rotation VRESULT 1951 R - O DoubleEdge2Score VRESULT 19

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeToolRadius VPARAMETER 135 R / W DoubleToolRotation VPARAMETER 112 R / W DoubleToolThickness VPARA

ArithmeticConstantVPARAMETER5361Constant applied by an arithmetic operation when no valid operand image is specified.SyntaxMicro V+VPARAMETER (sequenc

Arc Edge Locator PropertiesThe Arc Edge Locator finds and locates an edge or a set of edges in an arc-shaped or circular area.Property NameV+/MicroV+K

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeMagnitudeThreshold VPARAMETER 5200 R / W DoublePositionConstraint VPARAMETER 5223 R / W DoublePro

Arc Finder PropertiesThe Arc Finder finds and locates circular features on objects and returns the coordinates of the center ofthe arc, the start and

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypePolarityMode VPARAMETER 5100 R / W LongPositioningLevel VPARAMETER 561 R / W LongResultCount VRES

Blob Analyzer PropertiesThe Blob Analyzer finds, labels and analyzes irregular shaped objects. This tool detects and computesintrinsic/extrinsic geome

Property NameV+/MicroV+KeywordV+/MicroV+ ID Access TypeBlobGreyLevelMinimum VRESULT 1621 R - O LongBlobGreyLevelRange VRESULT 1619 R - O LongBlobGreyL

Property NameV+/MicroV+KeywordV+/MicroV+ ID Access TypeFrameCount VRESULT 2410 R - O LongFrameRotation VRESULT 2402 R - O DoubleFrameTranslationX VRES

Property NameV+/MicroV+KeywordV+/MicroV+ ID Access TypeToolHeight VPARAMETER 111 R / W DoubleToolPositionX VPARAMETER 100 R / W DoubleToolPositionY VP

Calculated Arc PropertiesThe Calculated Arc calculates the circle enclosing an arc based on a specific calculation mode. Possiblemodes are:• Three poi

Calculated Frame PropertiesThe Calculated Frame is used to create a vision frame from other features. Frames allow you to place visiontools on objects

ArithmeticScaleVPARAMETER5362Scaling factor applied by an arithmetic operation.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5362, index_id, object_

Calculated Line PropertiesThe Calculated Line can be created from two points, or from a point and a line. In the latter case, thecalculated line will

Calculated Point PropertiesThe Calculated Point can be calculated based on the intersection two lines, a line and a circle, or midwaybetween two point

Calibration Grid Locator PropertiesThe Calibration Grid Locator is used to locate a collection of dots in the field of view. It is used by the gridcal

Caliper PropertiesThe Caliper finds and locates one or more edge pairs and measures distances between the two edgeswithin each pair.Property NameV+/Mi

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeEdge2ScoreThreshold VPARAMETER 5242 R / W DoubleEdgeFilterHalfWidth VPARAMETER 5203 R / W LongEdg

Color Matching Tool PropertiesThe Color Matching tool analyzes images according and outputs statistics on areas that match definedcolor filters.Proper

Communication Tool PropertiesThe Communication tool manages and sends vision instances to a queue on the Adept Controller. Thequeue can be accessed us

Custom Vision Tool PropertiesThe Custom Vision Tool is used to fill in the program that is called when the tool is executed. From within aCustom Visio

Edge Locator PropertiesThe Edge Locator finds and locates an edge or a set of edges that meet user-defined criteria.Property NameV+/MicroV+KeywordV+/M

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypePositionConstraint VPARAMETER 5223 R / W DoubleResultCount VRESULT 1010 R - O LongSamplingStepCus

AssignmentConstantVPARAMETER5365Constant applied by an assignment operation.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5365, index_id, object_id)

Gripper Clearance Tool PropertiesThe Gripper Clearance Tool is used to check that a region around an instance is clear of any obstructions.This is don

Image Histogram Tool PropertiesThe Image Histogram tool computes greylevel statistics within a user-defined region of interest.Property NameV+/MicroV+

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeToolPositionX VPARAMETER 100 R / W DoubleToolPositionY VPARAMETER 101 R / W DoubleToolRotation VP

Image Processing Tool PropertiesThe Image Processing Tool processes grey-scale images by applying arithmetic, assignment, logical,filtering, morpholog

Image Sampling Tool PropertiesThe Image Sampling tool is used to extract an area of an image and output it as a separate Image.Property NameV+/MicroV+

Image Sharpness Tool PropertiesThe Image Sharpness Tool computes the sharpness of preponderant edges in a user-defined region ofinterest.Property Name

Inspection Tool PropertiesThe Inspection tool analyzes the results of other tools based on a configuration of inspection filters. Logicaloperators AND

Line Finder PropertiesThe Line Finder finds and locates linear features on objects and returns the line angle and pointcoordinates.Property NameV+/Mic

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeOutputLineVectorPointX VRESULT 1825 R - O DoubleOutputLineVectorPointY VRESULT 1826 R - O DoubleP

Locator Tool PropertiesThe Locator finds and locates objects based on the geometry of their contours. Scale factor, orientation,and position are provi

AssignmentHeightVPARAMETER5366Constant value that defines the height of the output image. Read only.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 53

Property NameV+/MicroV+KeywordV+/-MicroV+ IDAccess TypeInstanceRobotLocation VLOCATION 1371 R - O LocationInstanceRotation VRESULT 1314 R - O DoubleIn

Property NameV+/MicroV+KeywordV+/-MicroV+ IDAccess TypeShowResultsGraphics VPARAMETER 150 R / W BooleanTimeout VPARAMETER 501 R / W LongTimeoutEnabled

Overlap Tool PropertiesThe purpose of the overlap tool is to filter instance found in an input image so that the robot is notinstructed to pick up the

Pattern Locator PropertiesThe Pattern Locator finds and locates instances of a greyscale patternProperty NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeA

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeResultCount VRESULT 1010 R - O LongSamplingStepCustom VPARAMETER 124 R / W DoubleShowResultsGraph

Point Finder PropertiesThe Point Finder finds and locates point features on objects and returns the angle as well as thecoordinates of the found point

Property NameV+/MicroV+KeywordV+/MicroV+IDAccess TypeToolGuidelineOffset VPARAMETER 130 R / W DoubleToolHeight VPARAMETER 111 R / W DoubleToolPosition

Remote Vision Tool PropertiesThe Custom Vision Tool allows an Adept ACE application, such as the ACE PackXpert, to run a vision tool ona remote PC.Pro

Virtual Camera Tool PropertiesThe Virtual Camera tool provides input images to tools in a vision sequence. A Virtual Camera tool canacquire images fro

AssignmentWidthVPARAMETER5367Constant value that defines the width of the output image. Read only.SyntaxMicro V+VPARAMETER (sequence_id, tool_id, 5367

AutoCoarsenessSelectionEnabledVPARAMETER5421When AutoCoarsenessSelectionEnabled is True, the value of SearchCoarseness is automaticallydetermined by t

BeltCalibrationUpstreamLimit67BilinearInterpolationEnabled68BlobArea70BlobBoundingBoxBottom71BlobBoundingBoxCenterX72BlobBoundingBoxCenterY73BlobBound

AutomaticCandidateCountEnabledVPARAMETER5301When AutomaticCandidateCountEnabled is True, the number of candidate measurement points isautomatically de

ID 5301: the value used to reference this property.index_id N/Aobject_id N/AAutomaticCandidateCountEnabledAdeptSight Reference Guide, v3.2.x, Updated:

AverageContrastVRESULT1801Average contrast, expressed in greylevel values, between light and dark pixels on either side of the foundentity (point, lin

BeltCalibrationDownstreamLimitVLOCATION10002The downstream limit of the belt, which is defined during the Belt Calibration. Expressed as a transform.R

BeltCalibrationFrameVLOCATION10000The belt frame of reference, which is defined during the Belt Calibration. Expressed as a transform. Readonly.Syntax

SyntaxV+value = VLOCATION ($ip, sequence_id, tool_id, instance_id, 10003, index_id, frame_id)MicroV+Not applicable. Conveyor-tracking is supported onl

BeltCalibrationScaleVPARAMETER10004The scale factor between encoder counts and millimeters, which is defined during the Belt Calibration. Thisis the n

BeltCalibrationUpstreamLimitVLOCATION10001The upstream limit of the belt, which is defined during the Belt Calibration. Expressed as a transform. Read

BilinearInterpolationEnabledVPARAMETER120Specifies if bilinear interpolation is used to sample the input image. By default, bilinear interpolation ise

BooleanRangeValue Description1 Bilinear interpolation is enabled. Recommended default setting.0 Bilinear interpolation is disabled.Parameters$ip IP ad

BlobIntrinsicBoundingBoxCenterX105BlobIntrinsicBoundingBoxCenterY106BlobIntrinsicBoundingBoxHeight107BlobIntrinsicBoundingBoxLeft108BlobIntrinsicBound

BlobAreaVRESULT1611Area of the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1611, index_id, frame_id)V+v

BlobBoundingBoxBottomVRESULT1648The bottommost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinatesystem. This va

BlobBoundingBoxCenterXVRESULT1624X-coordinate of the center of the bounding box aligned with the Tool coordinate system. This value isreturned with re

BlobBoundingBoxCenterYVRESULT1625Y-coordinate of the center of the bounding box aligned with the Tool coordinate system. This value isreturned with re

BlobBoundingBoxHeightVRESULT1626Height of the bounding box with respect to the Y-axis of the Tool coordinate system. Read only.SyntaxMicro V+value = V

BlobBoundingBoxLeftVRESULT1645The leftmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinatesystem. This value

BlobBoundingBoxRightVRESULT1646The rightmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinatesystem. Read only

BlobBoundingBoxRotationVRESULT1649Rotation of the bounding box with respect to the X-axis of the selected coordinate system. Read only.SyntaxMicro V+v

BlobBoundingBoxTopVRESULT1647The topmost coordinate of the bounding box aligned with respect to the X-axis of the Tool coordinatesystem. This value is

BlobBoundingBoxWidthVRESULT1627Width of the bounding box with respect to the X-axis of the Tool coordinate system. Read only.SyntaxMicro V+value = VRE

Edge1MagnitudeConstraint153Edge1MagnitudeScore154Edge1PolarityMode155Edge1PositionConstraint157Edge1PositionScore158Edge1PositionX159Edge1PositionY160

BlobChainCodeVRESULT1656Direction of a given boundary element associated to the chain code. This direction can only be expressedwith respect to the To

ID 1656: the value used to reference this property.index_id index of the selected boundary element.frame_id Frame containing the blob for which you wa

BlobChainCodeDeltaXVRESULT1659Horizontal length of a boundary element associated to the chain code. Read only.SyntaxMicro V+value = VRESULT (sequence_

BlobChainCodeDeltaYVRESULT1660Vertical length of a boundary element associated to the chain code. Read only.SyntaxMicro V+value = VRESULT (sequence_id

BlobChainCodeLengthVRESULT1655Number of boundary elements in the chain code of the blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id

BlobChainCodeStartXVRESULT1657X position of the first pixel associated to the chain code according to the Tool coordinate system. Read only.SyntaxMicr

BlobChainCodeStartYVRESULT1658Y position of the first pixel associated to the chain code according to the Tool coordinate system. Read only.SyntaxMicr

BlobConvexPerimeterVRESULT1614Convex perimeter of the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1614,

BlobCountVRESULT1610Number of blobs detected by the tool. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 1610, index_id,

BlobElongationVRESULT1616Ratio of the moment of inertia about the blob’s minor axis (BlobInertiaMaximum) to the moment of inertiaabout the blob’s majo

EdgeSortResultsEnabled195ElapsedTime196ExtrinsicInertiaResultsEnabled198FilterCount200FilterHalfWidth201FilterHueTolerance202FilterHueValue204Filterin

BlobExtentBottomVRESULT1653Distance along the Y-axis between the blob’s center of mass and the bottom side of the bounding box.Read only.SyntaxMicro V

BlobExtentLeftVRESULT1650Distance along the Y-axis between the blob’s center of mass and the bottom side of the bounding box.Read only.SyntaxMicro V+v

BlobExtentRightVRESULT1651Distance along the X-axis between the blob’s center of mass and the right side of the bounding box. Readonly.SyntaxMicro V+v

BlobExtentTopVRESULT1652Distance along the Y-axis between the blob’s center of mass and the top side of the bounding box. Readonly.SyntaxMicro V+value

BlobGreyLevelMaximumVRESULT1622Highest greylevel value of the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_i

BlobGreyLevelMeanVRESULT1618Mean greylevel value in the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 161

BlobGreyLevelMinimumVRESULT1621Lowest greylevel value in the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id

BlobGreyLevelRangeVRESULT1619Range of the greylevel values in the selected blob. The range is calculated as [BlobGreyLevelMaximum -BlobGreyLevelMinimu

BlobGreyLevelStdDevVRESULT1620Standard deviation of the greylevel values in the selected blob. Read only.SyntaxMicro V+value = VRESULT (sequence_id, t

BlobHoleCountVRESULT1654The number of holes found in the selected blob. Read onlySyntaxMicro V+value = VRESULT (sequence_id, tool_id, instance_id, 165