Table 1. Setting Up DVM Time Based Schedules
ITEM |
DESCRIPTION |
---|---|
TimeBased Schedules |
Time based schedules perform a picture snap on a fixed time interval. They perform logging based on specified events. |
Name |
Each schedule is identified by a 1 to 12 character name. To modify the name, move the cursor to it, press ENTER, and type the name. |
State |
A schedule can be in one of four states – ENABLED, DISABLED, POWER UP or PENDING. Changing any setting on a schedule causes the state to become DISABLED. Press F4, ENABLE to enable the schedule or F5, DISABLE to disable it. A schedule with the state of ENABLED, POWER UP or PENDING will be enabled automatically on power-up. If the schedule cannot be automatically enabled at power-up, then an alarm will be posted and the state set to DISABLED. You must fix the problem and manually enable it again. |
Camera port |
Cameras are identified by port number. To change the assignment, cursor to this field and enter a new number between 1 and 8. When the cursor is on this field, a picture from the selected camera is periodically sent to the STATUS iRVision display. You can use this feature to aim and focus the camera. Put the iPendant display into Double screen mode. Show the DVM schedule DETAIL screen on one pane, and the STATUS iRVision screen on the other. |
Exposure Time |
This value controls the exposure setting of the camera when DVM snaps a picture. When exposure time is changed a new picture is taken and sent to the STATUS iRVision display. |
Picture Snap Control |
When a time based schedule is enabled, DVM snaps pictures on a fixed time interval using the robot’s vision hardware. A logging event also triggers a picture snap to ensure that you have a picture synchronized with the event that caused the log to be written. These pictures are accumulated into a video loop in the controller’s TEMP memory. The size of the video loop is determined by the rate that the pictures are being snapped and the total amount of time the loop is required to cover. After enough pictures have been recorded to fill the video loop, the next snapped picture replaces the oldest one. The next three parameters control time based Picture Snap process. |
Interval |
The rate that pictures are snapped is controlled by this setting. It is the time, in seconds, between picture snaps. The minimum time is 0.1 sec. |
Loop Coverage Before |
This value defines the requirement that the video loop be large enough to maintain pictures snapped this number of seconds before the log event. |
Loop Coverage After |
If this value is non-zero, pictures continue to be added to the video loop after the log event for this many seconds, then the video loop is logged. The size of the video loop is must be large enough to contain pictures being snapped at the interval rate before and after the log event. |
Logging Control |
Logging is the process of writing the video loop and associated data to non-volatile memory. It is triggered by any one of the events that you specify in the DVM schedule. |
Log Path |
The log path is the path to a folder in which DVM logs are to be stored. It must be on a non-volatile storage device. Supported devices include:
When logging is triggered, a new folder under Log Path is created and populated with a number of files. See Section .1, " DVM Logs " for details on content and format of the files written. |
Events |
You can specify from one to five independent events to trigger the log process. The events are numbered from 1 to 5. You must specify at least one event. Events are defined by type and number. |
Event Type |
Pressing F4, [CHOICE] presents the following types of events:
A selection for every type of discrete I/O point currently configured on your robot is represented in the [CHOICE] list. The XX shown above will be replaced by one the following: DI, DO, FL, RI, RO, SI, SO, UI, UO, WI, WO, WSI, WSO. The list contains a selection for every alarm facility that is possible on your controller. |
Event Number |
The meaning of event number is dependent on the event type.
|
Table 2. Event Based Schedules
ITEM |
DESCRIPTION |
---|---|
Event Based Schedules |
Event based schedules perform a picture snap when specified events occur. They also perform logging based on specified events. |
Name |
Each schedule is identified by a 1 to 12 character name. To modify the name, move the cursor to it, press ENTER, and type the name. |
State |
A schedule can be in one of four states – ENABLED, DISABLED, POWER UP or PENDING. Changing any setting on a schedule causes the state to become DISABLED. Press F4, ENABLE to enable the schedule or F5, DISABLE to disable it. A schedule with the state of ENABLED, POWER UP or PENDING will be enabled automatically on power-up. If the schedule cannot be automatically enabled at power-up, then an alarm will be posted and the state set to DISABLED. You must fix the problem and manually enable it again. |
Camera port |
Cameras are identified by port number. To change the assignment, cursor to this field and enter a new number between 1 and 8. When the cursor is on this field, a picture from the selected camera is periodically sent to the STATUS iRVision display. You can use this feature to aim and focus the camera. Put the iPendant display into Double screen mode. Show the DVM schedule DETAIL screen on one pane and the STATUS iRVision screen on the other. |
Exposure Time |
This value controls the exposure setting of the camera when DVM snaps a picture. When exposure time is changed a new picture is taken and sent to the STATUS iRVision display. |
Picture Snap Control |
When an event based schedule is enabled, DVM snaps a picture each time a specified robot event occurs. A logging event (see below) also triggers a picture snap to ensure that you have a picture synchronized with the event that caused the log to be written. These pictures are accumulated into a video loop in the controller’s TEMP memory. |
Events |
You can specify from one to five independent events for snapping a picture. The events are numbered from 1 to 5. Events are defined by type and number. |
Event Type |
Pressing F4 [CHOICE] presents the following types of events
A selection for every type of discrete I/O point currently configured on your robot will be represented in the [CHOICE] list. The XX shown above will be replaced by one or more of the following: DI, DO, FL, RI, RO, SI, SO, UI, UO, WI, WO, WSI, WSO. The list will also contain a selection for every alarm facility that is possible on your controller. |
Event Number |
The meaning of event number is dependent on the event type.
|
Logging Control |
Logging is the process of writing the video loop and associated data to non-volatile memory. It is triggered by any one of the events that you specify in the DVM schedule. |
Number of Pictures to Log |
This is a maximum number of pictures to log. If fewer than this number has been snapped, then only that number will be included in the log. After enough pictures has been recorded to fill the video loop, the next snapped picture replaces the oldest one. This value defines how much controller TEMP memory must be set aside for holding pictures. If the number is too large, the alarm “CVIS-295 There is not TEMP memory to run DVM at this time." will be displayed when you try to enable the schedule. |
Log Path |
The log path is the path to a folder in which DVM logs are to be stored. It must be on a non-volatile storage device. Supported devices include:
When logging is triggered, a new folder under Log Path is created and populated with a number of files. See Section .1, " DVM Logs " for details on content and format of the files written. |
Events |
You can specify from one to five independent events to trigger the log process. The events are numbered from 1 to 5. You must specify at least one event. Events are defined by type and number. |
Event Type |
Pressing F4, [CHOICE] presents the following types of events:
A selection for every type of discrete I/O point currently configured on your robot represented in the [CHOICE] list. The XX shown above will be replaced by one the following: DI, DO, FL, RI, RO, SI, SO, UI, UO, WI, WO, WSI, WSO. The list contain a selection for every alarm facility that is possible on your controller. |
Event Number |
The meaning of event number is dependent on the event type.
|
Procedure 1. DVM Setup
Press MENU.
Select SETUP.
Press F1, [TYPE], and select Diag Video Mon from the list.
You can configure up to eight schedules. Select the schedule you want by highlighting the number in the left column.
If you want to edit a Time Based schedule, move the cursor to the schedule you want to edit and press F3, DETAIL. Set each item as desired.
If you want to edit an Event Based schedule, move the cursor to the schedule you want to edit and press F3, DETAIL. Set each item as desired.
Press F4, ENABLE to enable the schedule or F5, DISABLE to disable it. When F4 is pressed, the settings of the schedule are checked to ensure that they are valid for controlling DVM. If so, the state is set to ENABLED and monitoring is immediately commenced.
When a schedule’s state is ENABLED, the robot is currently using its settings to do diagnostic video monitoring. Only one schedule can be enabled at a time.
DISABLED schedules are ignored and need not be properly configured.
A state of POWER UP indicates that it will be ENABLED automatically the next time the controller is powered up.
The PENDING state is rare. A schedule will be in the PENDING state for a short time if a currently enabled schedule takes some time to be disabled before the newly selected schedule can be enabled.
To display the main DVM screen again, press F3, LIST or press PREV.
A DVM log is a copy of the video loop that is being captured. The log is stored as a folder of picture files plus a data file. A new log folder is created under the log path that you specified when the logging event is triggered. It is populated with the pictures from the video loop and the data file.
The log folder is named MMMDD_HHMMSS where MMM = a 3 character abbreviation of the month, DD = day of the month (1-31), HH = hour (0–23), MM=minute (0–59), and SS = seconds (0–58) (2 second resolution).
Pictures are saved in the newly created DVM log folder in compressed Portable Network Graphics (.png) file format. The picture file names are pic_NNN.png where NNN = 001 to the number of pictures in the video loop. pic_001 is the oldest one.
One additional data file named dvm_log.dat is also written to the log folder. It is a text file using windows style line termination (cr-lf). dvm_log.dat has the following format:
Table 3. Log File Data
Line # |
Content |
Description |
---|---|---|
1 |
VersionID |
This is a version number that identifies the format of this file. This will allow file format changes to support future enhancements. VersionID = 1.0 for the format described here. |
2 |
SchedName |
This is the name of the schedule. |
3 |
Date, Time, TimeStamp, LogEvent |
This is information about the event that triggered the log.
|
4 |
NumPic |
This is the number of pictures saved in this log |
5 through NumPic + 4 |
FileName, Date, Time, TimeStamp, SnapEvent |
This is information about each picture.
|
You control which DVM schedule is enabled using the DVM SETUP screens. Each displays the state of the schedule(s). The function keys F4 and F5 are labeled ENABLE and DISABLE respectively. Press F4 ENABLE to enable the schedule. If one is currently enabled when you press F4 on a different schedule, the current one is disabled before the new one is enabled. When F4 is pressed, the settings of the schedule are checked to ensure that they are valid for controlling DVM. If so, the state is set to ENABLED and monitoring is immediately commenced.
If parameter validation fails and the schedule cannot be enabled, the reason is displayed as an alarm and the schedule remains DISABLED. A typical case is that there is not enough TEMP memory to support the requested picture capture criteria. If TEMP memory is too fragmented to accommodate the requirements for the video loop, the state will be set to POWER UP. The schedule will be enabled when you cycle power on the controller. A schedule with the state of ENABLED, POWER UP or PENDING will be enabled automatically on power-up. If the schedule cannot be automatically enabled at power-up, then an alarm will be posted and the state will be set to DISABLED. You must fix the problem and manually enable it as described above.
DVM uses system variables to provide advanced configuration and operation control. The following system variables can be modified to provide some advanced user features that are not presented using the teach pendant SETUP screens.
$DVM_RUN_TIM.$ENABLE_NEW is an INTEGER for enabling schedule. Setting it to a non-zero value causes the current schedule to be disabled (if any) and the schedule indicated by the number to be enabled. DVM will set this value back to zero when it enables the schedule. Time schedules are numbered 1 through 4. Event schedules are numbered -1 through -4.
$DVM_RUN_TIM.$DISABLE_ALL is a BOOLEAN that when set to TRUE disables the current schedule (if any). DVM sets it back to FALSE when the schedule is disabled.