Generate Targets

Generate Targets Tab

The Sensor Module also provides the feature to generate randomly generated targets for test purposes of Robot motion logic.

Based on the FB_RandomTargetsGenerator, you can create products or targets. Instead of configuring or programming the FB_RandomTargetsGenerator, you can create random targets using the Smart Template user interface.

For more information, refer to FB_RandomTargetsGenerator in the SchneiderElectricRobotics Toolbox Library Guide Online Help.

The left-hand side (white background color) displays the user-defined configuration.
The right-hand side (gray background color) displays the present online values used for the generation of the targets.

Seed Value

Element	Description
Set fix seed value for random generator check box	Check box activated: The given value is used as initial value for the random generator. If the value is 0, the seed value is the present value of the CPU timer, using SystemInterface.FC_GetTSC(). Check box de-activated: The CPU timer is used.
Re-Initialize button	Click the button to reinitialize the random generator with the given seed value and restart the present random sequence.

Random Targets

Element	Description
Number of targets	Number of targets to be generated after a trigger event.
Working plane	Select a working plane, for example, XY, XZ, YZ (the position along the third axis is set to 0), and, as a consequence, a rotation about a vector normal to the plane.
Minimum position	Minimum position value for the generated target.
Maximum position	Maximum position value for the generated target.
Overlap radius	Radius of a circle defined around each target. The targets are generated so that the circles do not overlap.
Maximum overlap check iterations	Maximum attempts to generate targets. After this number of iterations, an error message is generated.
Orientation convention	Convention for the rotation angles of the orientation.

Matrix Targets

Element	Description
Number of rows	Number of rows of the matrix of targets.
Number of columns	Number of columns of the matrix of targets.
Working plane	Select a working plane, for example, XY, XZ, YZ (the position along the third axis is set to 0), and, as a consequence, a rotation about a vector normal to the plane.
Matrix origin	Position of the matrix origin. The targets are generated starting from this position. It must be contained in the selected working plane.
Element step	Position steps, along the X, Y and Z axes, used for the generation of the positions in the matrix. The value provided here must be compliant with the selected working plane.
Orientation convention	Convention for the rotation angles of the orientation.

One Target Type

Element	Description
one target type	Only one target type is used. In this case, target type 1 is used.

Different Target Types

Element	Description
different target types	Several target types are used.
Target type	Sets the target type. Range: 1...10.
Probability	Probability for the target type to be generated. Example above: Target type 1 has the probability 2/7 = 28.57% Target type 3 has the probability 4/7 = 57.15% Target type 6 has the probability 1/7 = 14.28%
Add to list	Adds a selected target type/probability pair to the list.
Delete	Removes a selected target type/probability pair from the list.

Rotation - Min Max Values

Element	Description
Min max values	Minimum and maximum values for the rotation. The generated rotation values are randomly within this range.

Rotation - List

Element	Description
List	List of up to 10 rotation value/probability pairs that a target type is randomly generated with.
Value	Rotation value.
Probability	Probability for the target type to be generated. Example above: Rotation value 90 has the probability 1/6 = 16.67% Rotation value 180 has the probability 5/6 = 83.33%
Add to list	Adds a selected rotation value/probability pair to the list.
Delete	Removes a selected rotation value/probability pair from the list.

Using the GUI (User Interface)

After entering a valid configuration, you can go online.

On the right-hand side (gray background color), the present values used on the logic motion controller are displayed.

The background is red if there are conflicts between the offline configuration parameters and the online values. If there are conflicts, you can choose if the online parameters are written to the offline parameter (Load online configuration) or if the parameters are written to the online project (Write configuration).

After entering a valid set of variables, being online and triggering (Trigger button) a new target generation, the generated targets are displayed and sent.

The targets can be read with the methods GetHeader, GetProducts, and so on.

Displaying Generated Targets

The generated targets are displayed.

In case the displayed targets are not updated after a trigger event (Trigger button), the display can be manually refreshed with the Refresh button.

Write Configuration / Load Online Configuration

If there is a conflict between the values you set (left side) and the values that run online on the controller, you can choose the values to be used for solving the conflict.

Element	Description
Write configuration	Write the offline parameters to the online (left to right).
Load online configuration	Load the values that run online on the controller to the offline parameters (right to left).

Trigger Button

Element	Description
Trigger button	Use this button to test the results of the present parameter set. Calls the method ClearVisionData. Sets the property xTrigger to TRUE.

Element

Description

Trigger button

Use this button to test the results of the present parameter set.

Calls the method ClearVisionData.
Sets the property xTrigger to TRUE.

DiagQuit Button

Element	Description
DiagQuit button	Use this button to acknowledge the diagnostic messages, for example in case of invalid configuration without switching to the call of SR_<MySensor>.

Factor Target Size

The size of the displayed targets depends on the parameter Overlap radius or the parameter Element step.

To scale the displayed targets, you can use Factor target size and click the Refresh button.

State of the Generated Targets

The state / diagnostic of the internally used FB_RandomTargetsGenerator and FB_SendVisionData is displayed.

If the module is registered to the Application Logger (SR_<MySensor>.RegisterLoggerPoint()), log messages are sent to the Application Logger.