Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 1 of 233 PageID #: 129
`
`
`
`Exhibit 4
`
`
`
`
`
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 2 of 233 PageID #: 130
`
`ABB FlexVision™ 3D
`
`© Copyright 2016 ABB. All rights reserved.
`
`0
`
`

`

` 8
`
`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 3 of 233 PageID #: 131
`Table of Contents
`
`User Manual ............................................................................................................. 4
`Important Information...............................................................................................
` 5
`
`Overview of this Manual.............................................................................................
` 6
`
`Safety ......................................................................................................................
` 7
`
`Release Information
`About this Release.................................................................................................
`
`System Information
`Hardware
` 9
`Computer .........................................................................................................
`
`Network Card....................................................................................................
` 12
`
`Cables..............................................................................................................
` 14
`
`Cameras...........................................................................................................
` 16
`
`Anti-Vibration Lenses.........................................................................................
` 17
`
`Standard Lenses ................................................................................................
` 20
`
`Lights...............................................................................................................
` 21
`
`
`Mounting Hardware ........................................................................................... 23
`Calibration Target..............................................................................................
` 25
`
`
`Software .............................................................................................................. 27
`
`ABB Robot controller ............................................................................................. 28
`Installation & Commissioning
` 29
`Cable Connections.................................................................................................
`
`Hardware Installation.............................................................................................
` 34
`
`Software Installation..............................................................................................
` 37
`
`Network Connections.............................................................................................
` 39
`
`Calibration Setup...................................................................................................
` 44
`
`Camera Setup .......................................................................................................
` 45
`
`User Guide
` 51
`Software Layout....................................................................................................
`
`Menu Strip............................................................................................................
` 53
`
`File Menu..........................................................................................................
` 54
`
`View Menu........................................................................................................
` 56
`
`Run Menu.........................................................................................................
` 57
`
`
`System Menu .................................................................................................... 58
`
`Tasks Menu ...................................................................................................... 62
`Help Menu ........................................................................................................
` 63
`
`Tool Strip.............................................................................................................
` 65
`
`Vision Solution Explorer.........................................................................................
` 66
`
`
`Robots ............................................................................................................. 67
`Cameras...........................................................................................................
` 70
`
`
`Vision Tasks ..................................................................................................... 73
`Calibration ....................................................................................................
` 74
`
`View.........................................................................................................
` 79
`
`VGR .............................................................................................................
` 82
`
`View.........................................................................................................
` 85
`
`© Copyright 2016 ABB. All rights reserved.
`
`1
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 4 of 233 PageID #: 132
`
`PMAlign ................................................................................................ 88
`
`Fixture .................................................................................................. 91
`
`Feature ................................................................................................. 93
`Calib2D.................................................................................................
` 96
`
`Pose Estimation .........................................................................................
` 99
`
`Camera Window....................................................................................................
` 101
`
`Status Window......................................................................................................
` 105
`
`RAPID Reference
` 106
`Vision Solution File Structure..................................................................................
`
`
`Instructions .......................................................................................................... 107
`ConvertTCPToWobj ...........................................................................................
` 108
`
`ConvertWobjToTCP ...........................................................................................
` 110
`
`vCalibrate.........................................................................................................
` 112
`
`vMotionCircle....................................................................................................
` 115
`
`vReference........................................................................................................
` 118
`
`
`Functions ............................................................................................................. 120
`
`vInspect ........................................................................................................... 121
`
`vPositionGenerator ............................................................................................ 123
`Data Types ...........................................................................................................
` 125
`
`Vision Application Development
`Introduction to Vision Application Development........................................................
`
`Configuration........................................................................................................
`
`Robot
`Adding a Robot.............................................................................................
`
`Camera
` 131
`Adding a Camera...........................................................................................
`
`Camera Alignment.........................................................................................
` 134
`
`Calibration............................................................................................................
` 137
`
`Calibration Setup...............................................................................................
` 139
`
`Creating a Calibration Task.................................................................................
` 140
`
`Running a Calibration Task.................................................................................
` 142
`
`Running Calibration Simulation ...........................................................................
` 145
`
`Running Calibration Validation ............................................................................
` 147
`
`
`Creating a 3D Vision Task ...................................................................................... 149
`
`Adding a 3D VGR Task ...................................................................................... 152
`Configuring a PMAlign Tool................................................................................
` 155
`
`Configuring a Fixture Tool..................................................................................
` 163
`
`Configuring a Feature Tool .................................................................................
` 166
`
`
`Configuring a 3D Pose Estimation ....................................................................... 169
`Running a 3D VGR Task.....................................................................................
` 171
`
`
`Running Reference Simulation ............................................................................ 174
`Running VGR Simulation ....................................................................................
` 176
`
`Running a Reference Validation...........................................................................
` 178
`
`
`Running Object Pose Validation .......................................................................... 182
`
`Creating a 2D Vision Task ...................................................................................... 184
`
`Adding a 2D VGR Task ...................................................................................... 186
`
`Configuring 2D Calibration ................................................................................. 187
`© Copyright 2016 ABB. All rights reserved.
`2
`
` 126
` 128
`
` 129
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 5 of 233 PageID #: 133
`Configuring a PMAlign Tool................................................................................
` 189
`
`
`Configuring a 2D Pose Estimation ....................................................................... 190
`
`Running a 2D Vision Task .................................................................................. 191
`Communication Protocol ........................................................................................
` 192
`
`Diagnostics...........................................................................................................
` 194
`
`Camera Calibration Validation .............................................................................
` 195
`
`
`Hand-Eye Calibration Validation .......................................................................... 200
`
`Referencing Validation ....................................................................................... 206
`
`Object Pose Validation ....................................................................................... 210
`Appendix
` 215
`Spare Parts List.....................................................................................................
`
`ABB TiffTagReader Tool.........................................................................................
` 218
`
`Glossary of Terms and Acronyms............................................................................
` 220
`
`Preventive Maintenance..........................................................................................
` 223
`
`Troubleshooting....................................................................................................
` 224
`
`FAQ.....................................................................................................................
` 225
`
`
`3
`
`© Copyright 2016 ABB. All rights reserved.
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 6 of 233 PageID #: 134
`
`User Manual
`FlexVisionTM
`Version: 2.0.0.18378
`
`Document ID: 3HUB502762D001
`Revision: -
`
`© Copyright 2016 ABB. All rights reserved.
`
`4
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`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 7 of 233 PageID #: 135
`
`The information in this manual is subject to change without notice and should not be construed as
`a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.
`Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as
`any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a
`specific purpose or the like.
`
`In no event shall ABB be liable for incidental or consequential damages arising from use of this
`manual and products described herein.
`
`This manual and parts thereof must not be reproduced or copied without ABB's written permission.
`
`Additional copies of this manual may be obtained from ABB.
`
`The original language for this publication is English. Any other languages that are supplied have
`been translated from English.
`
`© Copyright 2016 ABB. All rights reserved.
`ABB Inc.
`Discrete Automation and Motion Division
`Robotics Business Unit
`1250 Brown Road
`Auburn Hills, MI 48326
`USA
`
`5
`
`© Copyright 2016 ABB. All rights reserved.
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 8 of 233 PageID #: 136
`<Root level>
`Overview of this Manual
`
`About this
`manual
`
`Usage
`
`This is a technical reference manual intended for the RAPID programmer and
`machine vision engineers. The RAPID base instructions, functions and data
`types, and  FlexVision™ software configuration are detailed in this manual.
`
`This manual should be read during programming and when you need specific
`information about FlexVision™ software and a RAPID instruction, function or
`data type.
`
`Who should
`read this
`manual?
`
`This manual is intended for someone with some previous experience in RAPID
`programming and Machine vision,  for example, a robot programmer or a
`machine vision engineer
`
`Prerequisites
`
`The reader should have some programming experience and have studied
`
`Organization
`of chapters
`
`Operating manual - Introduction to RAPID
`
`Technical reference manual - RAPID overview
`
`The manual is organized in the following chapters:
`
`Chapter
`1 Release Information
`
`2 System Information
`3 Installation &
`Commissioning
`
`4 User Guide
`
`5 RAPID Reference
`
`6 Vision Application
`Development
`
`7 Appendix
`
`Contents
`Details of previous version of FlexVision™
`software and improvements in development.
`Description of the system components.
`Provides a guide on the installation process and
`common pitfalls that occur during software
`installation.
`Explains the shortcuts found in the user interface
`of the FlexVision™ software and brief
`descriptions on their functions.
`This chapter explains the different modules used
`in order to help the user complete a task.
`This chapter gives helpful step by step
`instructions on the basic functions of integrating
`FlexVision™ with a robot.
`Additional system information including
`troubleshooting, FAQ, and preventative
`maintenance.
`
`References
`
`Reference
`Technical reference manual - RAPID
`Instructions, Functions and Data types
`IRC5 with RobotWare 5.
`Technical reference manual - RAPID kernel
`Application manual - Controller software
`IRC5
`
`Document ID
`3HAC16581-001
`
`3HAC050946-001
`3HAC050798-001
`
`© Copyright 2016 ABB. All rights reserved.
`
`6
`
`·
`·
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 9 of 233 PageID #: 137
`<Root level>
`Safety
`
`Safety of
`personnel
`
`A robot is heavy and extremely powerful regardless of its speed. A pause or
`long stop in movement can be followed by a fast hazardous movement. Even if
`a pattern of movement is predicted, a change in operation can be triggered by
`an external signal resulting in an unexpected movement.
`Therefore, it is important that all safety regulations are followed when
`entering safeguarded space.
`
`Safety
`regulations
`
`Before beginning work with the robot, make sure you are familiar with the
`safety regulations described in the manual Operating manual - General safety
`information.
`
`7
`
`© Copyright 2016 ABB. All rights reserved.
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 10 of 233 PageID #: 138
`Release Information >
`About this Release
`
`© Copyright 2016 ABB. All rights reserved.
`
`8
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 11 of 233 PageID #: 139
`System Information > Hardware >
`Computer
`
`MXC-6301D
`
`CPU
`
`Specifications:
`Intel® Core™ i7-3610QE, Quad Core, 2.3GHz, 6M cache (Max Turbo
`Frequency 3.3GHz)
`Intel® Mobile Platform Controller hub (QM77)
`16GB RAM (2 x 8GB DDR3 1600MHz SODIMM)
`1 PCI + 2PCIex8 slots or 1PCI + 1PCIex16 slots by auto switching
`Supports PCIe Gen2 cards
`2 Intel GbE ports (1 Intel® Springville WGI210IT + 1 82579 PHY)
`Supports teaming function, Intel iAMT 8.0, Wake On LAN
`4 USB 3.0 ports & 2 USB 2.0 ports (external), 1 USB 2.0 port (internal)
`16-CH DI and 16-CH DO with 1.5KV isolation
`160 W external AC-DC adapter for AC input
`Dimensions: 172.5 (W) x 213 (H) x 225 (D) mm (6.79 x 8.39 x 8.86
`inches)
`· Weight: 4.3 kg (9.48 lb)
`Temperature: 0°C to 50°C (w/HDD), Extended Temperature: -20°C to
`55°C (-4 to 131°F) w/industrial SSD or CFast
`Power Consumption: 18.48W @ system idle; 91.2W @ full load
`
`ABB Part Number: 3HUB502762-1030
`The Processing Unit used for the current version of FlexVision™ is Matrix
`MXC-6300 Series from ADLINK Technology Inc. It is a high-performance
`computer with powerful graphics and computing.
`
`Ports
`
`9
`
`The front panel of Matrix MXC 6300 series has the following ports:
`
`© Copyright 2016 ABB. All rights reserved.
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`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 12 of 233 PageID #: 140
`Ports
`
`The front panel of Matrix MXC 6300 series has the following ports:
`
`A Power Button
`B LED Indicators
`C Reset Button
`D Digital I/O connector
`E USB 2.0 x2 (Type A)
`F USB3.0 x4 (Type A)
`G Gigabit Ethernet
`H CFast (Push-Push, Type
`II)
`I DVI-I connector
`
`COM port x4
`J
`K Display Ports
`L Audio Jacks
`M PS/2 Keyboard & Mouse
`N DC power supply
`O 5V 32-Bit PCI Slot
`P
`PCI express x8 Slot
`Q PCI express x16 Slot
`
`R Reserved space for dual
`slot width PCIex16 graphic
`card
`
`Power Supply
`to Matrix MXC
`6300 Series
`
`ABB Part Number: 3HUB502762-1011
`
`The power supply to the CPU is given through the DC Power Supply Port
`present on the front panel. The power supply consists of three pins: V-,
`GND and V+. The DC power input for the MXC 6300 allows an input voltage
`ranging from 9V to 32V DC.
`Before connecting the power supply to MXC 6300, ensure that the voltage
`and polarity are complaint with the DC input.
`
`© Copyright 2016 ABB. All rights reserved.
`
`10
`
`

`

`slot width PCIex16 graphic
`card
`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 13 of 233 PageID #: 141
`Power Supply
`to Matrix MXC
`6300 Series
`
`ABB Part Number: 3HUB502762-1011
`
`The power supply to the CPU is given through the DC Power Supply Port
`present on the front panel. The power supply consists of three pins: V-,
`GND and V+. The DC power input for the MXC 6300 allows an input voltage
`ranging from 9V to 32V DC.
`Before connecting the power supply to MXC 6300, ensure that the voltage
`and polarity are complaint with the DC input.
`
` 
`
`PIN
`1
`2
`3
`
`Signal
`V+ (DC_IN)
`GND (CHGND)
`V- (DGND)
`
`11
`
`© Copyright 2016 ABB. All rights reserved.
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 14 of 233 PageID #: 142
`System Information > Hardware >
`Network Card
`
`PCIe-GIE64+
`
`Card
`
`ABB Part Number: 3HUB502762-1013
`4-CH PCI Express® GigE Vision Power over Ethernet Frame Grabber
`IEEE802.3af (48 V, 15.4 W per channel) compliant, supporting classes
`0,1,2,3,4
`Form Factor: PCI Express x4
`Intel® 82574L, PCIe v1.1 (2.5GT/s)
`Support for Link aggregation
`Support for jumbo frames (9K Bytes)
`Ethernet Port: 4 fully-integrated Gigabit Ethernet Media Access Control
`(MAC) and physical layer (PHY) ports
`Power Requirements: +3.3V max @ 2.5A. Additional +12V max @ 7A
`PoE camera.
`Up to 20W PoE power supply from PCIe bus
`PoE Voltage: 44 to 48 V, PoE port positive voltage feed
`Dimensions:145mm x 101.26mm (W x L)
`Temperature: 0°C to +60°C ; Humidity: 5% to 90% RHNC
`Safety Compliance: CE/FCC Class A; RoHS
`
`Ports
`
`External
`Power to
`PCI-GIE64+
`
`ADLINK's PCIe GIE64+ includes four GigE Vision camera ports.
`Four LED indicators are present alongside the ports. A glowing LED indicates
`that PoE power is drawn from the port for the camera connected to it. Some
`cameras can also be supplied with power externally.  In this case, the LED will
`be off, but the camera is connected and should work as expected.
`© Copyright 2016 ABB. All rights reserved.
`12
`ABB Part Number: 3HUB502762-1012
`The network card draws it power from the computer for regular operation. But
`if the cameras need more power than the network card can provide by
`
`·
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`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 15 of 233 PageID #: 143
`Ports
`
`ADLINK's PCIe GIE64+ includes four GigE Vision camera ports.
`Four LED indicators are present alongside the ports. A glowing LED indicates
`that PoE power is drawn from the port for the camera connected to it. Some
`cameras can also be supplied with power externally.  In this case, the LED will
`be off, but the camera is connected and should work as expected.
`
`External
`Power to
`PCI-GIE64+
`
`ABB Part Number: 3HUB502762-1012
`The network card draws it power from the computer for regular operation. But
`if the cameras need more power than the network card can provide by
`default, power is to be supplied to it using a cable as shown below. This is to
`be connected internally. Detailed explanation on installing the network card is
`given in the Hardware Installation section of this manual.
`Input from power connector: Max 7A @ 12VDC (supporting up to 4 ports at
`15.4W per PoE port)
`
`Yellow
`Black
`
`12V
`GND
`
`Black
`Red
`
`GND
`5V
`
`13
`
`© Copyright 2016 ABB. All rights reserved.
`
`

`

`Case 1:22-cv-01257-GBW Document 1-4 Filed 09/22/22 Page 16 of 233 PageID #: 144
`System Information > Hardware >
`Cables
`
`Cables
`
`ABB Part Numbers: 3HUB502762-1054 (1m); 3HUB502762-1055 (2m);
`3HUB502762-1056 (3m); 3HUB502762-1057 (4m); 3HUB502762-1058 (5m);
`3HUB502762-1059 (6m); 3HUB502762-1060 (7m); 3HUB502762-1061 (8m);
`3HUB502762-1062 (9m); 3HUB502762-1063 (10m); 3HUB502762-1064
`(15m); 3HUB502762-1065 (30m)
`The cables for the cameras have the following properties:
`X-Coded connectors (10GB rated)
`Cat 6/6a
`Extreme high flex industrial Ethernet, RoHS, TPE Jacket