SICK CSM Sensor

The SickCSM component simulates a SICK CSM color sensor using a graphics raycast. It compares the detected surface color against up to eight configured colors. Each color has an individual sensitivity, and multiple colors may match at the same time.

Properties

• Origin: The local origin of the sensor beam.
• Direction: The local direction of the sensor beam.
• Minimum Range: The minimum usable sensing distance.
• Maximum Range: The maximum usable sensing distance.
• Colors: Up to eight programmed colors.
• Sensitivities: The sensitivity for each color:
  • Fine: 10%
  • Medium: 20%
  • Coarse: 50%
• Object: The detected entity, or null when no configured color matches.
• Value: The current 16-bit process data value, indicating which colors have been matched.
• Blocked: The material used while at least one output is active.
• Cleared: The material used while no output is active.
• Indicator: The entity used to display the sensor state.

IO

• Q1: (Output) true when programmed color 1 matches.
• Q2: (Output) true when programmed color 2 matches.
• ProcessData: (Output) The 16-bit IO-Link process data.

The ProcessData output uses the lower eight bits, with bits 8 through 15 remaining zero:

The Q1 and Q2 outputs mirror bits 0 and 1 respectively. Without IO-Link, a PLC can use Q1 and Q2 as standard digital inputs. With IO-Link, it can decode all eight color matches from the ProcessData word.

Changelog

1.0.0

Initial release.