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Mitsubishi Robot Tool for EasyBuilder Instruction Manual

1. emmerevannanunaaenanaanattatananaeneeneneteeanna veedan ketan anna 5 11 5 2 Adds Mitsubisi N Point Calibration rrrrnrnnnnnnnnnnnnnenannnann anne nan enama anne nan nene 5 13 5 3 Gets the current position of the robot nrrnrnmnnmnnnnnnnnnrnnntnnnnnnanennnn nene nat 5 14 5 4 Exports Imports the calibration data nrnrrnnrnnnnnnnnennnnn anne anne name n nne nan annan nnet 5 15 5 4 1 Exports the calibrationidala iiris naiari aeaa tal han iaa aetna 5 16 5 4 2 Imports the calIbratlon Gata sasetaseecd Vent begssaagasstismda whan cated eeta bead katta tala kate a kadaka abacate aaa 5 16 5 5 Sets the output format Of robot rrrrrnnnnnnnnnnnrnnrnnnnennnn enn e eaS oaa 5 17 5 6 Executes the recognition and gets the recognition results 5 19 6 Robot Program Writing 6 20 6 1 Flow for starting of image processing by robot aa 6 20 6 2 Samle Robot Program WING cis iso oo Saanika anal lakata aal 6 21 6 4 Vision Sensor SEMIMGS sses sssri kukka kh k iku liialda kallatakse kalana ea kaeda 6 22 6 4 Robot teachiNgi einni natsismi kaka a a t Sa A taa Aak va a A 6 23 6 5 Executing the automatic operation test immnanenenenantenenntaeneetenentetananteneennnannenaa 6 24 6 5 1 Switches the vision sensor to online rare nana neaaararenaanananaanana 6 24 6 5 2 Test by ex
2. lt encoder 3 value read out variable gt lt encoder 4 read out variable gt lt encoder 5 value read out variable gt lt encoder 6 read out variable gt lt encoder 7 value read out variable gt lt encoder 8 read out variable gt Term lt Vision sensor number gt Can not be omitted This specifies the number of the vision sensor to control Setting range 1 8 lt Delay time gt Can not be omitted This specifies the delay time in ms from when the image capture request is output to the vision sensor until the encoder value is obtained Setting range 0 150 ms lt Encoder n value read out variable gt Can be omitted from the second one on Specifies the double precision numeric variable into which the read out external encoder n value is set Note n is 1 8 Sample sentence 1 If M_NVOpen 1 lt gt 1 Then If vision sensor number 1 logon is not complete 2 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 3 Endlf 4 Wait M_NVOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed 5 NVRun 1 TEST Starts the Test program 6 NVTrg 1 15 M1 M2 Requests the vision sensor to capture an image and acquires encoders 1 and 2 after 15 ms 7 NVin 1 TEST E76 J81 L84 0 10 Receives the recognition count recognized with the Test program from the E76 cell and the recognition results from cells J81 thro
3. Explanation 1 Indicates the status of a line connected with a network vision sensor with an NVOpen command when the line is opened 2 The initial value is 1 At the point in time that the NVOpen command is executed and the line is connected the value becomes 0 line connecting At the point in time that the network vision sensor logon is completed the value becomes 1 logon complete 3 This variable strongly resembles the status of status variable M_OPEN but whereas M_Open 4 becomes 1 when the connection is verified M NVOpen becomes 1 when the vision sensor logon is complete Errors 1 If the type of data specified as an array element is incorrect a syntax error in input command statement error occurs 2 If there is an abnormal number of array elements too many or too few an incorrect argument type error occurs 3 If an array element other than 1 through 8 is specified an array element mistake error occurs Vision Sensor Dedicated Commands and Status Variables 7 39 7 Detailed Explanation of Functions 7 1 4 Parameter for the vision sensor The parameter of the robot for the vision sensor is as follows Parameter Table 7 3 List of the parameters for the vision sensor Paraemter name No of arrays Details explanation Factory setting User name NVUSER Character string 1 The user name to log on the vision sensor is set no more than 15 characters admin
4. When the calibration data is made by job 1 and Job 2 the calibration result is reflected in the same Pattern matching job the import operation is necessary Exports Imports the calibration data 5 15 5 The usage 5 4 1 Exports the calibration data To export the calibration data click Export button after specifying the file name in the calibration screen Edit Tool MGalib 1 General Settings Point Pixel Row Pixel Column World X World Y Woridx Pointo 439 492 27588 000 000 ___ File Name Default Point 282 720 227 256 0 000 3 Point2 269 438 570 441 Full Name DefaultCalb Point3 436589 567809 World 00004 Export Auto Export i l ESSES i Select Points Current position Get position i IP Address 79216801 i 10009 i Port MELO E Robot 1 Export Default is set to the file name as the The information is displayed in the palette after the initial value Please change to the export is completed normally name that you can understand the calibration situation n It is possible to use the initial name Palette The exported file is preserved in the s Name Result O pr Point 1 0 0 0 0 O te Point 2 0 0 0 0 O F gt Point 3 O ei 5 4 2 Imports the calibration data Data on the vision sensor is used by pixel units Therefore it is necessary to convert these to data on the robot coordinate system
5. MCalib 1 E Pattem 1 ie Pattem 1 4ccept Threshold Integer Pattem 1 Contast Threshold Integer Pattern_1 Description String Pattem 1 Error Count Integer Pattem 1 Execution Time Floating Point Pattem 1 Fail Pattem 1 Fail Count Pattem 1 Find Mode attem 1 Fixture Score Pattern 1 Fivture1 Anole Integer Integer Sets the output format of robot 5 17 5 The usage The example above is to register one pattern of the pattern matching and to recognize two or more pieces In this case the recognition result is stored in Pattern 1 and selects number X Y and 6 from it The table below shows the display name and the meaning of a typical item No Display Explanation 1 Pattern 1 Number Found Recognized number 3 Data Type Value 0 000 0 000 0 000 Easy View Pattern 1 Fixture X Floating Point FTP Pattern_1 Fixture Y Floating Point Pattern 1 Fixture Angle Floating Point Image of transmitted character string List of added data Ed it Dev ice There is a limitation in the number of characters that A current number of characters is displayed can be transmitted at once It is possible to save the Please refer as standards of the number of number of transmission characters by changing the transmission characters The number of position of decimal point characters that can be transmitted to the i aces a robot controller at once is 240 characters D
6. N DANGER This indicates a situation in which a mistake in handling will expose the user to the danger of death or severe injury A WARNING This indicates a situation in which a mistake in handling has the possibility of resulting in death or severe injury of the user A CA UTION This indicates a situation in which a mistake in handling has the danger of causing injury to the user Equipment damage is also possible No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice An effort has been made to make full descriptions in this manual However if any discrepancies or unclear points are found please contact your dealer The information contained in this document has been written to be accurate as much as possible Please interpret that items not described in this document cannot be perfomed Please contact your nearest dealer if you find any doubtful wrong or skipped point Microsoft Windows and NET Framework are registered trademarks of the Microsoft Corporation of the United States in the United States and or other countries In Sight is registered trademark of Cognex Corporation Adobe the Adobe logo Acrobat and the Acrobat logo are trademarks of Adobe Systems incorporated Reference to registered trademarks and trademarks are omitted in this manual Copyright C 2010 MITSUBISHI ELECTRIC CORPORATION ALL RIGH
7. PVS1 and PVS2 300 NVClose 1 Cuts the line with the vision sensor connected to COM2 7 36 Vision Sensor Dedicated Commands and Status Variables 7 Detailed Explanation of Functions Explanation 1 Gets the data by specifying the tag name from an active vision program in the specified vision sensor 2 The data read from the vision sensor is stored in the specified variable 3 When the specified variable identifier is delimited by comma and enumerated when the data of the vision sensor is two or more values character string delimited by comma data is stored in order of describing the variable identifier In this case the type of the object data should be the same as the type of the variable 4 When the position variable is specified the vision data is stored in X Y and C element And the value of other elements are 0 The value converted into the radian is set to C element 5 The value of receiving data are set only to the specified variables when the number of specified variables is less than that of receive data 6 The variable more than the number of receiving data is not updated when the number of specified variables is more than that of receive data 7 When the tag name is omitted the value of parameter EBRDTAG is set instead of the tag name The factory shipment setting is Job Robot FormatString 8 Itis possible to specify the timeout time by the numerical value Within the timeout time does not move to the
8. Pattern 1 Fixture3 Y Pattern 1 Fixtured X Pattern 1 Fixtured Y Pattern 1 Fixture5 X Pattern 1 Fixture5 Y 6 22 Vision Sensor Settings Pattern 1 Fixture Angle Pattern_1 Fixturel Anel Pattern_1 Fixture2 Angle Pattern_1 Fixture3 Angle Pattern 1 Fixtured Angle Pattern 1 Fixture5 Angle Data Type Floating Point Floating Point Floating Point Floating Point Floating Point Floatine Point Floating Point Floating Point Floating Point Floating Point Floatine Point Floating Point Floating Point Floating Point Floating Point Floating Point Floating Point Floating Point Value 0 090 98 091 110 082 0 304 579 653 109 425 25 593 279182 228 593 6 049 182 306 310 639 21 842 325 972 225 358 5 242 346 288 328 180 6 Robot Program Writing 6 4 Robot teaching Please teach of the robot positions before executing the automatic operation 1 The evaluation position P0 work grasping position P1 and work placement position P2 are taught in order to operate the robot Use the teaching box to open the stored robot program and open the position edit screen a Turn the controller s MODE select switch to MANUAL b Turn ON the teaching pendant R32TB TB ENABLE switch c The position edit screen is displayed by pressing MENUJ 1 FILE EDIT Select a program POSI key d The position variable to be taught is displayed by pressing 1 1 key or inputting the position name e The conf
9. Point_2 0 0 0 0 O fey Points 0 0 0 0 O Ei Mcab i Pas 09090999 Note that the calibration is deleted when the point is deleted after adding the calibration Edit Tool Edits the details of the tool of the calibration etc For Mitsubishi N point calibration the following information can be edited The communication setting of the robot controller The coordinates of the camera The coordinates of the robot Adds Mitsubisi N Point Calibration 5 13 5 The usage 5 3 Gets the current position of the robot 1 Sets the following communication method of the robot in a Settings tab IP Address 19216801 Port 10009 Robot 15 The address of the robot set in Chapter 2 1 2 is set to Internet Protocol address It is possible to use the initial value to the communication port and the robot number 2 Switches the In Sight Explorer to Switching of online offline File Name Default PointO 439 492 Point 269 438 570441 f Full Name DefaultOalb Point3 436589 567809 0000 WorldY Point4 Export Point5 000 0 000 nae Export Point 000 E Point t Auto Export Point8 Current positio Point10 IP Address 1921680 ne Port 10009 P 18 v 3 Selects the camera 5 When the point is selected coordinates related 4 When Get position button is is clicked in th
10. error occurs 3 If the lt vision sensor number gt is anything other than 1 through 8 an argument out of range error occurs 4 If the NVOpen command is not opened with the number specified as the lt vision sensor number gt an abnormal vision sensor number specification error occurs 5 If the lt vision program name gt exceeds 15 characters an abnormal vision program name error occurs 6 Ifa lt vision program name gt uses a character other than 0 9 A Z or including lowercase letters an abnormal vision program name error occurs 7 If the program specified in the lt vision program name gt is not in the vision sensor a vision program does not exist error occurs 8 If the vision sensor is offline the Put online error occurs so put the vision sensor Online 9 If the communications line is cut while this command is being executed an abnormal communications error occurs and the robot controller side line is closed Vision Sensor Dedicated Commands and Status Variables 7 31 7 Detailed Explanation of Functions 4 NVRun network vision sensor run Function Starts the specified vision program Format NVRuno lt Vision sensor number gt lt Vision program job name gt Term lt Vision sensor number gt Can not be omitted This specifies the number of the vision sensor to control Setting range 1 8 lt Vision program job name g
11. specification of Network Kal and manual external or manual enable control from the outside Not permitted to The NVUSER and NVPSWD Check the vision sensor side control vision parameters set for logging on to user list registration and specify sensor the vision sensor do not have the the name of a user with full right to full access to the vision access in NVUSER and their sensor password in NVPSWD 8 42 Error list 8 Troubleshooting L 8670 Restart not possible After the program was stopped it Reset the robot program then after stop was started without being reset start it Error list 8 43 9 Appendix 9 Appendix 9 1 Calibration No marking sheet This is a marking sheet used in calibration work Please use this sheet in your calibration work Enlarge or reduce it as necessary to match the size of the field of vision of the image When changing the size of the sheet or calibrating in more points you can photocopy the sheet 9 44 Calibration No marking sheet 9 Appendix Calibration No marking sheet 9 45 A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN Aug 2010 BFP A8820 Printed in Japan on recycled paper Specifications are subject to change without notice
12. Password NVPSWD Character string 1 The password to log on the vision sensor is set no more than 15 characters Timing of trigger Notes The software version that can be used is as follows SQ series version N2B or later SD series Version P2B or later NVTRGTMG Integer1 Defines about processing of NVRun command and NVTrg command The content of each set value is as follows value NVRun NVTrg 0 Trigger Trigger 1 Trigger Trigger Image processing Image processing Trigger Image processing Trigger The next command is executed after the communication of the image processing instruction taking picture demand and the vision sensor is completed It is possible to shorten the tact time by setting this value when another process of the robot is executed while the vision sensor is processing the image 2 Trigger Trigger Image processing The robot controller request the image processing capture request to the vision sensor And the next command of the robot is executed after the vision image processing is completed When the robot requests the image processing to the vision sensor and gets the recognition results EBRead command is executed with next step please set this Initial value of tag name specified by EBRead command Notes The software version that can be used is as follows SQ series version R1 or later SD series Version S1 or
13. Restore Defaults button Restore Defaults k Restore Defaults D Difference from MELFA Vision 1 1 1 Summary 1 1 Difference from MELFA Vision The difference between MELFA Vision and this software is as follows MELFA Vision Mitsubishi robot tool Notes The name and the state of the cell cannot be confirmed because the spread sheet cannot be displayed in the EZ model It is not In Sight EZ model possible to use it with MELFA Vision because there is the one for which the specification of the cell name is necessary in a special instruction Table 1 1 Feature of MELFA Vision and correspondence method in the EasyBuilder No function MELFA Vision EasyBuilder 1 E Logoff It corresponds by an exclusive screen It corresponds by In Sight Explorer Image Image operation Capture request Capture request corresponds by an exclusive screen 33 Onine oMmne certesponde by an sissi screen GBMSSE MGSTEJIR L Vision program ae registers frequently used image Saas image eon on processing writing processing pattern matching blob and can easily add various positioning tools color as templates and the inspection tools with GUI Getting the Information on the cell is acquired by The recognition result is stored to one recognition result using a special command of MELFA cell by the custom format character string And receives it by the MELFA BASIC command which specifies the symbolic t
14. later EBRDTAG Character string 1 Sets up an initial value of the symbolic tag name used with EBRead command it is 128 characters or less When the tag name of EBRead command is omitted the value of this parameter is specified 7 40 Vision Sensor Dedicated Commands and Status Variables Job Robot FormatStri ng 8 Troubleshooting 8 Troubleshooting This chapter lists the errors that can occur in using network vision sensors and explains the causes of and solutions to these errors 8 1 Error list Below are the messages for error numbers their causes and the solutions The meanings of the error levels in the table are as follows Table 8 1 Error Category List Level Explanation H High evel error The servo is switched Off and program execution stopped Program execution is stopped Low ve error Program execution is continued ening Table 8 2 List of Errors for Vision Sensor Use Error contents Cause Solution Argument out of range One of the argument values Check the argument range specified in a command is out and re input of its range 3120 Incorrect argument count The number of arguments in Check the argument count the executed command is and re input incorrect 3130 Attempt was made to The communications line that Check the COM number and open an already open was the subject of the vision sensor number and communication file attempted opening i
15. lt Time out gt Term lt Vision sensor number gt Can not be omitted This specifies the number of the vision sensor to control Setting range 1 8 lt Tag name gt Can be omitted Specifies the name of symbolic tag where data read out by the vision sensor is stored When omitting it the value of paraemter EBRDTAG initial value is the custom format tag name Job Robot FormatString is set to it lt variable name gt Can not be omitted Specifies the variable where the data read from the vision sensor is stored It is possible to use two or more variables by delimited with commas It is possible to specify the Numeric value variable Position variable or String variable When the Position variable is specified the value is set to X Y and C element and 0 is set to other elements lt Time out gt If omitted 10 Specifies the time out time in seconds Specification range Integer 1 32767 Sample sentence 100 If M_NvOpen 1 lt gt 1 Then _ If vision sensor number 1 log on is not complete 110 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 120 End If 130 Wait M_NvOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed 140 NVLoad 1 TEST Loads the Test program 150 NVRun 1 TEST Starts the Test program 160 EBRead 1 MNUM PVS1 PVS2 The data of Job Robot FormatString tag is read and they are preserved in the variable MNUM
16. next step until the results are received from the vision sensor However if the robot program is stopped this command is immediately cancelled Processing is continued with a restart 9 When this command is used with multi tasking it is necessary to execute the NVOpen command and the NVRun command in the task using this command In this case use the lt vision sensor number gt specified with the NVOpen command 10 A program start condition of Always and the continue function are not supported 11 If an interrupt condition is established while this command is being executed the interrupt processing is executed immediately even during processing of this command The processing is executed after completing the interrupt processing 12 In order to shorten the tact time it is possible to do other work after executing the NVRun command and execute EBRead when it is required 13 Please set 1 to the parameter NVTRGTMG if the EBRead command is executed immediately after the NVRun command When parameter NVTRGTMG is factory shipment setting the next process of the NVRun command is executed without waiting for the completion of the vision recognition processing Therefore the last recognition might be taken when the EBRead command is continuously executed 14 Note that if the program stops between NVRun and EBRead the results when NVRun is executed and the results when EBRead is executed may be different lt Value of the variable gt T
17. same user name and password for all of them 5 The state of communications with the network vision sensor when this command is executed can be checked with M_NVOpen For details see the explanation of M NVOpen 6 If the program is cancelled while this command is being executed it stops immediately In order to log 7 28 Vision Sensor Dedicated Commands and Status Variables 7 Detailed Explanation of Functions on to the vision sensor it is necessary to reset the robot program then start 7 When this command is used with multi tasking there are the following restrictions 8 9 The lt COM number gt and lt Vision sensor number gt must not be duplicated in different tasks a If the same lt COM number gt is used in another task the attempt was made to open an already open communication file error occurs SLOT2 SLOT3 10 NVOpen COM2 As 1 10 NVOpen COM2 As 2 b If the same vision sensor number is used in another task the attempt was made to open an already open communication file error occurs SLOT2 SLOT3 10 NVOpen COM2 As 1 10 NVOpen COM2 As 2 COM2 and COM3 are specified with Slot2 and with Slot3 but the lt Vision sensor number gt is specified as 1 so an error occurs A program start condition of Always and the continue function are not supported Three robots can control the same vision sensor at the same time If a fourth robot logs on the line for the first robot
18. 1 10 number of recognition 10 a Edit Acguisition Settings Trigger External Manual or Network Edit Acquisition Settings Location Tools A PatMax Pattern pf Pattern F PatMax Patterns 1 10 Patterns 1 10 el Edge dr Cdra lntaraaatiam External Trigger Delay msec Trigger Interval msec Exposure msec Communications Settings Device Robot Number To Find Accept Threshold Gontrast Threshold Rotation Tolerance Scale Tolerance Find Mode Strict Scoring Sort By Horizontal Offset Vertical Offset Timeout General Settings PatMax Score 0 000 0 000 5000 Device Maker MITSUBISHI ELECTRIC CORPORATION Protocol EtherNet Native String Format Output String item of setting Robot Manufacturer Mitsubishi Protocol number of recognition Pattern 1 Number Found Recognition coordinates 1 X Pattern 1 Recognition coordinates 1 Y Pattern 1 Fixture X Fixture Y Recognition coordinates 1 Angle Pattern 1 Fixture Angle Recognition coordinates 10 X Pattern 1 Fixture9 X Recognition coordinates 10 Y Pattern 1 Fixture9 Y Recognition coordinates 10 Angle Pattern 1 Fixture9 Angle Name Pattern 1 Fixture X Pattern 1 FixtureY Pattern 1 Fixture1 X Pattern 1 Fixture1 Y Pattern 1 Fixture2 X Pattern 1 Fixture2 Y Pattern 1 Fixture3 X
19. 10009 has already been used it is possible to use other ports by changing the corresponding parameter No Parameter name Value Details explanation 1 NETIP XXX XXX XXX XXX IP address of robot controller 2 NETTERM 1 Default value 0 ao code is added with communicating by 3 CTERME19 1 Default value 0 eee oe ere eee te UE The protocol used is Non procedure 6 NETMODE 9 1 Defaultvalue 1 Opens as Server 7 NETHSTP 9 unused 02 No 1 2 and 3 in above list should be changed from an initial value No 4 5 and 6 should be same as the above mentioned 2 Set up the communication method for receiving the recognition result The setting to receive the recognition result is the same as MELFA Vision Please set up the following parameters in Ethernet setting screen of the parameter In the following examples device OPT12 is set to the communication line COM2 If the tick mark is set in the Change the Parameter to connect Vision checkbox in the Device Setting screen the communication method except Internet Protocol address of the vision sensor are set automatically Please input Internet Protocol address of the vision sensor manually Internet Protocol address of the vision sensor is set with In Sight Explorer FB Ethernet setting 1 RC1 Online m Reiter 228 s Device Settine Double click Device le gana IP Address 192 168 0 3 NETHSTP 2 Port NETPORT 3 Proto
20. Mitsubishi Industrial Robot FQ FD SQ SD Series Mitsubishi Robot Tool for EasyBuilder Instruction Manual MELFA BFP A8820 C Always read the following precautions and the separate Safety Manual before starting use of the robot to leam the required measures to be taken A Safety Precautions SS ss eS N CAUTION N CAUTION N WARNING N CAUTION N WARNING N CAUTION N CAUTION N CAUTION All teaching work must be carried out by an operator who has received special training This also applies to maintenance work with the power source turned ON Enforcement of safety training For teaching work prepare a work plan related to the methods and procedures of operating the robot and to the measures to be taken when an error occurs or when restarting Carry out work following this plan This also applies to maintenance work with the power source turned ON Preparation of work plan Prepare a device that allows operation to be stopped immediately during teaching work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Establ
21. Please get the calibration data by the following procedure when you make a new job 2 Select Import Calibration Type Import None XY Scale Edge to Edge X Y Edge to Edee Circle el U ri or 3 Select calibration file Selects the millimeter as a unit File Name Units lt None gt DefaultGalib cxd NtenGalib cxd ise441Calib cxd The file name is as follows Export name Calib cxd 5 16 Exports Imports the calibration data 5 The usage 5 5 Sets the output format of robot It is necessary to set the output format in order to output the recognition result to the robot controller When clicking the add button of the output format character strings in the following figure the output data list that can be added is displayed Please select output data from this list and add it The data that can be selected by the status of the job is different 1 Select Communication 2 Select Add device 3 Click OK button after setting as follows Device Robot Manufacturer Mitsubishi Protocol Ethernet Native String Data Type Easy View FTP Edit Device Remove Device ism1400 Select Output Data ism1400 Select Output Data Select items to add Select items to add Name a Data Type Name a Data Type E Acquisition y E Acquisition Ez E Inputs Job
22. TS RESERVED Contents 1 Summary 1 1 1 1 Difference from MELFA VISION cccccccccecccececceeeeeeeceeeeeeeceeeeeeeeeeeeeeeceeeeeeeeeeeeeeeeeeeeseeeseneneess 1 2 2 Component Devices 2 3 2 1 Example of connecting each controller c ccccccceceeeeeeeeeeseeeeecneeneneeneeeeeenenenentenseesestenees 2 3 2 1 1 ODISCNES Arakata AR eae ested atest settee O QE pasta ula mia tenth damn ola tae 2 3 2 1 2 SOSCNES oss et rained la ms tise ee ra er Basted eres to ae ott eet cena ed ad danas eed Mh 2 3 2 2 Robot controllSr asse A ONG Shien Ddr aa nah Eu 2 4 2 3 NVISIONSONSORS 43 41 tore siesr eset ees abram A rdias GULA DS CR SAN ca aa Ava ae IDO SR TIS a Se 2 4 2 4 Mitsubishi robot tool add on for EasyBuilder rrenan 2 4 3 List of add on functions 3 5 3 1 Mitsubishi N Point Calibration n l anna near nannnenenena nene neneneneneennenenennneeene 3 5 3 1 1 Explanation O SCreen sims aiii rele ees ee WO a ted Shes 3 6 4 Installation 4 7 4 1 List of the file that relates to Mitsubishi robot tool iii 4 7 4 2 Howito Install ssa evans Avante iter ee eae USA eh Res ee A US AI a 4 7 43 COMMON SQMINGS 11 tormiks akbar asuka AEE eak 4 9 4 3 1 Communications Settings of the robot controller rrenan 4 9 4 3 2 Communications Settings for the vision Sencer rear 4 10 5 The usage 5 11 5 1 Adds the teaching position in image
23. V Commands Here are the dedicated vision sensor commands Table 7 1 List of Dedicated Vision Sensor Commands compliant version Command word Contents of the robot controller Connects with the vision sensor and logs on to the NVOpen e vision sensor 2 NVClose Cuts off the connection with vision sensor CRna 700 E Nt 3 NVLoad Puts the specified vision program into the state in tee Sosa cio A x which it can be started CRnD 700 series Ver P1 or later Starts the specified vision program 5 NVTr Reguests the vision sensor to capture an image and 9 acguires the encoder value after the specified time 6 EBRead Reads the data for which the tag name of the vision ee SNES a Mer IRI dor sensor specihed CRnD 700 series Ver S1 or later Additional command word details are shown below Vision Sensor Dedicated Commands and Status Variables 7 27 7 Detailed Explanation of Functions 1 NVOpen network vision sensor line open Function Connects with the specified vision sensor and logs on to that vision sensor Format NVOpenn lt COM number gt nAsnt lt Vision sensor number gt Term lt Com number gt Can not be omitted Specify the communications line number in the same way as for the Open command COM1 can not be specified by it is monopolized by the operation panel front RS 232C Setting range COM2 COM8 lt Vision sensor number gt Can n
24. ag EI Recognition result It corresponds by an exclusive screen It corresponds by In Sight Explorer display Setting the It is easy to make settings for ltis possible to set the communication communication communicating between the robot method of the vision sensor by In Sight 7 method of robot controller and vision sensor Explorer and to set up the controller and the communication method of the robot vision sensor controller by RT ToolBox2 Robot and vision It corresponds by an exclusive screen It corresponds by Mitsubishi sensor calibration calibrationtool 9 ImageLog It corresponds Ht somesponds by an exclusive soreer an exclusive screen It corresponds pt comesponds by iSight Explorer In Sight Explorer File transfer It mamma by an exclusive screen lt ama by In Sight Explorer 10 It corresponds by an exclusive screen It corresponds by In Sight Explorer It corresponds by an exclusive screen It corresponds by In Sight Explorer 1 2 Difference from MELFA Vision 2 Component Devices 2 Component Devices This chapter explains the equipment composition of using the In Sight EZ model and EasyBuilder 2 1 Example of connecting each controller 2 1 1 SD series The robot controller and the EZ model are connected with the Ethernet hub Please connect the personal computer with the Ethernet hub when you edit the jobs Image processing programs by using In Sight Explorer EasyBuilder In Si
25. age 1 Selects Inspect Part 2 Selects User Defined Point in Geometry Tools Find Curve gt ES User Defined Line 3 Clicks Add button Add 4 click OK button after setting the cursor to the position to be taught 5 Please teach in two positions or more according to a similar procedure It is possible to calculate of the calibration by two positions However to improve accuracy two or more positions are recommended to be taught on the entire screen 5 2 Re select the points Clicks Select Points button in the calibration screen to re select the points used Select Points Adds Mitsubisi N Point Calibration 5 The usage 1 Selects Inspect Part 2 Selects Mitsubishi N Point Calibration HE Image Filter Tools a Calibration Tools ii N Point x2 Sequential N Point Mitsubishi Robot Tool Ci Mitsubishi N Point Calibration 3 Clicks Add button jt 4 Please select two positions or more Jin the vision sensor coordinates to use for calibration The color of selected item is changed It is possible that the point selected here will be 5 The calibration is added to the palette when OK button is clicked and the calibration screen is displayed Cancel Palette The relation between the tool of the calibration etc and the recognition points is shown 8 lea Name Result O Point 0 0 0 0 O fe
26. ands and Status Variables 7 Detailed Explanation of Functions 7 1 3 Robot status variables Here are the status variables for vision sensors Be careful The data for these status variables is not backed up by the RT ToolBox2 backup function These status variables can be used by the following software versions CRnQ 700 series N1 or later CRnD 700 series P1 or later Table 7 2 List of Robot status variables for vision sencer Variable name Array elements Contents Attribute Data type M_NvOpen 8 Line connection status Integer type 1 R indicates that a status variable is read only The details of the status variables are as follows 1 M_NvOpen Function Indicates the vision sensor line connection status Array meaning Array elements 1 8 Vision sensor numbers Explanation of values returned O Line connecting logon not complete 1 Logon complete 1 Not connected Usage After an NVOpen command is executed checks whether or not the line with the vision sensor is connected and the vision sensor logged onto Sample sentence 1 If M_NVOpen 1 lt gt 1 Then If vision sensor number 1 is not connected 2 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 and sets its number as number 1 3 Endlf 4 Wait M_NVOpen 1 1 Connects with vision sensor number 1 and waits for the logon state 5 nunnu 100 NVClose 1 Cuts the line with the vision sensor connected to COM2
27. ariable MNUM PVS1 and PVS2 8 NVClose 1 9 HLT 5 When the robot program is executed the recognition number and the recognition position are stored in each variable Executes the recognition and gets the recognition results 5 19 6 Robot Program Writing 6 Robot Program Writing In order to start execute image processing with the vision sensor from the robot it is necessary to execute commands controlling the vision sensor in a robot program written in MELFA Basic V 6 1 Flow for starting of image processing by robot The method for starting image processing from a robot program is as follows 1 Check the line connection with the vision sensor Status variable M_NVOpen 2 Line connection with vision sensor MELFA BASIC V NVOpen 3 Vision program start MELFA BASIC V NVRun 4 Vision recognition results acquisition MELFA BASIC V EBRead 5 After this the robot is moved with the recognition results the position data detected with the vision sensor For details on the vision program dedicated MELFA BASIC V commands and status variables see 7 1 Vision Sensor Dedicated Commands and Status Variables This manual explains by using MELFA BASIC V command 6 20 Flow for starting of image processing by robot 6 Robot Program Writing 6 2 Samle Robot Program Writing The robot program below is written and stored in the robot controller For details on the storage method see the RT ToolBox2 User s Ma
28. ase shop List of the file that relates to Mitsubishi robot tool 4 7 4 Installation 2 Execute the installer Automated instal EasyBuilder MITSUBISI E Welcome to the InstallShield Wizard for EasyBuilder MITSUBISHI Robot tool The InstallShield R Wizard will install EasyBuilder MITSUBISHI Robot tool on your computer To continue dick Next WARNING This program is protected by copyright law and international treaties Next ki Next Back Next gt i Es EasyBuilder MITSUBISHI Destination Folder Click Next to install to this folder or dick Change to install to a Install EasyBuilder MITSUBISHI Robot tool to C Program FilesVCognex In Sightlin Sight Explorer 4 4 1 I installshield Next Cancel r EasyBuilder MITSUBISHI Ready to Install the Program The wizard is ready to begin installation Click Install to begin the installation If you want to review or change any of your installation settings dick Back Click Cancel to exit the wizard Install Oa Os InstallShield When the installation destination of been In Sight Explorer has changed it is possible to install it by changing this folder Change Current Destination Folder Browse to the destination folder Look in kl E In Sight Explorer 4 4 1 ed Folder name C Program Files Cognex In Sight In Sight Explorer 4 4 1 InstallShield Cx r EasyB
29. basic configuration are shown below When CR1D 7xx CR1Q 7xx is used for the controller AN CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller because of leakage protection Controller Earth leakage breaker NV m Revision History Printing Date Instruction Manual No Revision Contents 2010 08 06 BFP A8820 First Edition 2011 11 17 BFP A8820 A Corresponded to In sight Explorer 4 5 4 6 2013 03 14 BFP A8820 B Corresponded to In sight Explorer 4 8 2014 04 01 BFP A8820 C Corresponded to In sight Explorer 4 9 Preface Thank you for downloading the Mitsubishi robot tool for EasyBuilder This software supports the calibration function needed when the vision sencer made by Cognex Corporation is connected with the Mitsubishi robot This software can be used by adding to add on the EasyBuilder Before using this sensor please read this manual well so that you utilize the contents of this manual when using this network vision sensor This manual attempts to cover special handling as well Please interpret the absence of an operation from this manual as meaning that it can not be done The contents of this manual target the following software versions SQ series Version R1 or later SD series Version S1 or later It is necessary to upgrade for a fee if you used an earlier version Please ask to the bought shop m Symbols 8 Notation Method in This Manual
30. cified present exist in the specified vision sensor vision program exists in the specified vision sensor Also check that the vision program name specified is correct 8630 Incorrect value in The recognition count value was Check that the correct cell is recognition count not in the cell specified as the specified cell recognition count cell 8631 Specified cell value Corresponding to either the Check that the correct cell is out of range following specified The values specified for the start Check the number of data cell and end cell are reversed acquired from the cell which The range specified by Start Cell specifies it by and End Cell exceeds line 30 and Start Cell and End Cell row 10 The number of data included in the cell which specifies it by Start Cell and End Cell exceeds 90 as esposo inact sensor There is no response from vision Check that the specified time is al E sensor within the specified time or correct Or check that the vision within a specific time sensor settings are correct timeout reguest cable 8636 Vision Tag name is The active specified symbolic tag Please confirm the name of abnormal does not exist in the vision symbolic tag of Easy Builder is program corresponding to the tag name specified by the robot program and correct the tag name 8640 Abnormal image The image capture specification is Specify an image capture capture other than Network external
31. col CPRCE12 Server NETMODE 2 Packet Type CTERME12 P address NETIP 192 168 0 20 Sub rotmad NETMSK 255 255 255 0 No Parameter name Value Details explanation 1 NETIP XXX XXX XXX XXX IP address of robot controller 2 NETTERM 9 1 Default value 0 o code is added with communicating by CTERME12 Default value O Changing the end code of Port 10009 to CR LF 1 0 NETPORT 3 23 Default value 10003 Port number allocated to device OPT12 5 CPRCE12 2 Default value 0 The protocol used is data link NETMODE 2 O Default value 1 Opens as Client 7 NETHSTP 2 a Protocol address of vision sensor to receive No 3 4 5 6 and 7 in above list should be changed from an initial value Common settings 4 9 4 Installation 4 3 2 Communications Settings for the vision sencer Please set up the Internet Protocol address of the vision sensor according to the following procedures 1 Starts In Sight Explorer Ver 4 4 1 7526 or later 2 Selects menu System gt Add Sensor Device to Network 3 Clicks Copy PC Network Settings button after selecting the icon of vision sensor Afterwards set up the Internet Protocol address of the vision sensor Clicks Connect button after selecting the target camera in Get Connected tab The firmware needs 4 04 00 155 or later 4 10 Common settings 5 The usage 5 The usage This chapter explains the operatio
32. d to positional deviation and vibration Wire the cable as far away from noise sources as possible If placed near a noise source positional deviation or malfunction could occur Do not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and always watch the robot Failure to do so could lead to interference with the workpiece or peripheral devices After editing the program always confirm the operation with step operation before starting automat
33. e list the to the robot clicked after selecting the point in current position of the robot is the list and moving the robot to displayed here the position the current position It is possible to change the of the robot is set into World value by clicking the spin X World Y Getting the current button by getting the current position of the robot is possible position of the robot or by only at online mode inputting directly The calibration is possible by two points However It is possible to improve the recognition accuracy by selecting many points in the distance AN Caution Please switch to online mode when getting the current position of the robot Please switch In Sight Explorer to online mode to get the current position of the robot If this were operated in an off line mode the robot current location acguisition operation is repeated when switching to an online mode In that case please get the current position of the robot again 5 14 Gets the current position of the robot 5 The usage 5 4 Exports Imports the calibration data The result of the calibration is valid by importing it after exporting to a file Please note it is not valid only by adding the calibration When the position of the robot coordinate system and the vision coordinate system is not different the calibration data can be recycled Job 1 E Calibration Calibration data Pattern matching Job 2 Pattern matching Caution
34. ecimal PI Initial value Three digits String leneth chars This process might change depending on the specification of EasyBuilder Please ask to Cognex Corporation whether to refer to help of EasyBuilder about latest information 5 18 Sets the output format of robot 5 The usage 5 6 Executes the recognition and gets the recognition results MELFA BASIC V instruction EBRead is used to acquire data In the following program three recognition results or less are received lt Preparation gt 1 2 3 4 PatMax is added with the measurement tool of EasyBuilder and the pattern and the recognition number example is 3 are set In the communication setting the Format Output String is set as follows number X1 Y1 angle1 X2 Y2 angle2 X3 Y3 angle3 X4 Y4 angle4 X5 Y5 angled The job is preserved by the name TEST and puts the vision sensor Online The robot program is made with RT ToolBox2 as follows It is necessary to set the parameters beforehand 1 If M_NvOpen 1 lt gt 1 Then When logon has not been completed for vision sensor 2 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 3 Wait M_NvOpen 1 1 Connects with vision sensor and waits for logon to be completed 4 Endlf 5 6 NVRun 1 TEST Starts TEST program 7 EBRead amp 1 MNUM PVS1 PVS2 PVS3 The data of Job Robot FormatString tag is read and they are preserved in the v
35. ecuted The vision program is not loaded 5 For receiving data from the vision sensor use the EBRead command 6 When this command is used with multi tasking it is necessary to execute the NVOpen command in the task using this command Also use the lt vision sensor number gt specified with the NVOpen command 7 A program start condition of Always and the continue function are not supported 8 Please set the trigger of EasyBuilder s image capture to External trigger Manual triggeroperation or Network It is possible to use Camera when the value of paramete NVTRGTMG is 0 or 2 9 Up to three robots can control the same vision sensor at the same time but this command can not be used by more than one robot at the same time Use this command on any one of the robots 10 If an interrupt condition is established while this command is being executed the interrupt processing is executed immediately 7 32 Vision Sensor Dedicated Commands and Status Variables Errors 9 7 Detailed Explanation of Functions If data type for an argument is incorrect a syntax error in input command statement error is generated If there is an abnormal number of command arguments too many or too few an incorrect argument count error occurs If the lt vision sensor number gt is anything other than 1 through 8 an argument out of range error occurs If the NVOpen command is not opened with the number specified as the lt v
36. ecuting each Step icici deine inciso ada lis ei ei ed ae i aed 6 24 6 5 3 Starting a Robot Program s22 i2es 202 caches tate cei ro e ee tel ieee eter ete ete 6 25 7 Detailed Explanation of Functions 7 27 7 1 Vision Sensor Dedicated Commands and Status Variables 7 27 7 1 1 Howto Read Items aa estes a da adhe ete eae eta dete ede ees 7 27 7 1 2 MELEFA BASIC Vi Comma Nd Sma r casos Tone ede dana T O aeta ad alt a EA 7 27 7 1 3 Robet status Variables 2 2 ris ds arise Cala ad end da 7 39 7 1 4 Parameter for the vision sensor e cesses a ea Ea 7 40 8 Troubleshooting 8 41 81 ERROR ISENTO at De go aie ea Sa pte ee ea GERE De ies 8 41 9 Appendix 9 44 9 1 Calibration No marking sheet 1 Summary 1 Summary This manual is an Instruction Manual to use EasyBuiler made by Cognex Corporation with the MELFA robot This manual explains about a calibration function for the Mitsubishi robot that adds to the EasyBuilder Therefore this does not explain a basic operation and the screen about the EasyBuilder or the products other than our company Please refer to the manual and help of the product if necessary AN Caution Please use English symbolic tag in the EasyBuilder Please set optional information on EasyBuilder according to the following procedures to improve the compatibility between the robot controller and the vision sensor As a result it is possible to acguire t
37. ensor number 1 2 NVOpen COM2 ASs 1 Connects with the vision sensor connected to COM2 and sets its number as number 1 3 Enelf 4 Wait M_NVOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed 5 seen 100 NVClose 1 Cuts the line with the vision sensor connected to COM2 Explanation DLNS Cuts the line with the vision sensor connected with the NVOpen command If the lt vision sensor number gt is omitted cuts the line with all the vision sensors If a line is already cut execution shifts to the next step Because up to seven vision sensors can be connected at the same time lt Vision sensor numbers gt are used in order to identify which vision sensor to close the line for If the program is cancelled while this command is being executed execution continues until processing of this command is complete When this command is used with multi tasking in the task using this command it is necessary to close only the lines opened by executing an NVOpen command At this time use the lt Vision sensor number gt specified with the NVOpen command A program start condition of Always and the continue function are not supported If an End command is used all the lines opened with an NVOpen command or Open command are closed However lines are not closed with an End command in a program called out with a CAllp command Lines are also closed by a program reset so when an End command or a pro
38. ent error is generated If there is an abnormal number of command arguments too many or too few an incorrect argument count error occurs If the lt vision sensor number gt is anything other than 1 through 8 an argument out of range error occurs If the NVOpen command is not opened with the number specified as the lt vision sensor number gt an abnormal vision sensor number specification error occurs If the vision program s image capture specification is set to anything other than Camera all trigger command External trigger or Manual trigger an abnormal image capture specification error occurs If the vision sensor is offline the Put online error occurs so put the vision sensor Online If the communications line is cut while this command is being executed an abnormal communications error occurs and the robot controller side line is closed Vision Sensor Dedicated Commands and Status Variables 7 35 7 Detailed Explanation of Functions 6 EBRead EasyBuilder read Function Reads out the data by specifying the tag name of the vision sensor The data read from the vision sensor is stored in the specified variable Please read out data specifying the tag name by using this command when the vision program job is made with the vision tool EasyBuilder made by Cognex Corporation Format EBReado lt Vision sensor number gt lt Tag name gt lt variable name 1 gt lt variable name 2 gt
39. ght EZ model Mr i SD series Robot controller CRnD 700 series In Sight Explorer EasyBuilder 2 1 2 SQ series The robot CPU unit Q172DRCPU and the EZ model are connected with the Ethernet hub Please connect the personal computer with the Ethernet hub when you edit the jobs Image processing programs by using In Sight Explorer EasyBuilder In Sight EZmodel SI a e SQseries Drive unit CRnQ 700series In Sight Explorer EasyBuilder Example of connecting each controller 2 3 2 Component Devices 2 2 Robot controller Item Specification Robot controller CRnQ 7xx CRnD 7xx series lt Software version gt CRnQ 7xx series version R1 or later CRnD 7xx series Version S1 or later It is necessary to upgrade for a fee if you used an earlier version Please ask to the bought shop The special command EBRead of MELFA BASIC V is used This command can be used in version R1 S1 or later The special parameter EBRDTAG of MELFA BASIC V is used This parameter can be used in version R1 S1 or later Please refer to 7 Detailed Explanation of Functions for the special command and the special parameter 2 3 Vision sensors Item Specification Software In Sight Explorer version 4 4 1 7526 or later If you were using the In Sight Explorer Version 4 4 0 or earlier please download Ver4 4 1 from Cognex Corporation HP The tool that can be used by the ver
40. gram reset is executed it is not necessary to close lines with this command The continue function is not supported 10 If an interrupt condition is established while this command is being executed the interrupt processing is executed after this command is completed Errors 1 If the value specified as the lt vision sensor number gt is anything other than 1 through 8 the argument out of range error occurs 2 If there are more than eight command arguments an incorrect argument count error occurs 7 30 Vision Sensor Dedicated Commands and Status Variables 7 Detailed Explanation of Functions 3 NVLoad network vision sensor load Function Loads the specified vision program into the vision sensor Format NVLoadno lt Vision sensor number gt lt Vision program job name gt Term lt Vision sensor number gt Can not be omitted This specifies the number of the vision sensor to control Setting range 1 8 lt Vision program job name gt Can not be omitted Specifies the name of the vision program to start The vision program extension job can be omitted The only characters that can be used are 0 9 A Z a z and Sample sentence 100 If M_NVOpen 1 lt gt 1 Then If vision sensor number 1 log on is not complete 110 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 120 Endlf 130 Wait M_NVOpen 1 1 Connects
41. he information from the vision sensor by using the value of robot parameter EBRDTAG MEIA3F13 Standard EasyBuilder View or System Window Help amp Log On Off lo Api IJ Create Report 1 D gt Backup Restore Emulation User Interface File Utilities Image Display Job View Program Exit Record Defaults LareN hay I Startup Language English v 7 Use English Symbolic Tags for EasyBuilder Restore From o Edi Set a tick mark for true in this checkbox raiado V Use English Symbolic Tags for Easy Builder e Add Sensor Device To Network Explorer Host Table Save Layout Shift F7 Options i Restore Defaults EasyBuilder menu gt system gt Option gt User interface N Caution If the error occurs when the value is changed please execute Restore Defaults When this error occurred please set a tick mark in E the checkbox Use English Symbolic Tags for mu Co File Utilities Language H M J Image Display 5 Select options to restore EasyBuilder after executing Restore Defaults eb View E 531 E Eton File Utilities Image Display lob View Program Exit Record Defaults Program Exit Record Defaults Large Toolbar K Startup User Interface Large Tree Ica CaKSKSIKSIKS KAIRIE Click
42. he variable by executing the EBRead command is as follows 1 Content of specified tag Pattern 1 Number Found is 10 a The value when EBRead amp 1 Pattern 1 Number Found MNUM is executed is gt MNUM 10 b The value when EBRead amp 1 Pattern 1 Number Found CNUM is executed is gt CMNUM 10 2 Content of specified tag Job Robot FormatString is 2 125 75 130 5 117 2 55 1 0 16 2 a The value when EBRead 1 MNUM PVS1 PVS2 is executed is gt MNUM 2 PVS1 X 125 75 PVS1 Y 130 5 PVS1 C 117 2 PVS2 X 55 1 PVS2 Y 0 PVS2 C 16 2 The element Excluding X and Y element that the vision data is not set is 0 b The value when EBRead 1 MNUM MX1 MY1 MC1 MX2 MY2 MC2 is executed is gt MNUM 2 MX1 125 75 MY1 130 5 MC1 117 2 MX2 55 1 MY2 0 MC2 16 2 c The value when EBRead 1 CNUM CX1 CY1 CC1 CX2 CY2 CC2 is executed is gt CNUM 2 CX1 125 75 CY1 130 5 CC1 117 2 CX2 55 1 CY2 0 CC2 16 2 Vision Sensor Dedicated Commands and Status Variables 7 37 7 Detailed Explanation of Functions 3 Content of specified tag Job Robot FormatString is 2 125 75 130 5 a The value when EBRead 1 MNUM PVS1 is executed is gt MNUM 2 PVS1 X 125 75 PVS1 Y 130 5 The element Excluding X and Y element that the vision data is not set is 0 Errors 1 If data type for an argument is incorrect a syntax error in
43. ic operation Failure to do so could lead to interference with peripheral devices because of programming mistakes etc Make sure that if the safety fence entrance door is opened during automatic operation the door is locked or that the robot will automatically stop Failure to do so could lead to personal injuries Never carry out modifications based on personal judgments or use non designated maintenance parts Failure to observe this could lead to faults or failures When the robot arm has to be moved by hand from an external area do not place hands or fingers in the openings Failure to observe this could lead to hands or fingers catching depending on the posture Do not stop the robot or apply emergency stop by turning the robot controller s main power OFF If the robot controller main power is turned OFF during automatic operation the robot accuracy could be adversely affected Moreover it may interfere with the peripheral device by drop or move by inertia of the arm N CAUTION N CAUTION N CAUTION N CAUTION N CAUTION N CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters the internal information of the robot controller may be damaged When using this products GOT direct connection f
44. input command statement error is generated 2 If there is an abnormal number of command arguments too many or too few an incorrect argument count error occurs 3 If the lt vision sensor number gt is anything other than 1 through 8 an argument out of range error occurs 4 If the NVOpen command is not opened with the number specified as the lt vision sensor number gt an The NVOpen command is not executed error occurs 5 If data type of the strings data received from the vision sensor and the variable substituted for it is difference a Illegal Receive data EBREAD error is generated 6 If the lt Timeout gt is other than 1 32767 an argument out of range error occurs 7 If the vision sensor does not respond without the time specified as the lt Timeout gt or within the first 10 seconds if the lt Timeout gt parameter is omitted a vision sensor response timeout error occurs 8 If the communications line is cut while this command is being executed an abnormal communications error occurs and the robot controller side line is closed 9 If the specified tag name does not exist in the active vision program a Vision Tag name is abnormal error is generated 10 Please specify 31 variables or less number of the recognition position in the coordinate X Y Z x 10 If 32 variables or more are specified a syntax error in input command statement error is generated 11 If the lt vision p
45. irmation screen is displayed by pressing TEACH F2 key The teaching is executed by pressing YES F1 key f Teach all the positions by operating the above processing MELFA RV 12S0 SZ Ver 1 0 NENOS pee menu FILE EDIT 2 RUN COPYRIGHT C 2007 MITSUBISHI ELEC 3 PARAM 4 ORIGIN BRK TRIC CORPORATION ALL RIGHTS RESE 5 SET INIT 6 ENHANCED Select a program EH Eko 1 6 966272 POSI 1 07 05 30 20 21 30 485 2 07 05 30 20 21 30 485 3 07 05 30 20 21 30 485 4 07 05 30 20 21 30 485 2 Move the robot to the evacuation position Switch On the robot servo power supply and move the robot with Jog operation a Press the Enable switch SERVO to turn the servo power ON b Press the Enable switch each axis key X X etc to move the robot to the evacuation point Ba we kd ER E g 3 at ai switch 17498 J BE og HIRE E Q a a 3 When this work is complete press the teaching pendant CLOSE button to store the robot program 4 Turn OFF the teaching pendant R32TB TB ENABLE switch Robot teaching 6 23 6 Robot Program Writing 6 5 Executing the automatic operation test This section explains automatic operation that starts the program created with 6 2 Samle Robot Program Writing and transports the work recognized with the vision sensor 6 5 1 Switches the vision sensor to online In order for the robot controller to control the vision sens
46. is cut off so be careful when constructing the system 10 The line is not closed with an End command in a program called out with a Callp command but the line is closed with a main program End command The line is also closed by a program reset 11 If an interrupt condition is established while this command is being executed the interrupt processing is Error executed immediately even during processing of this command If data type for an argument is incorrect the syntax error in input command error is generated If there is an abnormal number of command arguments too many or too few the incorrect argument count error occurs If the character specified in lt COM number gt is anything other than COM2 through COM8 the argument out of range error occurs If the value specified as the lt vision sensor number gt is anything other than 1 through 8 the argument out of range error occurs If a lt COM number gt for which the line is already connected is specified including the lt File number gt for which the line has been opened with an Open command the attempt was made to open an already open communication file error occurs If the vision sensor is not connected before the line is opened the vision sensor not connected error occurs The same set manufacturer parameter COMTIMER as in the Ethernet specifications is used Currently 1s If the same lt COM number gt or the same lt vision sen
47. ish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle turn the power OFF during maintenance work Place a sign indicating that maintenance work is in progress on the start switch etc Indication of maintenance work in progress Before starting work inspect the robot emergency stop switch and other related devices etc and confirm that there are no errors Inspection before starting work The points of the precautions given in the separate Safety Manual are given below Refer to the actual Safety Manual for details NWARNING N CAUTION N CAUTION N CAUTION NCAUTION N CAUTION N CAUTION NWARNING N WARNING N CAUTION N WARNING N CAUTION N CAUTION N CAUTION N CAUTION N WARNING NCAUTION When automatically operating the robot with multiple control devices GOT PLC pushbutton switch the interlocks such as each device s operation rights must be designed by the user Use the robot within the environment given in the specifications Failure to do so could lead to a drop or reliability or faults Temperature humidity atmosphere noise environment efc Transport the robot with the designated transportation posture Transporting the robot in a non designated posture could lead to personal injuries or faults from dropping Always use the robot installed on a secure table Use in an instable posture could lea
48. ision sensor number gt an abnormal vision sensor number specification error occurs If the lt vision program name gt exceeds 15 characters an abnormal vision program name error occurs If a lt vision program name gt uses a character other than 0 9 A Z or including lowercase letters an abnormal vision program name error occurs If the program specified in the lt vision program name gt is not in the vision sensor a vision program does not exist error occurs If EasyBuilder s image capture specification is set to anything other than Camera all trigger command External trigger or Manual trigger an abnormal image capture specification error occurs When the value of parameter NVTRGTMG is 1 and the image capture specification is set to Camera the same error occurs If the vision sensor is offline the Put online error occurs so put the vision sensor Online 10 If the communications line is cut while this command is being executed an abnormal communications error occurs and the robot controller side line is closed Vision Sensor Dedicated Commands and Status Variables 7 33 7 Detailed Explanation of Functions 5 NVTrg network vision sensor tri Function Requests the specified vision program to capture an image Format NVTrgO lt Vision sensor number gt lt delay time gt lt encoder 1 value read out variable gt lt encoder 2 read out variable gt
49. lected in the list 1 are displayed This value can be edited directly Moreover it can be increased and decreased with spin button And the input value is reflected in the list immediately It is also possible to take the location data from the robot directly 3 Getting the current position of the robot The value sent from the robot is set to 2 when clicking on Get position button after inputting Internet Protocol address the communication port and the robot number The value is reflected in the point selected by the list 1 4 Re selecting a target point The feature registered in the list 1 can be selected by clicking again 5 Exporting the calibration result The information set to the list 1 is preserved in the file when clicking Export button after setting the file name As a result it is possible to use the calibration result by reading it from other jobs 3 6 Mitsubishi N Point Calibration 4 Installation 4 Installation It is necessary to install the add on software to use the Mitsubishi robot tool in EasyBuilder 4 1 List of the file that relates to Mitsubishi robot tool The file that relates to the Mitsubishi robot tool is as follows File name Explanation Installation folder MelfaClassLibrary dil The Mitsubishi robot tool After ISE 4 9 is added to the item tree C Program Files Cognex In Sight of the EasyBuilder In Sight Explorer Addins After ISE 4 8 C Program Files Cog
50. n repetitions of step execution 6 24 Executing the automatic operation test 6 Robot Program Writing 6 5 3 Starting a Robot Program This section explains the work for starting the stored robot program 1 with the robot controller operation panel 1 Turn the controller s MODE select switch to AUTOMATIC 4 names mic EMG STOP SEES STIS CHNG DISP 4 O tow DOWN NY SVO ON START RESET MODE MANUAL AUTOMATIC Z are BY NO OFF STOP END 2 Press the CHNG DISP button to display the override at the Status Number STATUS NUMBER 3 Press the UP DOWN button to set the Status Number display to 0 010 This sets the robot override to 10 4 Press the CHNG DISP button to display the robot program number at the Status Number STATUS NUMBER 5 Press the UP DOWN button to set the Status Number display to P 0001 This selects robot program 1 6 Press the SVO ON button to switch On the robot servo power supply 7 Check around the robot to make sure that everything will be safe even if the robot operates Executing the automatic operation test 6 25 6 Robot Program Writing TS 8 Press the START button 5 2 EMG STOP MITSUBISHI a CHNG OP STATUS NUMBER IS svo OFF stor 5 9 The robot transports all the work recognized by the vision sensor After transporting the robot program stops t Explorer admin MEIA3F13 Standard EasyBuilder Vie
51. nal procedure using the EasyBuilder and the Mitsubishi robot tool A general procedure when workpiece is positioned by the vision sensor is as follows Adds the teaching position in image Adds Mitsubisi si Calibration Gets the current aa of the robot Exports the si data Imports the Gel data Sets the ouput tom of robot Executes the recognition and gets the recognition results 5 1 Adds the teaching position in image It is necessary to define the target points in the image to do the calibration It is possible to use the abundant positioning and the inspection tools prepared in EasyBuilder for the method of defining the point The preparation method is as follows User definition point Specifies an arbitrary point on the screen Pattern matching Positions the registered template Center of a circle and straight line intersection ete There is a calibration seat in the appendix Please use it The figure below is an example of taking the calibration seat When the calibration is added a round object on the screen is automatically recognized because the EasyBuilder has the smart feature function Therefore the calibration work only of the selection of the point on the screen can begin Moreover this manual explains the case of using the user definition position that can be generally used Adds the teaching position in image 5 11 5 The usage AROLDO Ipe FE P 5 12 Adds the teaching position in im
52. nex In Sight In Sight Explorer bin Before ISE 4 7 3 C Program Files Cognex In Sight In Sight Explorer Change this folder when the installation destination of In Sight Explorer has been changed Cognex ezaddin Enable this tool After ISE 4 9 C Program Files Cognex In Sight In Sight Explorer bin Pp cxd The snippet that achieves C Program Files Cognex In Sight kad N point In Sight Explorer 4 5 0 Snippets EasyBuilder calibration function ll ong Specified folder Snippets EasyBuilder 5 BFP A8820 pdf Instruction manual This manual This is not installed 4 2 How to install There are the following two kinds of installation methods Automated instal Manual installation The installer copies the file onto a prescribed folder The relation file in Chapter 4 1 is copied onto a lt Mer it gt prescribed folder It is possible to install it easily lt Mer i t gt lt Demer i t gt It is possible to install it in In sight Explorer of It is not possible to install it in In sight Explorer two or more versions at the same time of two or more versions at the same time For instance lt Demerit gt it is necessary to uninstall it to install it in 4 5 1 It is a little difficult when installing it in In sight Explorer4 5 0 once Please install with the following procedure 1 Obtain the installer Please inquire the obtaining method of the purch
53. nual Example for acquiring data in the absolute coordinates using pattern matching 1 Before this program is run the evacuation position PO the work grasping position P1 and the work placement position P2 must have already been taught 2 Example PO 250 000 350 000 300 000 180 000 0 000 0 000 7 0 3 P1 500 000 0 000 100 000 180 000 0 000 10 000 7 0 4 P2 300 000 400 00 100 000 180 000 0 000 90 000 7 0 5 Dim PVS 10 6 IfM NvOpen 1 lt gt 1 Then When logon has not been completed for vision sensor number 1 7 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 8 Endlf 9 Wait M_NvOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed 10 NVRun 1 Job1 Start vision program Job1 11 EBRead 1 MNUM PVS 1 PVS 2 PVS 3 PVS 4 PVS 5 PVS 6 PVS 7 PVS 8 PVS 9 PVS 10 12 The data of Job Robot FormatString tag is read and they are preserved in the variable MNUM and PVS 1 PVS 10 13 Mov PO Moves to the safe point 14 If MNUM lt 1 OR MNUM gt 10 Then NG It jumps to the error when the detection number is 0 or less 11 or more 15 For M1 1 To MNUM Loops once for each detection by vision sensor number 1 16 P10 P1 Creates the target position P10 using the vision sensor 1 results data 17 P10 X PVS M1 X 18 P10 Y PVS M1 Y 19 P10 C PVS M1 C 20 Mov P10 10 Moves to 10 mm above the work grasping positi
54. on P10 21 Mvs P10 Moves to the work grasping position P10 22 Dly 0 1 Wait time of 0 1 second 23 HClose 1 Closes hand 1 24 Dly 0 2 Wait time of 0 2 second 25 Mvs P10 10 Moves to 10 mm above the work grasping position P10 26 Mov P2 10 Moves to 10 mm above the work placement position P2 27 Mvs P2 Moves the work placement position P2 28 Dly 0 1 Wait time of 0 1 second 29 HOpen 1 Opens hand 1 30 Dly 0 2 Wait time of 0 2 second 31 Mvs P2 10 Moves to 10 mm above the work placement position P2 32 Next M1 Repeats 33 Hit Program pause Create the appropriate processing 34 End Exit 35 36 NG Error processing 37 Error 9000 Error 9000 output 38 Hit Program pause Create the appropriate processing 39 End Exit N Caution Please set parameter NVTRGTMG Please set 1 to parameter NVTRGTMG when EBRead command is executed immediately after NVRun command When parameter NVTRGTMG is factory shipment setting NVTRGTMG 2 the next command is executed without waiting the completion of the vision recognition processing Therefore there is a possibility being gotten the last recognition result wnen EBRead command is continuously executed Samle Robot Program Writing 6 21 6 Robot Program Writing 6 3 Vision Sensor Settings In the example of programming this robot the following vision setting is assumed The subject of the job Job1 The tool of positioning Tool PatMax pattern
55. or it is necessary to switch the vision sensor to H online Click 0 on the toolbar button 8 In Sieht Explorer admin MEIA3F13 Standard EasyBuilder View lt Q Eile Edit View Image Sensor System Window Help i Application Steps 1st TI 12 Get Connected B lea ise Name Result OOo Patemi 230 6 125 6 0 0 scor da Set Up Image 2 Set Up Tools E Se Inspect Part 3 Configure Results I ul Communication Offline Edit Tool Pattern 1 E J Location Tools a E General settines Trained Image Table AF PatMax Pattern oo Pattern Tool Name Pattern 1 Index x Y Angle Score AF PatMax Patterns 1 1 Tool Fixture None E o Eu a 129 4 as A Patterns 1 10 frag Enabled On 230 343 441031 060 823 Edge ad Edge Intersection Include lh Job Pass 7 Blob 9 Blobs 1 10 Execution Time ms a Description 2 is 6 5 2 Test by executing each step Open the robot program created with the teaching box and while executing one line at a time check the robot program operations For details on the step execution method see Detailed explanations of functions and operations BFP A8661 3 6 Debugging Operations AN Caution There are command words not completed in a single step execution When execution does not move to the next step when the step is executed one time execute the step again Example NVOpen requires at least seve
56. ot be omitted Specifies a constant from 1 to 8 the vision sensor number Indicates the number for the vision sensor connection to the COM specified with the lt COM number gt Be careful This number is shared with the lt file number gt of the Open command Setting range 1 8 Sample sentence 1 If M_NVOpen 1 lt gt 1 Then If vision sensor number 1 log on is not complete 2 NVOpen COM2 Astt1 Connects with the vision sensor connected to COM2 and sets its number as number 1 3 ENDIf 4 Wait M NVOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed Explanation 1 Connects with the vision sensor connected to the line specified with the lt COM number gt and logs on to that vision sensor 2 Itis possible to connect to a maximum of 7 vision sensors at the same time lt Vision sensor numbers gt are used in order to identify which vision sensor is being communicated with 3 When used together with the Open command the Open command lt COM number gt and lt File number gt and the lt COM number gt and lt Vision sensor number gt of this command are shared so use numbers other than those specified with the Open command lt COM number gt and lt File number gt Example Normal example Error example 1 Open COM1 As 1 1 Open COM2 As 1 2 NVOpen COM2 As 2 2 NVOpen COM2 As 2 gt lt COM number gt used 3 NVOpen COM3 As 3 3 NVOpen COM3 Ass 1 gt l
57. rogram name gt exceeds 15 characters an abnormal vision program name error occurs 12 Ifa lt vision program name gt uses a character other than 0 9 A Z or including lowercase letters an abnormal vision program name error occurs 13 If the program specified in the lt vision program name gt is not in the vision sensor a vision program does not exist error occurs 14 If the program specified in the lt vision program name gt is not started by an NVRun command a abnormal vision program name error occurs 15 If the lt Recognition count cell gt lt Start cell gt or lt End cell gt contains a number other than 0 399 or a letter other than A Z an argument out of range error occurs 16 If there is no value in the cell specified in Recognition count cell an invalid value in specified for recognition count cell error occurs 17 If the lt Start cell gt and lt End cell gt are reversed a specified cell value out of range error occurs 18 If the number of data included in the cell which specifies it by lt Start cell gt and lt End cell gt exceeds 90 a specified cell value out of range error occurs 19 Ifthe range specified by lt Star cell gt and lt End cell gt exceeds line 30 and row 10 a specified cell value out of range error occurs 20 If the lt Type gt is other than 0 7 an argument out of range error occurs 7 38 Vision Sensor Dedicated Comm
58. s already re execute Or check the open communications parameters 3141 The NVOpen command No NVOpen command was Revise the robot program to is not executed executed before execution of execute the NVOpen a command communicating command with the vision sensor The communication line The line for communication Check the communication can not be opened with the vision sensor can not cable or the communications be opened parameters hal This command can not This command can not be Revise the program be used if the start used if the start condition is condition is ERR or ERR or ALW ALW L 3501 Illegal Receive The type of the data received Revise the program data EBREAD by EBRead command and the type of specified variable are different L 3810 Incorrect argument type The arithmetic calculation Specify the correct argument single item calculation Please confirm the content of comparison or function the data of specified tag of argument type is incorrect the vision sensor L 4220 Syntax error input There is a mistake in the Check the program contents command structure of the input then re input with the correct command syntax L 4370 Array element mistake 1 An array element is outside 1 Revise the array elements the defined range to be within 1 maximum 2 A variable was specified element that can not be arrayed 2 Stop array element specification L 7810 Abnormal E
59. sion of In Sight Explorer is different Please use an appropriate tool after confirming the version of your In Sight Explorer Vision sensors In Sight series all models Firmware Ver4 04 00 155 or later In Sight EZ series In Sight 5000 series In Sight Micro series 2 4 Mitsubishi robot tool add on for EasyBuilder EasyBuilder is one of the mode of expressions in In Sight Explorer and it is showing of the spread sheet by the GUI form In the Ez model it is possible to use only EasyBuiler The Mitsubishi robot tool is a tool only for a Mitsubishi robot that is able to add on the calibration function to EasyBuilder An add on function is displayed on EasyBuilder as shown in next figure HE Image Filter Tools A Calibration Tools 24 N Point EB Mitsubishi Robot Tool Mitsubishi N Point Calibration J 2 4 Robot controller 3 List of add on functions 3 List of add on functions The add on function is as follows Function Explanation The calibration data is made by using some points from 2 to Mitsubishi N Point Calibration 16 that become a pair on on the screen and the robot coordinates 3 1 Mitsubishi N Point Calibration Mitsubishi N Point Calibration make the calibration data by using some points from 2 to 16 that become a pair on on the screen and the robot coordinates By using this tool it is possible to get directly the current position X Y by way of Ethernet When Mit
60. sor number gt is specified in another task the attempt was made to open an already open communication file error occurs If the user name or password specified in the NVUSER parameter user name and NVPSWD password is wrong the wrong password error occurs If the communications line is cut while this command is being executed the abnormal communications error occurs and the robot controller side line is closed 10 If a program is used for which the starting condition is Always the this command can not be used if the start condition is ERR or ALW error occurs Vision Sensor Dedicated Commands and Status Variables 7 29 7 Detailed Explanation of Functions 2 NVClose network vision sensor line close Function Cuts the line with the specified vision sensor Format NVCloseq lt Vision sensor number gt lt Vision sensor number gt Term lt Vision sensor number gt Can be omitted Specifies a constant from 1 to 8 the vision sensor number Indicates the number for the vision sensor connection to the COM specified with the lt COM number gt When this parameter is omitted all the lines vision sensor lines opened with an NVOpen command are closed Also up to 8 lt vision sensor numbers gt can be specified They are delimited with commas Setting range 1 8 Sample sentence 1 If M_NVOpen 1 lt gt 1 Then When logon has not been completed for vision s
61. subishi N point calibration is installed it is registered partially of the tool in EasyBuilder as shown in the figure below EE Image Filter Tools X Calibration Tools x 21 Sequential N Point Ea Mitsubishi Robot Tool Zi Mitsubishi N Point Calibration Mitsubishi N Point Calibration 3 5 3 List of add on functions 3 1 1 Explanation of screen This chapter explains the operation methods of Mitsubishi N point calibration screen MGE SEE Point Point 439 492 Point 282 720 Point2 269 438 Full Name DefaultCalb Point3 436 589 567 809 Point4 Point5 Point6 Point 1 Point8 Point9 Current position et Point10 l ssi a Point11 IP Address 19216801 Pome Point14 Point15 File Name Default E 1 Selects the target points Selects two or more feature at the user definition point and the recognition position etc when Mitsubishi N point calibration is added The camera coordinates pixel line row and the robot coordinates world X Y corresponding to the point that the feature indicates are set to this list In the initial state the current location of the feature is set to the camera coordinates and O is set to the robot coordinates In the calibration work the robot coordinates corresponding to the camera coordinates are set step by step 2 The Robot coordinates set to a target point The robot coordinates world coordinates X Y corresponding to the point that has been se
62. t Can not be omitted Specifies the name of the vision program to start The vision program extension job can be omitted The only characters that can be used are 0 9 A Z a z and _ Sample sentence 100 If M_NvOpen 1 lt gt 1 Then If vision sensor number 1 log on is not complete 110 NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 120 End If 130 Wait M_NvOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed 140 NVLoad 1 TEST Loads the Test program 150 NVRun 1 TEST Starts the Test program 160 EBRead 1 MNUM PVS1 PVS2 The data of Job Robot FormatString tag is read and they are preserved in the variable MNUM PVS1 and PVS2 170 300 NVClose 1 Cuts the line with the vision sensor connected to COM2 Explanation 1 Loads the specified vision program into the specified vision sensor 2 The timing of completing this command processing is different depending on the value of parameter NVTRGTMG When the parameter NVTRGTMG is a factory shipment setting the next command is executed after completing the communication of image processing instruction taking picture demand between the vision sensor and robot controller 3 Ifthe program is cancelled while this command is being executed it stops immediately 4 If the specified lt vision program name gt is already loaded only image capture and image processing are ex
63. t Vision sensor number gt Used It is not possible to open more than one line in a configuration with one robot controller and one vision sensor If the same IP address is set as when the NETHSTIP parameter was set an Ethernet parameter NETHSTIP setting error occurs 4 Logging on to the vision sensor requires the User name and Password Itis necessary to set a user name for which full access is set in the vision sensor and the password in the robot controller NVUSER and NVPSWD parameters The user name and password can each be any combination of up to 15 numbers 0 9 and letters A Z T B only supports uppercase letters so when using a new user set the password set in the vision sensor with uppercase letters The user name with full access rights when the network vision sensor is purchased is admin The password is Therefore the default values for the NVUSER and NVPSWD parameters are NVUSER admin and NVPSWD When the admin password is changed with MELFA Vision or a new user is registered change the NVUSER and NVPSWD parameters When such a change is made when the content of the NVPSWD parameter is displayed is displayed If the vision sensor side password is changed open the NVPSWD parameter and directly change the displayed value After the making the change reset the robot controller power Caution When multiple vision sensors are connected to one robot controller set the
64. thernet The parameter setting is Check the NETHSTIP parameter setting incorrect NETPORT NETMODE and other such parameters Error list 8 41 8 Troubleshooting Table 8 3 List of Errors Only for Vision Sensors Error contents Cause Solution Vision sensor not There is no vision sensor Check the specified vision connected connected to the specified COM program number COMDEV number parameter etc settings L 8601 Logon not possible The communication line was Reset the program and start it opened but there is no response again from the vision sensor L 8602 Wrong password The password for the user set with Set the correct password the NVUSER password is not set in the NVPSWD parameter abnormality parameter is abnormal PEN aaa 8610 Abnormal Communication with the vision Check the communication cable communications sensor was cut off before or during between the robot and vision command execution sensor 8620 Abnormal vision The specified vision sensor number Check that the specified vision sensor number is not defined with an NVOpen sensor number is correct Also specification command check that that number is defined with an NVOpen command 8621 Abnormal vision The specified vision program name Specify a vision program name program name is more than 15 characters with no more than 15 characters 8622 Vision program not The specified program does not Check whether the spe
65. ugh L84 and stores this in P_NvS1 8 mma 100 NVClose 1 Cuts the line with the vision sensor connected to COM2 Explanation 1 2 3 4 5 Outputs the image capture reguest to the specified vision sensor and acguires the encoder value after the specified time The acguired encoder value is stored in the specified numeric variable This command moves to the next step at the point in time when the encoder value is acguired the specified time after the image capture reguest to the vision sensor If the program is cancelled while this command is being executed it stops immediately For receiving data from the vision sensor use the NVIn command When this command is used with multi tasking it is necessary to execute the NVOpen command in the task using this command Also use the lt vision sensor number gt specified with the NVOpen command A program start condition of Always and the continue function are not supported Up to three robots can control the same vision sensor at the same time but this command can not be used by more than one robot at the same time Use this command on any one of the robots If an interrupt condition is established while this command is being executed the interrupt processing is executed immediately 7 34 Vision Sensor Dedicated Commands and Status Variables Errors 7 Detailed Explanation of Functions If data type for an argument is incorrect a syntax error in input command statem
66. uilder MITSUBISHI Rol InstallShield Wizard Completed The wizard was interrupted before EasyBuilder MITSUBISHI Robot tool could be completely installed Your system has not been modified To install this program at a later time please run the installation again Click Finish to exit the wizard 3 Please start In Sight Explorer and confirm the result of the installation When succeeding in the installation Mitsubishi Robot Tool and Mitsubishi N point calibration are added to Add tool tree in EasyBuilder H 4d Identification Tools saa St Geometry Tools fe Math amp Logic Tools Es Image Filter Tools B A Calibration Tools N Point ke Sequential N Point iJ Mitsubishi Robot Tool DES Mitsubishi N Point Calibration 4 8 How to install 4 Installation 4 3 Common settings The connection of the robot controller and the vision sensor is necessary to use the Mitsubishi robot tool Please set up the information necessary for the connection according to the following procedures after installing it 4 3 1 Communications Settings of the robot controller It is necessary to set up the communication method of Ethernet for communicating between the robot and the vision sensor Set up the following parameter by using RT ToolBox2 1 Set up the communication method for the calibration In the Mitsubishi robot tool port 10009 is used to communicate with the robot controller When port
67. unction do not connect a handy GOT The handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not so use could result in property damage or personal injuries When using an iQ Platform compatible product with CRnQ do not connect the handy GOT The handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not so use could result in property damage or personal injuries When the SSCNETIII cable is removed install the cap in the connector If the cap is not installed there is a possibility of malfunctioning by adhesion of the dust etc Don t remove the SSCNETIII cable when the power supply of the robot controller is turned on Don t face squarely the light emitted from the tip of the SSCNETIII connector or the cable If light strikes the eyes there is a possibility of feeling the sense of incongruity for the eyes The light source of SSCNETIII is equivalent to the class 1 specified to JISC6802 and IEC60825 1 Take care not to wire the units incorrectly Connections which do not satisfy the specifications could result in malfunction such as emergency stop not being released When completed with the wiring confirm that each function properly operates without malfunction including emergency stop with the robot controller operation panel emergency stop with the teaching box user s emergency stop and each door switch etc Precautions for the
68. w i Application Steps Ol Name Result a Get Connected zal Set Up Image 2 SetUpTools y Inspect Part asso recognition results E JP Location Tools A Pele Pata Tool Name Pattern 1 Y Angle E l 4 E 230571 125646 Ope i J PatMax Patterns 1 1 Tool Fixture te 230028 284129 0305 1000 4 Patterns 1 10 Tool Enabled On 230343 441031 0601 823 p Edee Edge Intersection M Blob ies MP Blobs 1 10 Execution Time ms a 2 Include In Job Pass v Description 6 26 Executing the automatic operation test 7 Detailed Explanation of Functions 7 Detailed Explanation of Functions This chapter explains the functions of this product in detail 7 1 Vision Sensor Dedicated Commands and Status Variables The robot controller has status variables and dedicated commands for controlling vision sensors This section explains these dedicated commands and status variables 7 1 1 How to Read Items Function Shows the command word function Format Shows the command word argument input method lt gt indicates an argument indicates that it can be omitted indicates that a space is required Term Shows the argument meaning range etc Sample sentence Shows a sample sentence Explanation Shows the functions in detail and caution item Error Shows an error generated when the command word is executed 7 1 2 MELFA BASIC
69. with vision sensor number 1 and waits for logon to be completed 140 NVLoad 1 TEST Loads the Test 150 NVPst 1 E76 J81 L84 0 10 Receives the recognition count recognized with the Test program from the E76 cell and the recognition results from cells J81 through L84 and stores them in P_NvS1 160 sone 300 NVClose 1 Cuts the line with the vision sensor connected to COM2 Explanation 1 Loads the specified vision program into the specified vision sensor 2 This command moves to the next step at the point in time when the vision program is loaded into the vision sensor 3 Ifthe program is cancelled while this command is being executed it stops immediately 4 Ifthe specified lt vision program name gt is already loaded the command ends with no processing 5 When this command is used with multi tasking it is necessary to execute the NVOpen command in the task using this command Also use the lt vision sensor number gt specified with the NVOpen command 6 A program start condition of Always and the continue function are not supported 7 If an interrupt condition is established while this command is being executed the interrupt processing is executed immediately Errors 1 If data type for an argument is incorrect a syntax error in input command statement error is generated 2 If there is an abnormal number of command arguments too many or too few an incorrect argument count

Mitsubishi Robot Tool for EasyBuilder Instruction Manual

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