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RCX240 - Third Party Vision Integration

1. PALLET2 WORK NOT FOUND ses Displays the message a ENDIF O MOVE TE PITZ O nae Moves to the standby position using the arch motion WATE ARM T Walts for completion of the robot operation Q C COUNT COUNT e Counts the search execution cycles Q TER COUNTS E e TEEN Search is repeated 5 times Q PRINT PROGRAM END sees Displays the message D ONLINE CMU sees Clears the buffer of the RS 232C port and changes the mode to the online ONLINE ETH see Clears the buffer of the Ethernet port and changes the mode to the online GIP Exits the program NID a a If the number of search cycles is less than 5 coro MATI Juup CO ape E N Tanar eee a o e earo PICKPEACK ee Label definition pick amp place HOV Ihe 0 THO WIG IUOINIE ul Shots Repeats for the number of detected workpieces PrO VGETPOS I sodas Copies the workpiece detection position to P10 LOCZ PTO EEO O Sets the Z axis position of P10 to 50 00mm MOVE P P10 Z 0 0 lt r Moves to P10 using the arch motion DOW Holds the workpiece DELAY 100 Waits for 100ms MONI 12 BOO 0 O oct Moves to the workpiece supply position P20 using the arch motion DON 20 0 eeeoees Mallos rnc uworlwodecer DECAY oN Waits for 100ms NEXT RETURN Returns to the main routine after all workpieces have been moved gt 32 6 Troubleshooting 6 1 Error messages This section describes the error messages related to the external vision system Errors wi
2. ROBOT VISION SYSTEM RCX240 connection manna External Vision EUT 146101 Ver 1 01 CONTENTS RCX240 Connection Manual External Vision About this manual About system configuration Safety precautions Warranty Constructing a system 1 Connections 2 Setting the image sensor 2 1 Communication settings 2 2 Coordinate settings 2 3 Output settings 3 Setting the parameters 3 1 Communication settings 3 2 External vision parameter settings 3 2 1 External vision parameter list 3 2 2 External vision parameter details 3 2 3 Editing an external vision parameter 3 2 4 Copying an external vision parameter 3 2 5 Erasing an external vision parameter 4 External vision calibration 4 1 Executing the interactive external vision calibration 4 2 Editing external vision calibration data 4 3 Copying external vision calibration data 4 4 Erasing external vision calibration data 5 Robot languages 5 1 Robot language list 5 2 Robot language details 5 2 1 Language dedicated to external vision EXSEARCH 5 2 2 Language common to iVY system VGETCNT VGETPIX VGETPOS VGETPOSX VGETPOSY 5 3 Sample program Pick amp place using search 14 14 20 23 24 25 20 26 26 26 26 26 27 28 29 30 CONTENTS RCX240 Connection Manual External Vision 6 Troubleshooting 6 1 Error messages 6 2 Actions to be taken if the communication fails 7 Appendixes 7 1 Examples of controller and image senso
3. step 12 Move the target robot to the fiducial mark 0 position and press ea Move the tip of the target robot to the fiducial mark O position and press Ea l To move the tip of the target robot use the JOG key or press the emergency stop button on the programming box and manually move it in the emergency stop state When pressing BIS the robot tip position XY coordinates is then set to MrkoO mi gt lt D Q lt at O 5 O Q 9 Q 5 WARNING AX e WHEN MOVING THE ROBOT WITH THE JOG KEY THE ROBOT OPERATES SO DO NOT ENTER THE ROBOT MOVEMENT RANGE TO PREVENT ANY HAZARD WHEN MOVING THE ROBOT MANUALLY BE SURE TO PUT THE OPERATION IN THE EMERGENCY STOP STATE BY PRESSING THE EMERGENCY STOP BUTTON ON THE PROGRAMMING BOX THE SERVO DOES NOT TURN ON FROM A VIEW POINT OF HARDWARE IN THE EMERGENCY STOP STATE NZ NOTE e When teaching the robot tip position coordinates in fiducial mark O MrkQ in pulses they are converted into those in mm during setting e To change the manual movement soeed when moving the robot with the JOG key use F 4 VEL VEL VEL or VEL e For the robot with the rotation axis such as the SCARA robot the rotation center when turning the rotation axis becomes the robot tip When performing the calibration with the tool attached set the hand so that the tool tip becomes the rotation center gt 18 Moving to fiducial mark 0 UEWDLNS gt V I
4. DeviceNetTrigger 0 war M OF NOTE Change values other than Mode 7 when necessary gt 46 7 M NOTE W When the operation shown above is performed the following message may appear In this case be sure to press No If you press Yes by mistake to restore the settings perform steps 1 to 3 again Serial Mode Conflict Restore Setting The Serial communication mode is set to Native we This conflicts with the Easy Builder Communication protocol setting Text Would you like to restore the Serial mode to Text Yes No step Put the image sensor in the online mode step Send the character string SE8 to the image sensor through the RS 232C communication Check that images are captured and the image capture results are output as follows The number of workpiece detections is 6 lt lt SE8 gt gt gt gt 6 187 099 245 205 1 294 180 115 411 737 0 775 335 788 417 402 0 813 342 071 250 988 1 037 491 151 422 774 0 803 496 692 257 108 0 733 E External vision parameter settings Set the external vision parameters for the robot controller The image capturing command of COGNEX EZ series is SE8 The response character string when the image sensor accepts the image capturing command successfully is 1 External vision settings 7 SSAA gt OPTION gt EX CAM V10 72 EX Vision Camera PRM EXCAM1 Trigger Command SE8 Response Command 1 EX Cam FOV
5. is put on each drawer that stores data The same type data is stored into each drawer In this manual the drawer name is called array element number but it may also be called subscript Description AJ O a Q C Q Q D wm lt Array element number gt This array element number is a number that specifies the array element of the search result array Specify an array element number the point data of which you want to acquire from the search result array The number you can specify is any one of 0 to VGETCNT 1 The array element number can also be specified using the variable The search result array is counted from number 0 The array list depends on the image sensor output settings Statement examples P10 VGETPOS 0 Substitutes the point data of the 1st search result array element number 0 into P10 P10 VGETPOS 0 Substitutes the point data stored here into P10 Search result array The array list depends on the image sensor output settings 63012 T7 00 C VGETCNT 1 FOR A 0 TO C MOVE P VGETPOS A Moves to the point data positions of all search results in order NEXT A gt 28 VGETPOSX VGETPOSY VGETPOSX VGETPOSX lt Array element number gt VGETPOSY VGETPOSY lt Array element number gt Acquires the X or Y coordinate position of the workpiece of the specified array element number from the search result array after searching Function This function acquires th
6. 2 One workpiece is detected lt lt 2 gt gt 12 gt gt 0001 00308 401 01150 829 00010 002 E External vision parameter settings Set the external vision parameters for the robot controller The image capturing command trigger command of KEYENCE CV X series is Tn n shows the camera number Additionally the response character string response command when the image sensor accepts the image capturing command successfully is Tn n shows the camera number that is the same as the image capturing command External vision 1 settings SAM OPTION gt EX CAM EX Vision Camera PRM EXCAM1 Trigger Command T1 Response Command T1 EX Cam FOV X pix 1600 EX Cam FOV Y pix 1200 TimeOut 100ms 30 Connection Port CMU 64037 T7 00 gt 38 External vision 2 settings SAI OPTION gt EX CAM V10 72 EX Vision Camera PRM EXCAM2 Trigger Command T2 Response Command T2 EX Cam FOV X pix 1600 EX Cam FOV Y pix 1200 TimeOut 100ms 30 Connection Port CMU Ss ho o 64038 T7 00 7 1 2 OMRON FZ4 series The following describes an example of connections with OMRON image sensor FZ4 series E Image sensors Model Description FZ 4 xxx Image sensor Ver 4 21 FZ SC 300 thousand pixel color camera Communication settings Match the communication settings of the image sensor to the RS 232C communication settings of the robot controller 7 Communication settings of image s
7. 5 UAS gt V I SION gt EX WIZ 20 MG SOHOX When using the upward fixed camera press F 4 UPWRD To return the operation to the previous step press lt lt PREV The operation returns CALIBO MCALIB1 eA MCALIB3 Sa to Step 7 aoro P Step 8 Selecting a camera orientation AN CAUTION MEWE gt V I SI ON gt EX WIZ 20 MG SOHOX When installing the camera on the robot do not install it on the rotating part such as the R axis shaft or on the X axis Select camera orientation F1 Mounted on 2nd arm F3 Fixed downward F4 Fixed upward i A M a DOE UD a 15 lt Examples of camera installations When the camera is installed on the Y axis or Z axis of the When the camera is secured to the non movable part and it is robot select 2ND ARM faced downward select F 3 DOWNWRD T Camera When the camera is secured to the non movable part and it is faced upward select F 4 UPWRD Camera Camera mi gt lt D Q lt at O 5 O Q 5 Q 5 63005 T7 00 step9 Check the setting contents gt Step9 Checking the setting contents The setting contents until Step 8 will appear When the setting contents have no problem UENS gt V I SION gt EX WIZ 20 MG SOHOX and you start the calibration subsequently Taa a aa aa re Confirm the setting press START MAIN EXCAM1 CAL B0 DOWN
8. Code amp H1456 Meaning Cause The EXSEARCH command terminates due to timeout Change the timeout settings Corrective action Check the external vision state EX_Vis calib data destroyed Code amp H1457 Meaning Cause An error occurs in the external vision calibration data Corrective action Contact your distributor with details of the problem 6 2 Actions to be taken if the communication fails If an error occurs during execution of the EXSEARCH command check the communication settings or output settings while referring to the flow shown below EXSEARCH command execution Error message EX_Vis search timeout EX Vis response command miss match EX Vis work count error EX Vis work count miss match EX Vis format error Conditions Image capturing of the external vision is not performed Image capturing of the external vision is performed Image capturing of the external vision is not performed Image capturing of the external vision is performed Cause Connections with the external vision are not established Timeout setting is too short Output settings are incorrect Image capturing of the external vision is not performed Response from the external vision is not correct Number of workpiece detections from the external vision is beyond its range Position data X Y 8 for the number of workpiece detections is not acquired from the external vision Ou
9. EDT 20 MG SOHOX oF EX Vision Camera If you do not erase the data press F 5 CSEL SET CALIB1 a CAL1B2 64032 T7 00 CAL 1B3 A D E U U eee gt Step3 Confirming the erase execution UENDA gt V I SION gt EX EDT 20 MG SOHOX EX Vision Camera SET CALIB1 CALIB2 CALIB3 ho o Erase OK M 5 Robot languages This section describes the robot languages dedicated to the external vision system and common to the iVY system For details about the robot language basic rules such as command statement syntax variable and constant and robot languages not described in this manual see the YAMAHA RCX Series Programming Manual Additionally when creating a program be sure to also thoroughly read the YAMAHA RCX Series Programming Manual 5 1 Robot language list Language dedicated to external vision system Function Language Syntax Performs the image capturing of the image sensor to search for workpiece EXSEARCH Command EXSEARCH lt External vision number gt lt Calibration number gt Language common to IVY system Function Language Syntax Acquires the number of detected workpieces after searching VGETCNT Function VGETCNT Acquires the pixel data of the specified array element number from the search result array in the VGETPIX Functor point data format after searching VGETPIX lt Array element number gt Acquires the point data of the s
10. NOTE Explains the key point in the operation in a simple and clear manner The instructions stated even in CAUTION may lead to serious results depending on the conditions In any case the instructions include important contents So be sure to strictly observe the instructions Please store this manual in a place where all concerned personnel can refer to it immediately and deliver it to the final user E Design precautions AN CAUTION When the program execution stops halfway the program executes the command that has been stopped again For example carefully check the re execution of the program when using the arch motion of the MOVE command relative movement commands such as MOVEI command or DRIVEI command or the communication command of the SEND command 3 q SUOLLINDDSId 4 JOS AJUDUDM Warranty For information on the warranty period and terms please contact our distributor where you purchased the product E This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual Usage that exceeded the specifications or standard performance shown in the YAMAHA manual Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual Damage due to improp
11. calibration data is then copied If you do not copy the data press NO EX Vision Camera 64029 T7 00 SET CAL1B1 CALIB2 CALIB3 i Copy to 0 3 gt _ UAS gt V I SION gt EX EDT 20 MG SOHOX rr gt lt D Q lt a O 5 O Q e Q 5 gt Step4 Confirming the copy execution UENDA gt V I SION gt EX EDT 20 MG SOHOX EX Vision Camera SET CALIB1 CALIB2 CALIB3 o o 0 gt 1 Copy OK NO 23 lt rr x D Q lt at O 5 O Q e Q 5 gt 24 4 4 Erasing external vision calibration data This section describes how to erase external vision calibration data step 9 Select MANUAL gt VISION gt EX gt Step 1 Copying external vision calibration data EDT a MNV 1S 1 ON 20 MG SOHOX step Select calibration data you want to Select function erase F1 Camera Calibration Wizard Use the cursor keys ES BA to select F2 Edit Camera Calibration calibration data you want to erase F3 EX Camera Calibration Wizard In the items for which the calibration data A F4 Edit EX Camera Calibration 4 has already been set SET is displayed GIF Qa SP Se 64031 T7 00 If the iVY board is not installed in the robot controller CAMWIZ F1 Stepa Press F7 ERASE and CAMEDT F2 are not displayed The confirmation message will appear on the gt Step 2 Selecting calibration data you want to erase guide line If you want to erase the data press MNV SION gt EX
12. it may also be called subscript Description lt Array element number gt This array element number is a number that specifies the array element of the search result array Specify an array element number the pixel data of which you want to acquire from the search result array The number you can specify is any one of 0 to VGETCNT 1 The array element number can also be specified using the variable The search result array is counted from number 0 The order of the array elements is a sequence that they are sorted by AJ O 2 Q C Q Q D d the robot coordinates by means of the sorting method specified by VSETSORT When the calibration number is not specified this order becomes a sequence that the array elements are sorted by the pixel coordinates Statement examples P10 VGETPIX 0 Substitutes the pixel data of the 1st search result array element number 0 into P10 P10 VGETPIX 0 Substitutes the point data stored here into P10 Search result array The array list depends on the image sensor output settings 63010 T7 00 AE NOTE It is not allowed to write like MOVE P VGETPIX O 2 lt VGETPOS VGETPOS VGETPOS lt Array element number gt Acquires the point data of the specified array element number from the search result array after searching Function This function acquires the point data from the search result array after searching The point data is acquired from
13. the image sensors shown below e KEYENCE CV X100 series e OMRON FZ4 series FQ M series e COGNEX EZ series InSight series KEYENCE CV X100 series OMRON FZ4 series COGNEX EZ series and InSight series are connected through the RS 232C OMRON FQ M series are connected through the Ethernet For details about how to operate each image sensor see relevant manual Note that the contents of this manual are those when the references were prepared and may slightly differ from the actual displays and contents 7 1 1 KEYENCE CV X100 series The following describes an example of connections with KEYENCE image sensor CV X100 series E Image sensors Model Description CV X150F Multi camera image sensor Ver 2 1 CV 200M 2 units 2 million pixel black and white camera Communication settings Match the communication settings of the image sensor to the RS 232C communication settings of the robot controller Communication settings of image sensor RS 232C Non Procedural RS 232C Non Procedural Settings Configurations of RS 232C non procedural communication with external devices can be changed here Baud Rate 9600 v Stop Bit 1 2 Parity Bit None Odd Even Flow Control None CTS RTS Delimiter CR CR LF Other Set Data Length 68 bit C Set Trigger command Response to CV compatible Mode 64033 T7 00 36 E Camera settings When multiple cameras are insta
14. 01 Jun 2014 First edition Robot vision system RCX240 Connection Manual Jun 2014 Ver 1 01 This manual is based on Ver 1 01 of Japanese manual YAMAHA MOTOR CO LTD IM Operations All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 6811 Robot manuals can be downloaded from our company website Please use the following for more detailed information hitp global yamaha motor com business robot amp VA Mi A P A For inquiries about the image sensor please contact relevant manufacturer YAMAHA MOTOR CO LTD
15. 39 469 108 59 187 64 49 841 369 07 59 61 41 111 283 781 68 013 40 729 gt 48 Communication settings Match the RS 232C communication settings of the image sensor to the communication settings of the controller Communication settings of image sensor ISM1400 FAN09339 Serial Port 1 Settings Baud Rate 57600 X Mode Native lt Data Bit 8 Details Fixed Input Leneth l Stop Bits 1 Se Input Terminator 131 CR Parity Odd Output Terminator 134 CR Handshake Hardware LO Module Module ClO Micro GG attached 1 0 Module Address cioMicro_114e24 Cancel 64055 T7 00 E External vision parameter settings Set the external vision parameters for the robot controller The image capturing command of COGNEX EZ series is SE8 The response character string when the image sensor accepts the image capturing command successfully is 1 External vision settings SASA OPTION gt EX CAM V10 72 EX Vision Camera PRM EXCAM1 Trigger Command SE8 Response Command 1 EX Cam FOV X pix 800 EX Cam FOV Y pix 600 TimeOut 100ms 30 Connection Port CMU o o ho o 64056 T7 00 49 lt 7 s xipu ddy 7 2 List of specifications KEYENCE CV 5000 series CV X100 series XG series OMRON FZ4 series FQ M series Applicable model examples COGNEX In Sight EZ series In Sight series Other general purpose image sensor PC etc N
16. CLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a license in any form Please acknowledge that we bear no liability whatsoever for any problems involving industrial property rights which may arise from the contents of this manual Ver 1 01_201209 Constructing a system The following describes how to construct a system Constructing a system Robot controller settings 63002 T7 00 5 lt w s s P uHNISUON 1 Connections Connect the robot controller image sensor and personal computer For details about how to install the robot controller and image sensor see relevant manuals MEMO gt D L Connect the controller and personal computer through the Ethernet or RS 232C When connecting through the RS 232C the communication cable connection destination needs to be changed between the program editing and robot operation When connecting through the Ethernet it is necessary to install the Ethernet network board in the controller Connection diagram Mouse LD Monitor External vision Programming box Personal computer RCX240 63003 T7 00 2 Setting the image sensor 2 1 Communication settings Match the communication settings o
17. SI ON gt EX WIZ 20 MG SOHOX Kr ye _ z2 _ _ r Move to Mark 0 and press ENTER key Mrk0 Mrk1 POS 0 00 00 0 00 0 00 Se ae EE HES 64018 T7 00 step 13 Move the target robot to the fiducial mark 1 position and press a In the same manner as described in Step 12 move the tip of the target robot to the fiducial mark i ENTER position and press Reg Moving to fiducial mark 1 UEWDLNS gt V I SI ON gt EX WIZ 20 MG SOHOX KX y zrl Move to Mark 1 and press ENTER key MrkO 200 00 100 00 Mrk1 ho POS 200 00 100 00 30 00 0 00 ee 64019 T7 00 step 14 Make sure that two fiducial mark positions have no problem and press F1_ OK Check that the robot coordinate data of fiducial marks 0 and 1 you have set in Step 12 and Step 13 is correct When no problem is found press OK When teaching the robot coordinate data of the fiducial marks again press REDO The mi gt lt D Q lt a O 5 O Q 9 Q 5 operation returns to Step 12 Checking the fiducial mark positions MNV SIiON gt EX WIZ 20 MG SOHOX XI _yv 2 _ _ r Confirm positions of 2 marks MrkO 200 00 100 00 Mrk1 250 00 150 00 POS 250 00 150 00 30 00 0 00 OO EE Ce ee ee 64020 T7 00 19 lt mi gt lt D Q S a O 5 O Q e Q 5 step 1 Press F1 YES to register the camera calibration settings T
18. WRD LOR Ne Seana GJON press F 2 F1 Confirmed Start calibration RESET You need to make the settings F2 Reset the setting again from Step 5 To return the operation to the previous step SE H a Kit press lt lt PREV The operation returns to Step 8 64017 T7 00 N Arranging the calibration marks within step 10 Arrange two calibration marks gt Step 10 the field of view of the camera within the field of view of the camera NERV ISTON gt EX WIZ 20 MG SOHOX Check with the monitor of the image sensor ooo that the calibration marks exist within the Place 2 marks within FOV and press field of view and then press the ENTER key ENTER key on the programming box ly Ss Ss EO NOTE T yY After pressing the ENTER key do not move the POS 0 00 0 00 0 00 0 00 robot until the operation stated in Step 11 is u m E completed Otherwise the calibration data may not be obtained correctly 64014 T7 00 gt 16 step 1 1 Set the camera coordinates of the fiducial marks Capture the images of fiducial marks 0 and 1 and enter the measurement values of the fiducial marks obtained from the image sensor At this time enter the values using 0 to 9 and After entering the values press the ENTER key fo set them After you have entered all values press SET Setting the camera coordinates of fiducial mark 0 1 Set026 YAMAHA amp KEYENCE wv EXD ea v Global v ee eee Interval 99 9 ms L
19. X pix 800 EX Cam FOV Y pix 600 TimeOut 100ms 30 Connection Port CMU o o 64053 T7 00 s xipu ddy 4 lt 7 1 5 COGNEX In Sight Micro series The following describes an example of connections with COGNEX image sensor In Sight Micro series E Image sensors ee ae In Sight 1400 Camera integrated image sensor CIO MICRO CC Expansion I O module E Sample job loading A sample job is available when using In Sight 1400 Connect the image sensor and communication software to load this sample job The sample job can detect up to ten workpieces through one image capturing For details about how to obtain the sample job contact your distributor E Tool settings Change the tool settings of the sample job corresponding to the workpiece From Edit Region of the sample job register the workpiece to be searched for Tool settings Gy Eile Edit view past Format inate Gemo System Widow Heb i RIESE SS BA ghi bwD og oa Aa AS arniple 7 High wide Angle Curr 0 000 450 magona O00 64054 T7 00 E Output settings The output settings are already made in the sample job Change the settings when necessary s Xxipu ddy Output example The number of detected workpieces is 10 lt lt SE8 gt gt 1 gt gt 10 356 03 76 38 49 154 289 03 153 88 40 809 57 93 429 67 40 060 132 85 339 65 40 179 40 42 362 34 50 231 204 36 162 51 40 529 31 07 96 46
20. a D Sot Camora Add Tools Profile Pattern Position Adj a Position curent moge w wT TH te QA Tm oon z T100 Profile Pattern Position X EJ Profile Pattern Position Y Measured 1 JH oga Execute Output Utility Lower Counts Judged Label Measured Lower Upper Pos X 474 878 jy ee Pos Y 596 150 f A p ooo mee Angle awenig wate Match f EEEE Scale WERE gt VISTON gt EX W 20 MG SOHOX Input Two Marks po pi x And Press F1 SET MarkO X pix 474 88 Y pix 596 15 Mark1 X pix 0 00 Y pix 00 EE ee eee 64015 T7 00 mi al D Q lt a O 5 O Q 9 Q 5 17 lt Setting the camera coordinates of fiducial mark 1 ESOP AIN TAAA SAN E Save ea v Global 7 Prog Time 134 3 me Interval 99 9 ms Sot Camera Add Tools Profile Pattern Position Adj a Position m A 0m QAE o z T100 Profile Pattern Position X EJ Profile Pattern Position Y o nnn A Measured 1 a 2 Execute Output Utility Lower Counts Judged Label Pos X Pos Y Measured Lower Upper E Angle i toda an Match l T Scale UANL AIS gt V I SION gt EX W 20 MG SOHOX Input Two Marks po p i x And Press F1 SET MarkO X pix 46 13 Y pix 53 69 Mark1 X pix 1123 43 Y pix 584 26 E a a 64016 T7 00
21. a mn ard belongs F4 Edit EX Camera Calibration Press F1 MAIN or F 2 SUB to select a GA GN SA Sa robot to which the camera to be calibrated If the iVY board is not installed in the robot controller CAMWIZ F1 belongs and CAMEDT F2 are not displayed 64011 T7 00 gt Step5 Selecting a robot Step Select an external vision UENS gt V ISITON gt EX WIZ 20 MG SOHOX Use F 1 to F 4 to select an external vision you want to calibrate Select robot to which camera belongs F1 Main robot F2 Sub robot To return the operation to the previous step press lt lt PREV N A MAIN D a M M 64012 T7 00 step Select a calibration number ee CALIBO to CALIB3 to select P Step6 Selecting an external vision a number into which the calibration settings are registered REV ISTON gt EX WIZ 20 MG SOHOX To return the operation to the previous step Select EX Camera to Calibrate press lt lt PREV The operation returns F1 4 EX Vision Camrera No 1 4 to Step 6 64047 T7 00 step Select a camera orientation EXCAM1 MEXCAM2 MEXCAM3 HEXCAM4 BK lt PREV When the camera is installed on the SCARA robot or the Y axis or Z axis of the Cartesian P Step7 Selecting a calibration number axes press 2ND ARM When using the downward fixed camera press F 3 DOWNWRD Select calibration number F1 4 Calibration No 0 3 rr gt lt D Q lt a O 5 O Q e Q
22. al vision parameters for the robot controller The image capturing command trigger command of OMRON FZ4 series is MEASURE Additionally the response character string response command when the image sensor accepts the image capturing command successfully is OK External vision settings SAAS OPTION gt EX CAM V10 72 EX Vision Camera PRM Trigger Command Response Command EX Cam FOV X pix EX Cam FOV Y pix TimeOut 100ms Connection Port i EXCAM1 MEASURE OK 640 480 30 CMU ho o 64042 T7 00 41 lt 7 s xipu ddy 7 1 3 OMRON FQ M series The following describes an example of connections with OMRON image sensor FQ M series E Image sensor ae FQ MS120 Image sensor Ver 1 4 E Trigger settings Check the trigger settings of the image sensor Set TRIG in the Trigger type field Communication settings of image sensor Trigger type 64043 T7 00 E Communication settings Match the communication settings of the image sensor to the Ethernet communication settings of the robot controller Select No protocol TCP Client for the communication type on the FQ M side and then set the IP address of the robot controller for the IP address at the output destination and the port number of the robot controller for the port number at the output destination Communication settings of image sensor Ethernet communication settings 7 gt Ethernet settings v No pr
23. and angle data for the number of detected workpieces are discarded 43 lt E External vision parameter settings Set the external vision parameters for the robot controller The image capturing command trigger command of OMRON FQ M series is MEASURE The response character string response command when the image sensor accepts the image capturing command successfully is OK External vision settings SSAA OPTION gt EX CAM V10 72 EX Vision Camera PRM EXCAM1 Trigger Command MEASURE Response Command OK EX Cam FOV X pix 752 EX Cam FOV Y pix 480 TimeOut 100ms 30 Connection Port ETH ST Ss ho o 64046 T7 00 7 s Xxipu ddy gt 44 7 1 4 COGNEX In Sight EZ series The following describes an example of connections with COGNEX image sensor In Sight EZ series E Image sensor a SS In Sight EZ 700 Camera integrated image sensor E Sample job loading A sample job is available when using In Sight EZ 700 Connect the image sensor and communication software to load this sample job The sample job can detect up to six workpieces through one image capturing For details about how to obtain the sample job contact your distributor E Tool settings Change the tool settings of the sample job corresponding to the workpiece See the figure below 1 From 2 Set Up Tools in Application Steps select Locate Part 2 From Results in Pallet select Patern_1 3 Select t
24. ates lt Camera is installed on the arm of the SCARA robot gt Camera installation angle to the 2nd arm Camera coordinates X Camera angle R axis rotation center 2nd arm rotation center mi a D Q lt a O 5 O Q 9 Q 5 J Camera is installed on the arm of the Cartesian robot Camera is installed on the arm of the SCARA robot 63006 T7 00 21 lt Parameter 1 Parameter 2 The meaning of this item may vary depending on the robot setting and camera orientation lt Fixed camera gt Parameter 1 X coordinate of the robot expressing the center position of the camera field of view Unit mm Parameter 2 Y coordinate of the robot expressing the center position of the camera field of view Unit mm lt Camera is installed on the arm of the Cartesian robot gt Parameter 1 Offset amount from the robot tip to the center of the camera field of view in the X direction Unit mm Parameter 2 Offset amount from the robot tip to the center of the camera field of view in the Y direction Unit mm 63007 T7 00 lt Camera is installed on the arm of the SCARA robot gt Parameter 1 Number of offset pulses from the line connecting the root of the 2nd arm and the tip to the line connecting the root of the 2nd arm and the center of the camera field of view Specify value for the counterclockwise direction Unit Pulse Parameter 2 Difference between the length of the 2nd arm and the le
25. cified calibration data The search results are stored into the search result array common to the iVY system Additionally 0 is stored into the scale and score values of the search result array Description lt External vision setting number gt Specify a parameter number for the external vision to be used for the search process The number you can specify is any one of 1 to 4 The external vision setting number can also be specified using the variable lt Calibration number gt Specify a calibration number to be used for the search process The number you can specify is any one of 0 to 3 The calibration number can also be specified using the variable When the calibration number is not specified the calibration data is not used Statement examples EXSEARCH 1 smscaneened Uses the settings of external vision number 1 to search for workpiece using the image sensor EXSEARCH 2 3 arres Uses the settings of external vision number 2 to search for workpiece using the image sensor and makes the correction using calibration number 3 5 2 2 Language common to IVY system This section explains the robot language common to the iVY system VGETCNT VGETCNT Acquires the number of detected workpieces after searching Function This function acquires the number of detected workpieces after searching Statement examples EXSEARCH 1 2 PRINT VGETCNT Outputs the number of detected workpieces to the programming box screen as a
26. e X or Y coordinate position of the workpiece from the search result array after searching The X or Y coordinate position of the workpiece is acquired from the specified array element of the search result array The unit system of the data to be acquired is mm Cartesian coordinate system VGETPOSX Acquires the X coordinate position of the workpiece from the search result array VGETPOSY Acquires the Y coordinate position of the workpiece from the search result array l K NOTE e The search result array is an array that stores the search results after searching Search result array Information on detected workpiece is stored e X and Y coordinate positions e Workpiece angle These results can be acquired using the commands shown below e VGETPIX Pixel data e VGETPOS Robot coordinate data e VGETPOSX Robot coordinate data X axis e VGETPOSY Robot coordinate data Y axis The array list depends on the image sensor output settings e When performing the search process using EXSEARCH without calibration settings the error 20 80 EX Vis calibration not set may occur e The point data to be acquired does not include any hand system flag MEMO L The array is for example just like a cabinet A name array element number is put on each drawer that stores data The same type data is stored into each drawer In this manual the drawer name is called array element number but it may also be called subscript D
27. ensor Confirmation Mode Normal Interface RS 232C x Baud rate bps 9600 x Data length bit Parity s xipu ddy Stop bit bit Flow control Delimiter Timeout s OK Cancel 64039 T7 00 39 lt gt O O D Q gt lt D d gt 40 E Output settings Set the output items of the image sensor so that they meet the output format stated in 2 3 Output settings The following shows an example of settings to detect up to six workpieces Output settings 1 a 0 Camera Image Input wn 2 Data Output Es 3 Data Output 4 Data Output es Es Output format utput data No Comment Expression U1 C u1 x00 u1 Y00 U1 THOO U1 x01 HOAs WN Oo No 0 utput Setting Communication method Comment RS 232CiRS 422 Ethernet Expression Format setting Output form ascil Binary Result 1 0000 Digits of integer fio fy Digits ja gt Digits 8 None Digits of decimal Minus 0 suppress Available Field separator Record separator nese eee tt Output format utput data No Comment Expression OA UN Oo Communication method Comment RS 232C RS 422 Ethernet Expression Format setting Output form ASCII Binary Result 0 0000 Digits of integer fio yy Digits Digits of dec
28. er shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories O N CO UW A U N Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA E The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DIS
29. escription AJ O 2 2 Q Q C Q Q D d lt Array element number gt This array element number is a number that specifies the array element of the search result array Specify an array element number the data of which you want to acquire from the search result array The number you can specify is any one of 0 to VGETCNT 1 The array element number can also be specified using the variable The search result array is counted from number 0 The array list depends on the image sensor output settings Statement examples A VGETPOSX 0 Substitutes the X coordinate position of the workpiece of the 1st search result array element number 0 into A A VGETPOSX 0 Substitutes the X coordinate position of the workpiece stored here into variable A Search result array The array list depends on the image sensor output settings 63014 T7 00 29 lt 4 5 3 Sample program Pick amp place using search E Overview The workpiece on the pallet is searched for by the cameras and it is picked and placed at the workpiece supply destination Step 1 The workpieces on the respective pallets are alternately searched for by camera 1 and camera 2 Step 2 When the workpiece is detected the robot holds the detected workpiece and places it at the workpiece supply destination P20 Step 3 Step 2 is repeated to move all detected workpieces After all detected workpieces have been moved the operation returns to step 1 Pic
30. f the image sensor to those of the robot controller For details about how to make the settings see the manual for image sensor TIP When connecting through the Ethernet the robot controller functions as a server Therefore it is necessary that the image sensor operates as a client 2 2 Coordinate settings A Set the image sensor origin X and Y coordinates and angle direction as shown in the figure below Setting the camera coordinates and X and Y coordinates Zo gt Origin 0 0 p X E Q Q Angle D Y Q D m Q O m Camera coordinates 63004 T7 00 2 3 Output settings The image captured results of the image sensor are output e Output items Item name Description Response character string Response character string of the image sensor to the image capturing command Number of detections Number of workpieces detected during image capturing X coordinate value of the detected workpiece n in the camera coordinate system Unit pix Y coordinate value of the detected workpiece n in the camera coordinate system Unit pix Angle of the detected workpiece in the camera coordinate system Unit e Other symbols Data separator Comma Delimiter CR or CR LF lt WY D Q j F losues SHNDuI e Format Output comma separated data in any of the formats shown below Response Number of S Eo X 0 Y 0 Angle 0 X n Y n Ang
31. g Output setting The response character string to the image capturing command should be returned and comma separated values of the response character string the number of detections and X and Y coordinates and angle of the image captured workpiece can be output A delimiter can also be used for the character after the response character string Response Number of ga Bo X 0 Y 0 Angle 0 X n Y n Angle n CR Response character string Number of detections i Safety precautions Be sure to read the safety precautions shown below before use Before using this product thoroughly read this manual and related manuals and operate the product in a correct manner while carefully checking the safety The precautions stated in this manual relate to only this product To ensure the safety of the user s whole system that includes this product please take appropriate safety measures as required by the user s individual system This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions prohibited actions and instructions Make sure that you understand the meaning of each symbol and signal word and then read this manual A N CAUTION This indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or physical damage to the equipment wa
32. he Model tab and set the workpiece to be detected Tool settings T Ter Sumen Window Help En Seght Explorer adri ezm G Ee pa Vew knipe genir Mr ET EAEE aE Ent coma i eee aa i CA 2 Tim 11237 Bima oP Paat Pattern AF Pathe Patterns 11 etre re oe 3 Operation Ed Tini Finta Hore i eg Piirist Tes Gnabled r e EEST a a k E Armak E tay heka in dob Faa F Cl Rectane F Execution Tisa ma FLIET el E peery pey p 64048 T7 00 E Output settings The output settings are already made in the sample job Change the settings when necessary 7 s Xxipu ddy 45 lt Communication settings Match the RS 232C communication settings of the image sensor to the communication settings of the controller Communication settings of image sensor ng put String Baud Rate 57600 x OPG Easy View Data Bits 8 Stop Bits Parity Odd Edit Device Handshake None Remove Device LY 64049 T7 00 Since the external image capturing command using character strings is not accepted when the communication settings are set at Serial Text follow the steps below to make it possible to use native command step Check that the image sensor is in the offline mode step Connect to the image sensor gt Step 2 Connecting to the image sensor thro
33. he message Set OK will appear on the bottom line of the programming box To register the camera calibration settings press YES To cancel the registration of the camera calibration settings press NO Registering the camera calibration settings Mv ISIOND gt EX WIZ 20 MG SOHOXI ry z yp Set OK NO 64021 T7 00 4 2 Editing external vision calibration data This section describes how to edit external vision calibration data step Select MANUAL gt VISION gt EX gt Step 1 Editing calibration data EDT 6402 17 00 TEE iS 10N 20 MG SOHOX step Select a calibration number Select function Fi Camera Calibration Wizard Use the cursor keys EN BA toselect a F2 Edit Camera Calibration calibration number you want fo edif In the l i l l items for which the camera calibration has i 3 es ae aa ate already been set SET is displayed l A GFA aa GIP Sale If the iVY board is not installed in the robot controller CAMWIZ F1 Steps Press EDIT and CAMEDT F2 are not displayed Stp Select a camera orientation gt Step2 Selecting a calibration number When the camera is installed on the SCARA robot or the Y axis or Z axis of the Cartesian MPNIUFWESV 1S 1OND gt EX EDT 20 MG SOHOX axes press 2ND ARM E l l EX Vision Camera When using the downward fixed camera JEE SET press F3 3 DOWNWRD CALIB1 CALIB2 When using the upward fixed camera press e UPWRD oes D U U M eee W
34. he workpiece detection settings and output settings should be made on each camera correctly e The camera calibration of each camera should be performed correctly 31 lt AJ O 2 Q C Q Q D d E Sample program ey ILAUIEI Label definition initial process OUR Mn INGA O U Gc Clears the buffer of the RS 232C port and changes the mode to the offline OFFLINE ETH e Clears the buffer of the Ethernet port and changes the mode to the offline DELAY 100 We PETHO TOES AEN Checks the buffer state of the Ethernet port COTO TN Jumps to label INIT if data remains in the buffer ENDIF COUNT N Sets the initial value of the variable MOVETP PIT ZAO ea Moves to the standby position using the arch motion WAIT ARM e Waits for completion of the robot operation AMAIN 2 2 tt ties Label definition main routine EA SkARCH 0 ess Executes the search process of camera 1 IF VGETCNT gt 0 THEN lt lt When workpiece is detected COSUB PICKPriAGi EE Jumps to label PICKPLACE ELSE PRINT PALLET1 WORK NOT FOUND sees Displays the message if no workpiece is detected ENDIF WOM IDI el ea Moves to the standby position using the arch motion WAIT ARM tts Waits for completion of the robot operation EXSHARCH 2 000 eseee Deere Tie Sec Peces On Camera 2 DES VGE CNT gt SORTEEN En When workpiece 1s detected AJ GOSUB PICKPLACE e Jumps to label PICKPLACE O ELSE L oan Int iM Werhgolese is Ceretto 5 PRINT
35. hen the camera orientation has already been set the current setting state is disolayed at the right end of the 3rd line on p Step 4 Selecting a camera orientation the screen When selecting the camera orientation the NONE WES gt V ISIOND gt EX EDT 20 MG SOHOX detail edit screen will appear A N CAUTION When installing the camera on the robot do not Camera Calib EXCAM CALIBO 2ND_ARM D Select camera orientation o o install it on the rotating part such as the R axis shaft or on the X axis MT m PND Tah gt 20 step4 Use the cursor keys EN BA to gt Step5 Editing camera calibration data move the cursor to a position TENUWE gt V1S1ON gt EX EDT 20 MG SOHOX where you want to change the data e Camera Calib EXCAM CALIBO 2ND ARM eee Scale Ratio mm pix 0 0000 Camera Angle deg 0 0000 Parameter 1 0 00 Parameter 2 0 00 o Step Use o to 9 and E to enter a value The meaning of each item is as follows Scale Ratio mm pix Ratio of conversion from the camera coordinates to the robot coordinates specify how many millimeters per pixel The set value must be 0 0001mm pix or more Camera Angle deg The meaning of this item may vary depending on the robot setting and camera orientation lt Fixed camera gt Camera installation angle to the robot coordinates lt Camera is installed on the arm of the Cartesian robot gt Camera installation angle to the robot coordin
36. imal 4 yl Digits Minus 38 0 suppress Available None Field separator Record separator 64040 T7 00 Output settings 2 0 Camera Image Input a 1 Search g 2 Data Output g 3 Data Output g 4 Data Output i Es it SYOoOn ks Wm wn Result utput data No Comment Comment Expression 0 00 Output format Expression U1KO4 U1 04 U1 THO4 U1 x05 U1 05 U1 TH05 utput Setting Communication method RS 232C RS 422 Ethernet Format setting Output form ascii Binary Digits of integer fio E Digits Digits of decimal ja TE Digits Minus Os O suppress Available None Field separator Comma Record separator Delimiter 64041 T7 00 To detect multiple workpieces simultaneously make the settings as shown above so that each data is separated by a comma and a delimiter is put at the end of the data When the output settings are made as described above the data is output as follows E Two workpieces are detected lt lt MEASURE gt gt OK gt gt 2 0000 452 5440 212 2505 176 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 441 1120 82 3507 176 0000 0 0000 0 0000 0 0000 0 0000 Character strings after the X Y and angle data for the number of detected workpiece are discarded External vision parameter settings Set the extern
37. ing set by this parameter is sent to the image sensor Set the image capturing command of the image sensor Up to 8 characters can be set for this character string Additionally a blank character cannot be used Initial value Input range Response character string O to 8 characters Function Sets the response character string from the image sensor to the image capturing command Description When sending the image capturing command to the image sensor the response is returned from the image sensor Set the character string that is sent from the image sensor when the image sensor accepts the image capturing command successfully If a character string other than that set by this command is sent from the image sensor the search error is given Up to 8 characters can be set for this character string Additionally a blank character cannot be used Input range Initial value External vision resolution X 0 to 10000 Input range 640 Initial value External vision resolution Y 0 to 10000 Function Sets the camera resolutions in the X and Y axis directions of the image sensor to be used Description 480 Set the camera resolutions in the X and Y axis directions of the image sensor to be connected to the robot controller The settable range is 0 to 10000 pix Input range Initial value Unit Search timeout 0 to 600 Function Sets the timeout time during executi
38. k amp place using search Overview of operation Step 1 Searching for workpiece Step 2 Pick amp place z Camera 2 z Search 4 Downward fixed camera Pallet 2 Pallet 2 Conveyor Conveyor Pallet 1 Pallet 1 P20 Workpiece supply destination 63019 T7 00 E Preconditions Robot motion When the workpiece is detected the robot operates as follows AJ O a Q Q C Q Q D d Step 1 Moves to the workpiece detection position P10 using the arch motion Step 2 Holds the workpiece moves to the workpiece supply destination P20 using the arch motion and releases the workpiece When multiple workpieces are detected step 1 and step 2 are repeated until all workpieces are moved Step 3 Moves to the robot standby position P1 using the arch motion Robot motion Pallet Conveyor 63020 T7 00 Points to be used Pl eee Standby position P10 Workpiece detection position written in the program P20 ssia Workpiece supply position gt 30 input output signals to be used Output signal state Workpiece pick amp place instruction Release Contents of output signal Others e It is preconditioned that each camera is set as shown below External vision settin Communication Fixing method s Calibration number number method Camera 1 Downward Camera 2 Downward e The Z axis height of the robot at the workpiece holding position should be 50 00mm e T
39. le n CR Response character string CR Number of X 0 Y 0 Angle 0 X n Y n Angle n CR detections g 3 Separate each data by a comma TIP The response character string may vary depending on the image sensor Either a comma or delimiter can be used only for the data separator after the response character string Be sure to output the workpiece position information X Y and angle for the number of workpiece detections set each data so that it becomes a character string containing less than 20 characters E Output example The number of workpiece detections is 2 Manufacturer Model name Output example CV 5000 T1 02 00498 777 00365 239 155 096 00434 443 00267 915 027 088 KEYENCE Ti 0002 00268 465 00150 117 00009 146 00224 879 00258 308 00009 127 OK 0002 00268 465 00150 117 00009 146 00224 879 00258 308 00009 127 1 2 315 667 126 415 0 717 128 363 481 136 1 637 CV X100 OMRON FZ4 COGNEX In Sight TIP For details about output settings see 7 1 Examples of controller and image sensor connections 3 3 1 Setting the parameters Communication settings Match the communication settings of the robot controller to those of the image sensor For details about communication settings see the RCX240 User s Manual 3 2 Set the external vision parameters according to the specifications of the image sensor to be connected 3 2 1 External vision parameter
40. libration number you have specified is incorrect Change the external vision calibration number you want to specify Corrective action Eai Set the external vision calibration EX_Vis EXCamera not set Code gt amp H1451 Meaning Cause The external vision parameter setting number you have specified is incorrect Change the external vision parameter setting number you want to specify Corrective action Se Set the external vision parameters EX Vis format error Code gt amp H1452 Meaning Cause The output format of the external vision is incorrect Corrective action Check the output settings of the external vision EX Vis response command miss match Code amp H1453 Meaning Cause The command is not sent to the external vision correctly Change the response character string of the external vision parameters Corrective action Check the external vision state Check the connection settings between the robot controller and external vision EX Vis work count error Code amp H1454 Meaning Cause The number of workpiece detections is beyond the detectable range Change the detection settings of the external vision Corrective action Check the output format of the external vision EX Vis work count miss match Code amp H1455 Meaning Cause The number of workpiece detections varies from the number of receive data X Y 8 Corrective action Check the output format of the external vision EX Vis search timeout
41. lled check on Random Trigger to trigger each camera Additionally check on RS 232C in the Trigger Mode area Camera settings CAM 1 Camera Settings gt Set Advanced CAM n e Trigger Settings Capture Type Trigger Mode Normal External Internal Random Trigger External Terminal V Mouse O oin i Z RS 232C C Ethernet TCP IP PLC Link CFPC Program Capture Options EtherNet 1P PROFINET None Trigger Settings Pre Capture Details Trigger Signal Trigger 1 Ww Trigger Delay ms Advanced setting is applied to all cameras Run Screen Update Mode Global Settings C Live Image in Run Mode 64034 T7 00 E Output settings Set the output items of the image sensor so that they meet the output format stated in 2 3 Output settings The following shows an example of output settings when using two cameras Output settings Output Item Settings Cranea vau varaos smeo O o gt Ke E TTT O Pattern XY Position Result gt T201 Profile Pattern Position Pattern Angle Result O Profile Pattern Position Pattern XY Position amp Angle Result F T202 Profile Pattern Position Pattern Match Result X lt Profile Pattern Position Pattern Scale Result p Select T200 Profile Pattern Position Pattern XY Position amp Angle Result AIl Setting Count 4 256 No Output Data 0 T100 Profile Pattern Position Number of Detected Patterns Result 1 T100 P
42. nfiguration is set as follows For SCARA robot The standard coordinates of the SCARA robot need to be set so that the Y plus direction is 90 degrees counterclockwise to the X plus direction as shown in the figure below Additionally it is necessary that the R plus direction is set to the counterclockwise rotation For Cartesian robot The axis configuration of the Cartesian robot needs to be set so that the Y axis plus direction is 90 degrees counterclockwise to the X axis plus direction as shown in the figure below Additionally for the robot with the R axis it is necessary that the R axis plus direction is set to the counterclockwise rotation Y axis plus direction Y axis plus direction a X axis X axis Qa plus direction plus direction R axis plus direction R axis plus direction Connectable axis configuration Non connectable axis configuration 63001 T7 00 Connectable image sensor This system applies only to an image sensor that satisfies the specifications shown below Communication method RS 232C or Ethernet When connecting through the Ethernet it is necessary to install the Ethernet network board in the robot controller Additionally when connecting through the Ethernet the robot controller functions as a server Therefore it is necessary that the image sensor operates as a client Image capturing trigger The image sensor can be controlled by sending and receiving a command character strin
43. ngth of the line connecting the root of the 2nd arm and the center of the camera field of view Unit mm Parameter 2 mi gt lt D Q lt at O 5 O Q e Q 5 63008 T7 00 gt 22 4 3 Copying external vision calibration data This section describes how to copy external vision calibration data step f Select MANUAL gt VISION gt EX gt Step1 Copying external vision calibration data EDT EAR N MAVI Sion 20 MG SOHOX step Select calibration data you want to Store Tere Copy F1 Camera Calibration Wizard Use the cursor keys EN BA to select F2 Edit Camera Calibration calibration data you want fo copy F3 EX Camera Calibration Wizard In the items for which the calibration data F4 Edit EX Camera Calibration has already been set SET is displayed CAMWIZ MCAMEDT MEX WIZ MEX EDT Ms 64027 T7 00 If the iVY board is not installed in the robot controller CAMWIZ F1 and Stepa Press F6 COPY CAMEDT F2 are not displayed The message Copy to 0 3 gt will appear gt Step2 Selecting calibration data you want to copy on the guide line Press o to f3 to select a copy destination TEMUYES VIS IONDEX EDT 20 MG SOHOX number and press SUS EX Vision Camera The confirmation message will appear on the me SET guide line aa 64028 T7 00 CALIB3 step Press YES to start the copy T a a ee process gt Step3 Entering a copy destination The external vision
44. on of the EXSEARCH command Description 100 100 ms If the response is not returned from the image sensor within the set period of time after executing the EXSEARCH command the timeout error is given When the set value is 0 the search timeout process is not performed Set an appropriate value by considering the image capturing time of the image sensor Input range Initial value Communication port CMU ETH Function Sets the port used to communicate with the image sensor Description CMU When connecting the image sensor through the RS 232C specify CMU When connecting through the Ethernet specify ETH 3 2 3 Editing an external vision parameter This section describes how to edit parameters related to the external vision To edit external vision parameters use the programming box Step 1 Select SYSTEM gt OPTION Step2 Press F5 EX CAM Step step Step D The setting items related to the external vision will appear 64001 T7 00 Select an external vision number you want to edit Use the cursor keys ES BA to select a desired number from EXCAM to EXCAM4 and press EDIT When the external vision parameter has already been set SET is disolayed 64002 T7 00 Enter a value Use the cursor keys ES v to move the cursor to an item in which you want to enter a value Enter a character string or value and press the ENTER key e Val
45. otocol data communication settings Communication type No protocol TCP Client IP Address 133 215 201 234 Port No gt PLC link communication settings gt Programmable no protocol data communication settings 64044 T7 00 s xipu ddy M NOTE W Set the Ethernet communication of the robot controller as follows 6 Echo back Invalid 8 Login check Invalid 12 Keep alive sec gt 42 E Output settings Set the output items of the image sensor so that they meet the output format stated in 2 3 Output settings The following shows an example of settings to detect up to six workpieces Output settings gt Communication settings y Output data settings v No protocol data output 0 Count v Output data Cs PAA Expression Output data settings v Output format IXYR gt gt Binary v Output data Name ASAI Binary Expression Digits of integer LPR 0 6 10 X 10 10 TH 6 Digits of decimal 4 Negative 0 Suppressed OFF Field separator Comma Record separator OFF 7 64045 T7 00 When the output settings are made as described above the data is output as follows E Two workpieces are detected lt lt MEASURE gt gt OK gt gt 2 0000 452 5440 212 2505 176 0000 441 1120 82 3567 176 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 s xipu ddy Character strings after the X Y
46. pecified array element number from the search result array after searching VGETPOS Function VGETPOS lt Array element number gt AJ O 2 2 Q C Q Q D d Acquires the X coordinate value of the point data of the specified array element number from the search result array after searching VGETPOSX Function VGETPOSX lt Array element number gt Acquires the Y coordinate value of the point data of the specified array element number from the VGETPOSY Eman search result array after searching VGETPOSY lt Array element number gt 250 lt AJ O a Q Q Q Q D d gt 26 5 2 Robot language details This section explains each robot language 5 2 1 Language dedicated to external vision This robot language is dedicated to the external vision EXSEARCH EXSEARCH EXSEARCH lt External vision setting number gt lt Calibration number gt Captures the images using the external vision to search for workpiece Function The image capturing command is sent to the external vision to search for workpiece and then this search process result is received to store it into the search result array The image capturing command to be sent received process result check and communication port to be used are set using the external vision parameters When specifying the calibration number the camera coordinates are converted into the robot coordinates using the spe
47. r connections 71 14 KEYENCE CV X100 series 7 1 2 OMRON FZ4 series 7 1 32 OMRON FQ M series 71 4 COGNEX In Sight EZ series 71 5 COGNEX In Sight Micro series 7 2 List of specifications 7 3 Trademarks and registered trademarks 33 33 35 36 36 36 39 42 45 48 50 51 About this manual This manual describes how to combine YAMAHA s multi axis robot with a general purpose image sensor so as to construct a vision system Before constructing a system thoroughly read this manual and the manuals for robot controller and image sensor to fully understand their contents For details about how to operate the robot controller and image sensor etc refer to the manuals listed below Robot controller YAMAHA s 4 Axis Robot Controller RCX240 User s Manual RCX240 Operation Manual Robot language YAMAHA s RCX Series Programming Manual Communication software VIP YAMAHA s Support Software VIP User s Manual Image sensor Manual for each image sensor Additionally the calibration method and some robot commands of this system are common to those of YAMAHA robot vision system iVY System Therefore the general purpose image sensor can be used in the same manner as iVY System For details about iVY System see the YAMAHA Robot Vision System iVY System User s Manual 1 lt jonupuu si jnoay uolOINByUuod WilsAs jnoqy About system configuration To use this system it is necessary that the robot axis co
48. r has already been set SET is _ EXCAM4 Z Bp disolayed DI E U U ee 64007 T7 00 Stepd Press ERASE gt Step3 Confirming the erase execution D The confirmation message will appear on the u guide line SAAN gt OPTION gt EX CAM V10 72 gt If you want fo erase the parameter press Ey ie a E O F 4 YES Sh SET _ If you do not erase the parameter press Chul gt gt EXCAM3 p FS NO EXCAM4 D 64008 T7 00 Erase OK NO Q 7 N 13 lt mi gt lt D Q at O 5 O Q e Q 5 14 4 External vision calibration This section describes how to calibrate the external vision The calibration is a work necessary to match the coordinates camera coordinates of the image captured by the camera to the robot coordinates The calibration of the external vision is required when constructing a system for the first time or when the positional relationship between the camera and robot changes the camera deviates Up to four external vision calibration data can be stored When the distance between the workpiece and camera is different or when multiple cameras are installed calibrate the external vision for each camera 4 1 Executing the interactive external vision calibration This section describes how to make the settings using the interactive external vision calibration The following describes the setting procedures using KEYENCE CV X100 series step Put the calibration marks wi
49. result of the search process C VGETCNT 1 FOR A 0 TO C Repeats the process for the number of detected workpieces as a result of the search process PRINT VGETPOS A NEXT A VGETPIX VGETPIX VGETPIX lt Array element number gt Acquires the pixel data of the specified array element number from the search result array after searching The value is acquired in the point data format Function This function acquires the pixel data from the search result array after searching The pixel data is acquired from the specified array element of the search result array The unit system of the pixel data to be acquired is pixel ele m NOTE e The search result array is an array that stores the search results after searching Search result array Information on detected workpiece is stored e X and Y coordinate positions e Workpiece angle These results can be acquired using the commands shown below e VGETPIX Pixel data e VGETPOS Robot coordinate data e VGETPOSX Robot coordinate data X axis e VGETPOSY Robot coordinate data Y axis The array list depends on the image sensor output settings e The point data to be acquired does not include any hand system flag MEMO VA The array is for example just like a cabinet A name array element number is put on each drawer that stores data The same type data is stored into each drawer In this manual the drawer name is called array element number but
50. rofile Pattern Position Pattern XY Position amp Angle Result 40Piece 2 T200 Profile Pattern Position Number of Detected Patterns Result F 64035 T7 00 37 lt 7 s Xxipu ddy Check on None in the Result Output at Skipped Tool area and select Comma in the Data Delimiter field RS 232C Non Procedural output settings Output Settings RS 232C Non Procedural Output Settings Specifies output details for performing the result output in the RS 232C non procedural mode in this equipment Judgment Settings OR Terminal OUT Terminal AY 0 T100 Profile Pattern Position Number of Dete 0000 g Ethernet Non Procedural A 1 T100 Profile Pattern Position Pattern X Posi 40Plece 00000 000 SD Card 2 Pattern Y Posi 00000 000 PC Program Pattern Angle 00000 000 PLC Link 7 2 T200 Profile Pattern Position Number of Dete 0000 EtherNet IP Y 3 T200 Profile Pattern Position Pattern X Posi 6Piece 00000 000 PROFINET Pattern Y Posi 00000 000 FTP Pattern Angle 00000 000 g Image Output Global Settings Result Output at Skipped Tool Output 0 None 64036 T7 00 When the output settings shown above are made the data is output as follows E Image capturing of camera 1 Two workpieces are detected lt lt T1 gt gt 71 gt gt 0002 00268 465 00150 117 00009 146 00224 879 00258 308 00009 127 E Image capturing of camera
51. s ES v to select SEE e AA EEE eee an external vision parameter you want to EX Vision Camera copy DAFA SET P B EXCAM2 In the items for which the external vision EXCAM3 parameter has already been set SET is EXCAM4 disolayed ties i 64004 T7 00 D E a o step Press COPY gt Step3 Entering a copy destination a The message Copy to 1 4 gt will appear see eee ea ee SENSI OPTIONDEX CAM V10 72 on the guide line O Press 1 to 4 to select a copy destination EX Vision Camera DAWA SET ja y number and press Fa EXCAM2 D The confirmation message will appear on the EXCAM3 EXCAM4 O guide line Q 64005 T7 00 Copy to 1 4 gt _ Q D process n Spewea gt OPTION gt EX CAM V10 72 O The external vision parameter is then copied PP If you do not copy the parameter press EX Vision Camera DAUA SET F NO viva EXCAM2 64006 T7 00 EXCAM3 EXCAM4 1 gt 2 Copy OK NO gt 12 3 2 5 Erasing an external vision parameter This section describes how to erase an external vision parameter step I Select SYSTEM gt OPTION gt EX CAM oe Step 2 lectin rameter wan r Step Select an external vision parameter gt p Selecting a parameter you want to erase you want to erase Ga OPTION gt EX CAM V10 72 Use the cursor keys ES BA to select P EX Vision Camera an external vision parameter you want to ean SET erase EXCAM2 In the items for which the external vision EXCAM3 paramete
52. settings External vision parameter list Name Programming box display Trigger character string Trigger Command Meaning Set the image capturing command that is sent to the image sensor when executing the EXSEARCH command Input range 0 to 8 characters Initial value Response character string Response Command Set the response character string from the image sensor to the image capturing command 0 to 8 characters External vision resolution X EX Cam FOV X Set the camera resolution in the X axis direction of the image sensor to be used 0 to 10000 External vision resolution Y EX Cam FOV Y Set the camera resolution in the Y axis direction of the image sensor to be used 0 to 10000 Search timeout TimeOut Set a period of the timeout time during execution of the EXSEARCH command 0 to 600 x100ms Communication port Connection Port Set the port used to communicate with the image sensor CMU ETH 9 lt Q L gt D 5 Q Q 3 12 O T wm 2 gt D e Q Q 3 o O T gt 10 3 2 2 External vision parameter details Input range Initial value Trigger character string O to 8 characters Function Sets the image capturing command that is sent to the image sensor when executing the EXSEARCH command Description When executing the EXSEARCH command the character str
53. th error number 20 80 or later are those dedicated to the external vision system Errors with error numbers 20 00 to 20 79 are those common to the iVY system For details see the iVY System User s Manual For details about errors other than those shown above see relevant RCX240 Robot Controller User s Manual If an error occurs relevant error message appears on the message line of the programming box For details about contents of each error message see the list shown below How to read the list The following shows the error message that appears on the screen Error group number Error classification number English error message Error number 12 1 EMG STOP ON Code Error code is expressed in the hexadecimal notation kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Meaning Cause kkkk kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Corrective action kkkk Displays the actions to reset or avoid the error Displays the meaning and cause of the error 7 inl NOTE W If the error cannot be solved even after taking the corrective action contact your distributor O eJ D el gt o 2 33 lt O C 5 D el gt O gt 34 20 80 20 81 20 82 20 83 20 84 20 85 20 86 20 87 EX Vis calibration not set Code amp H1450 Meaning Cause The external vision ca
54. the specified array element of the search result array At this time the Z axis height of the robot during search execution is acquired as Z axis point data The unit system of the point data to be acquired is mm Cartesian coordinate system CAUTION A For the Z axis data of the point data acquired by VGETPOS the Z axis height of the robot during search execution is acquired Therefore the position of the point data acquired by VGETPOS may vary depending on the robot position during search execution When moving the robot to the position of the point data acquired by VGETPOS carefully check the robot movement path so that the Z axis does not collide with any object Md 0 NOTE e The search result array is an array that stores the search results after searching Search result array Information on detected workpiece is stored e X and Y coordinate positions e Workpiece angle These results can be acquired using the commands shown below e VGETPIX Pixel data e VGETPOS Robot coordinate data e VGETPOSX Robot coordinate data X axis e VGETPOSY Robot coordinate data Y axis The array list depends on the image sensor output settings e When performing the search process using EXSEARCH without calibration settings the error 20 80 EX Vis calibration not set may occur e The point data to be acquired does not include any hand system flag MEMO L The array is for example just like a cabinet A name array element number
55. thin gt Step 1 the field of view of the camera 64009 T7 00 Calibration marks In this example the circular mark and square mark are determined to mark 0 and mark l respectively Make the distance between the calibration mark and camera identical with that at system startup Do not move the mark until the end of the program execution Arrange the marks so that they are as far away from each other as possible If the marks are arranged in the near distance the coordinate conversion accuracy Examples of calibration mark arrangements may decrease Correct example Additionally do not arrange the marks at four corners of the field of view of the camera The mark image may be distorted depending on the lens to be used step Set the tool of the image sensor so that the calibration marks are detected Incorrect example Set the tool so that mark 0 and mark 1 are detected For details about how fo set the tool see the manual for image sensor Marks are arranged in the near distance Marks are arranged at the corners of the field of view of the camera Step Select MANUAL gt VISION gt Step 4 Starting the interactive setting of the camera calibration Step Press _F 3 EX WIZ Make the interactive setting of the camera calibration Select function F1 Camera Calibration Wizard Nee gt V I S ION 20 MG SOHOX ee F2 Edit Camera Calibration step Select a robot to which the camera So Coe a a Tiare P
56. tput from the external vision is incorrect Corrective action e Check the communication settings of the external vision and controller e Check the communication port of the external vision parameters e Check the communication cable e Check the external vision state e Check the trigger input settings of the external vision e Change the search timeout setting of the external vision parameters It is necessary to make the timeout setting longer than the time between image capturing of the external vision and the result output e Check the output settings of the external vision e Check the external vision state e Check the trigger character string of the external vision parameters e Check the trigger input settings of the external vision e Check the response character string of the external vision parameters e Check the external vision state e Check the output settings of the external vision e Set the number of simultaneous workpiece detections of the external vision to 0 to 40 e Check the output settings of the external vision e Output the position data for the number of workpiece detections e Check the output settings of the external vision e Check the output settings of the external vision 63017 T7 00 BHuloouseqnol 35 lt 7 s Xxipu ddy 7 Appendixes 7 1 Examples of controller and image sensor connections This section describes examples of connections with
57. ues you can enter are 0 to 9 and A to Z e For Trigger Command and Response Command enter a character string containing 8 or less characters e For EX Cam FOV X EX Cam FOV Y and TimeOut enter a value within its input range e For Connection Port select CMU or ETH For Connection Port the value is set when pressing the function key Repeat operation steps shown above to enter values in all items 64003 T7 00 Press to exit the parameter editing gt Step 2 Option setting SSAA OPT ION V10 72 N N POS OUTMSERVISE W CARRYMEX CAM gt Step3 Selecting an external vision number Seeees gt OPTION gt EX CAM V10 72 EX Vision Camera EXCAM1 SET EXCAM2 EXCAM3 EXCAM4 A o DI e a M eee gt Step4 Setting the external vision SASA OPTION gt EX CAM V10 72 EX Vision Camera PRM EXCAM2 Trigger Command T1 wm o gt D e Q Q 3 O T Response Command T1 EX Cam FOV X pix 640 EX Cam FOV Y pix 480 TimeOut 100ms 100 Connection Port CMU o o 11 lt 3 2 4 Copying an external vision parameter This section describes how to copy an external vision parameter step I Select SYSTEM gt OPTION gt EX CAM Step Select an external vision parameter gt Step 2 Selecting a parameter you want to copy you want to copy step Press YES to start the copy gt Step 4 Confirming the copy execution SASA gt OPTION gt EX CAM V10 72 Use the cursor key
58. ugh the Ethernet communication Connect To Run the terminal software Hyper Terminal etc for Windows and enter the IP address B of the image sensor and port number 23 gt i TELNET communication to connect to the image sensor Enter details for the host that you want to call AE eee 192 168 0 13 7 Step Send the native command to the image sensor After checking that the communication is connected to the image sensor correctly send the native command shown below Connect using TCP IP winsock through the Ethernet communication EV SefSerialPort 1 7 57600 8 1 512 0 0 0 13 13 0 0 0 Pork number 23 Cancel 64051 T7 00 When the image sensor accepts the native command successfully 1 is returned as return gt Step 3 value Additionally the image sensor is set as follows and the native command becomes valid in the RS 232C communication The settings shown above are those when using Hyper Terminal Sending the native command cognexEZ 00 HyperTerminal File Edit View Call Transfer Help DE 8 aD 6 soxipueddyv SerialPorftNum 1 a SSM Mode 7 Native mode ga BaudRate 57600 ela a DataBits 8 User Logged In StopBits 1 EV SetSerialPort 1 7 57600 8 1 512 0 0 0 13 13 0 0 0 Parity 512 Odd Handshake O None lt Float gt lt Float gt InoutPacketsize 0 OutputPacketsize O INoutlerminator 13 CR OutputTerminator 13 CR FixedinoutMode O FixedinputLength O
59. umber of cameras Max 4 units Fixed camera upward downward secured to the robot Y axis Vertical to the image capturing target workpiece Max number of workpiece A 40 pcs detections Communication type RS 232C or Ethernet Camera installation direction VGETCNT VGETPIX VGETPOS Applicable commands Common to iVY system VGETPOSX VGETPOSY Commands dedicated to external a EXSEARCH vision Image capturing command Response character string Parameters for external vision Number of camera pixels For 4 cameras Timeout Port to be used CMU ETH Calibration method Interactive calibration method Number of calibration data Max 4 7 Number of detected workpieces X coordinate Y coordinate angle Image sensor output settings Each data is separated by a comma Delimiter is put at the end of the data This value may vary depending on the image sensor to be used E Examples of camera installations soxipueddyv Fixed camera upward Fixed camera downward 63018 T7 00 gt 50 7 3 Trademarks and registered trademarks Cognex and In Sight are registered trademarks of Cognex Corporation 2013Cognex Corporation Windows is a registered trademark of Microsoft Corporation in the United States and other countries 7 s xipu ddy 51 lt Revision record Manual version Issue date Description Ver 1

RCX240 - Third Party Vision Integration

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