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1. TM are omitted 165197 1CD xv MS3D 1 Introduction 165197 1CD Introduction This product is based on Cortex Recognition software written by Recognition Robotics Inc for a PC computer running Windows XP or Windows 7 and provides a PC based vision guidance software package Does not require structured lighting Features a very easy to use interface Does not require complex programming or calibration Determines the camera position which an object was trained providing a common reference point between the robot and the camera Utilizes a single mobile camera The Cortex Recognition user manual should be consulted for details of how to use the program The manual is accessible from the Programs Recognition Robotics Inc selection An embedded PC is required for this application The PC running Windows 7 is mounted on the outside of the Motoman Controller cabinet The PC will have an Ethernet port and a PoE Power over Ethernet port to communicate with and power a Baumer camera No PC monitor is supplied with this product One must be supplied by the customer or the customer can remote desktop into the PC over Ethernet for initial training and setup A monitor is not required after the system has been setup and verified to be running correctly The camera is typically mounted on the robot and a TCP and reference frame will be set up relative to the camera The first step is to train or teach the unive
2. DX200 amp FS100 OPTIONS INSTRUCTIONS for MS3D CORTEX CONFIGURATION Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN LILIC INSTRUCTIONS DX200 OR FS100 INSTRUCTIONS DX200 OR FS100 OPERATOR S MANUAL DX200 OR FS100 MAINTENANCE MANUAL Part Number 165197 1CD Revision 1 Y YAS KAWA MANUAL NO MOTOMAN ROBOTICS 1 651 97 1 CD 1 10 MS3D 165197 1CD Q MANDATORY This manual explains MS3D for the DX200 or FS100 system Read this manual carefully and be sure to understand its contents before using the MS3D Cortex Configurator General items related to safety are listed in the Chapter 1 Safety of the DX200 or FS100 Instructions To ensure correct and safe operation carefully read the DX200 or FS100 Instructions before reading this manual AN CAUTION The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact a YASKAWA representative to order a new copy The representatives are listed on the back cover Be sure to tell the representative the manual number lis
3. Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA Electric Taiwan Corporation 12F No 207 Sec 3 Beishin Rd Shindian District New Taipei City 23143 Taiwan Phone 886 2 8913 1333 Fax 886 2 8913 1513 YASKAWA Electric Singapore PTE Ltd 151 Lorong Chuan 04 02A New Tech Park Singapore 556741 Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA Electric Thailand Co Ltd 252 125 126 27th Floor Tower B Muang Thai Phatra Complex Building Rachadaphisek Road Huaykwang Bangkok 10320 Thailand Phone 66 2693 2200 Fax 66 2693 4200 PT YASKAWA Electric Indonesia Menara Anugrah Lantai 1 Kantor Taman E 3 3 JI Mega Kuningan Lot 8 6 8 7 Kawasan Mega Kuningan Jakarta Indonesia Phone 62 21 57941845 Fax 62 21 57941843 Specifications are subject to change without notice for ongoing product modifications and improvements Y YAS KAWA MANUAL NO MOTOMAN ROBOTICS 165197 1CD 10 10
4. ecognizes the objects and sends the guidance coordinates without acquiring new image from the camera e Trigger RL When Cortex Recognition receives an RL command it acquires new image from the camera recognizes the objects and sends the guidance coordinates e Light ON Turns on the integrated camera light if applicable e Light OFF Turns off the integrated camera light if applicable e Send Integer Send the value of the robot integer variable without a trigger command m Ifthe robot integer variable search model contains A value other than 0 the RI and RL commands will pass that value to the Cortex Recognition system specifying that it search for that particular model A value of O a standard search will take place looking for any taught model 165197 1CD 8 10 165197 1CD MS3D Cortex 4 Troubleshooting Configurator 4 Troubleshooting If the delay time is not long enough for the camera s to make a connection before launching the Cortex application try one of these fixes m Disable any unused TCP IP ports 1 Right click My Network Neighborhood 2 Right click the unused port 3 Select Disable 4 4 Repeat for each unused port Adjust the Cortex application start delay time 1 Launch the Delayed Start application and press Stop 2 Increase the time value by clicking on the seconds count using the up down controls to set the new delay time 3 Click Save 4 C
5. lose the application 5 Reboot to test the new time value m Vendor Resources UsersGuide Baumer GigE IPConfig Win v30e 100913 pdf located in Program Files1pConfig CortexRecognition pdf accessible from Programs gt Recognition Robotics Inc selection 165197 1CD xv Y YASKAWA DX200 amp FS100 OPTIONS INSTRUCTIONS for MS3D CORTEX CONFIGURATION HEAD OFFICE 2 1 Kurosakishiroishi Yahatanishi ku Kitakyushu 806 0004 Japan Phone 81 93 645 7703 Fax 81 93 645 8140 YASKAWA America Inc Motoman Robotics Division 100 Automation Way Miamisburg OH 45342 U S A Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA Europe GmbH Robotics Divsion Yaskawastrasse 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA Nordic AB Bredbandet 1 van 3 varvsholmen 392 30 Kalmar Sweden Phone 46 480 417 800 Fax 46 480 417 999 YASKAWA ELECTRIC China Co Ltd 12F Carlton Building No 21 HuangHe Road HuangPu District Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA SHOUGANG ROBOT Co Ltd No7 Yongchang North Road Beijing E amp T Development Area China 100176 Phone 86 10 6788 2858 Fax 86 10 6788 2878 YASKAWA India Private Ltd Robotics Division 426 Udyog Vihar Phase IV Gurgaon Haryana India Phone 91 124 475 8500 Fax 91 124 475 8542 YASKAWA Electric Korea Co Ltd 9F Kyobo Securities Bldg 26 4 Yeouido dong Yeongdeungpo gu Seoul 150 737 Korea
6. o search all image models and return the closest match The trigger method is controlled by the value in the robot integer variable for search model See the Cortex Recognition user manual for more information on commands to the vision system 165197 1CD 6 10 165197 1CD MS3D Cortex 2 Configuration Configurator e Example 1000 is designated as the search model variable 1000 12 Output 10 is turned on The actual command sent is rl0012 This will search specifically for image model 12 1000 0 Output 10 is turned on The actual command sent is rl This will search through all image models and return the closest match 165197 1CD MS3D Cortex 3 Robot I O Configurator 3 RobotI O 165197 1CD The Robot I O s are shown with the default address values kg The standard robot ladder has been modified to map results to the appropriate robot inputs Address Robot Output Description 10100 100 Trigger RI 10101 101 Trigger RL 10102 102 Light ON 10103 103 Light OFF 10104 104 Send Integer Sends robot integer variable value alone 10105 105 10106 106 10107 107 10110 108 Data Valid Inspection Complete 10111 109 Object Found 10112 110 Object Not Found 10113 111 OOBXYZ Object out of bounds 10114 112 OOBRxRyRz Object out of bounds 10115 113 Out of Focus 10116 114 10117 115 Trigger RI When Cortex Recognition receives an RI command it r
7. rse of parts to be recognized by the Cortex Recognition software Each part is assigned a unique number It is recommended to read the Cortex Recognition manual for details of this procedure In use the robot is moved into a position or executes a searching motion so the part may be captured by the camera An I O command from the robot job is sent to the Cortex Recognition program to trigger the camera The camera will send an image back to the Cortex Recognition program The program will determine if it recognizes any of the taught parts and identify which one it sees and the 6 degrees X Y Z Rx Ry and R3 deviation the part is currently oriented relative to the taught position This deviation is displayed on the monitor if there is one and relayed back to a position variable in the robot job Inside a loop in a running job the robot will then attempt to apply the deviation as a correction to move to the trained position relative to the part When this iterative process results in a sufficiently small deviation the position and orientation of the part relative to the camera and robot is known The robot will then be able to typically pick the part 165197 1CD 4 10 165197 1CD MS3D Cortex Configurator 2 Configuration 2 Configuration The MS3D Configurator is used to generate a configuration file for the robot controller This contains the information about where to store the vision results returned from the Co
8. rtex system Starting MS3D Configurator e On the PC screen click the MS3DCortexConfig icon to bring up the MS3D Configurator Cortes IP Address 1921682555 Port 3000 Robot User Frame to Ref ES P Variable for Results ans Variable Search Model EA Variable Found Model 1 Variable Error Code D2 Commands Starting Address 10100 Results Starting Address 1010 Defaults rea Write For FS100 uses file Cortex cfg Parameters that can be set or modified NOTE For most systems it is recommended to click Defaults and use the values which are automatically populated Cortex IP Address This is the IP address of the embedded PC port that is connected to the robot e Port Defined by Cortex Vision System Default value is 9000 e Robot User Frame to Ref The robot user frame referenced by the PVar that holds the location result e P Variable for Results The index of the robot position variable that will hold the result of the vision inspection e Variable Search Model The index of robot integer variable that will supply the model ID number when specifying a search model to the Cortex Vision System e Variable Found Model The index of the robot integer variable that will hold the model ID found on the last vision inspection e Variable Error Code The index of the robot integer variable that will hold any returned error code from the last vision inspection Commands Starting Addres
9. s This is the starting address for the robot I O commands e Results Starting Address The inspection status signals are returned in robot outputs This is the starting address for those results 165197 1CD 5 10 MS3D Cortex Configurator 165197 1CD 2 Configuration The Configurator reads and writes to the file Cortex cfg located in the directory where the program is installed by default e C Program Files Motoman MS3DCortexConfig After creating or modifying a file e Copy to a USB drive or CF card e Load the configuration file into the Motoman robot controller through the pendant main menu EX MEMORY LOAD USER DEFINED FILE Cortex cfg The goal of the Configurator is to create a configuration file that is loaded onto the pendant e The file can be created edited directly e The format of this ASCII file is as follows 192 168 255 5 CrLf 9000 crLf B CrL O CrL O CrL 1 CrL 2 CrL 10100 crLf 1011 0 crLf The last entry and starting address for the I O results NOTE require a terminating carriage return line feed A file not having a terminating carriage return line feed the file will be gt considered invalid without it Example of Triggering Vision System The rl command is used by the vision system to trigger an inspection Using the robot variables specified in the configuration file the trigger can be used to search for a specific image model Additionally the trigger can be used t
10. ted on the front cover YASKAWA is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids your product s warranty 165197 1CD 2 10 165197 1CD MS3D NOTES FOR SAFE OPERATION Read this manual carefully before installing or operating MS3D Cortex Configurator In this manual the Notes for Safe Operation are classified as WARNING CAUTION MANDATORY or PROHIBITED Indicates a potentially hazardous situation which if not avoided could A WARN NG result in death or serious injury to personnel Indicates a potentially hazardous A CAUTION situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the MAN DATO RY items listed under this heading OQ P ROH BITE D Must never be performed Even items described as CAUTION may result in a serious accident in some situations At any rate be sure to follow these important items follow all instructions even if not designated as CAUTION NOTE To ensure safe and efficient operation at all times be sure to oe and WARNING Registered Trademark In this manual names of companies corporations or products are trademarks registered trademarks or brand names for each company or corporation The indications of R and

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