ROBOT VISION ivy2 RCX340
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- Abigayle Lynch
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1 ivy2 System Product Lineup ROBOT VISION ivy2 RCX30 Integrated Vision System with "plug-and-play" simplicity Basic specifications have been dramatically enhanced while retaining the current ivy system's ease of use. Simplicity Setup is completed as little as eight minutes after power-on. Auto-calibration makes setup easy. Sophistication With up to five million pixels, a variety of workpieces can be supported. Improve throughput to 100 CPM with conveyor tracking. Assurance Comprehensive support covers everything from camera image acquisition to the operation of the gripper and robot. With support that only the robot manufacturer can provide, you can relax. 78
2 Basic specifications have been dramatically enhanced while retaining the current ivy system's ease of use. Number of registered types Shorter search time Longer cables usable Supports from 300,000 to Increased to Approximately Cables can be as long as million pixels types % less m Megapixel camera Previously 0 types Previously 9.5 m support ivy2 System configuration illustration With capture: 30 0% less Search only: approximately 50% less Note. Time depends on the workpiece. Monitoring Monitor output is provided Enables operating status to be monitored without a PC Programming box PBX Monitor ivy2 unit Software ivy2 Studio 2VDC power supply Photoelectric or proximity sensor, etc. Lighting Tracking board (when installed in option slot ) Encoder * The illustration left shows an example system with the tracking board and an ivy2 unit (when the lighting control board option is selected). * Connections to the STD.DIO, ACIN, and SAFETY connectors are not shown in the left illustration. POINT 1 Various application examples Labeling device (affixing labels to food packages) Sealant touch-up (engine block sealant) Screw attachment position detection (television panel screw attachment) Position compensation with upward-facing camera (installing irregularly-shaped parts on a circuit board) Industry: food used: YK500TW omnidirectional robot Even if the incoming workpieces are irregularly spaced or positioned, labels can be affixed at the same position. Industry: automotive used: SXYX Cartesian robot Even if the workpiece is skewed from its correct position, the skew and angle are detected, and the application path is automatically compensated. Industry: electronics Industry: electronics used: NXY Cartesian robot used: YK150XG SCARA robot Hole position is detected, and screws are fastened accurately. The roughly-positioned circuit board connector is picked up, the upward-facing camera is used to apply position compensation, and the part is mounted directly on the circuit board. 79
3 ivy2 System Product Lineup POINT 2 Auto-calibration Easily complete high-precision calibration just by following a wizard! Even if equipment becomes misaligned, execute auto-calibration and resume operation. STEP 1 STEP 2 Requires as little as 5 minutes Register the desired fiducial mark Select the camera mounting method Mounted on robot Can be mounted on moving part Fixed downward Fixed upward STEP 3 Execute auto-calibration Align fiducial mark position POINT 3 If camera is movable, move Easy the robot workpiece registration If camera is fixed, attach fiducial mark to robot, and move it From image acquisition, registration takes just three steps. Fiducial mark Requires as little as 3 minutes STEP 1 STEP 2 STEP 3 Search results Capture images. Set the contour. Register the detection position. Put the workpiece within the camera field-of-view and specify an image capturing range. Contour is automatically extracted. Paint the necessary contour with a pen tool. Specify the detection position with the mouse. Desired positions can be set. POINT No need to make time-consuming connection settings. Dramatic reduction in setup time. From image acquisition, registration takes just three steps. Comparison of setup time Installation Calibration Pattern registration Debug Communication setting Parameter setting Program setting ivy2 system General-purpose vision Setup time is shortened greatly Setup time Setup time reduced by up to 80% 80
4 STEP 1 STEP 2 Register the desired fiducial mark Select the camera mounting method Mounted on robot Can be mounted on moving part Fixed downward Fixed upward STEP 3 If camera is movable, move the robot Align fiducial mark position If camera is fixed, attach fiducial mark to robot, and move it Execute auto-calibration Fiducial mark POINT 5 No need to create a coordinate conversion program. Dedicated robot language for vision is provided. General robot vision ivy2 system MOVE P, P9 OFF LINE SEND (* *) TO CMU SEND CMU TO P10 ON LINE MOVE P, P10 Communication with image processing unit MOVE P, P9 VSEARCH 1,2,0 P10=VGETPOS(0) MOVE P, P10 Searches for workpiece. Reads the point. Moves to this point. RS-232C Program of image processing unit Program of host PLC MERITS No communication time lag Needs only few command lines. Simple and easy to understand and robot have separate programs Centralized control using only the robot program POINT 6 POINT 7 Easy inter-operation with peripheral equipment The same controller provides unified control of robot, gripper, and lighting. vision: ivy2 System Also supports moving camera Even if the camera is mounted on the robot, coordinates are automatically converted according to the robot's movement. Light Electric gripper: YRG series RCX30 81
5 ivy2 System Product Lineup POINT 8 Conveyor tracking Ideal for high-speed packaging arrangement high-speed transport of multiple types of items such as pharmaceuticals, cosmetics, and food products. The vision camera detects the position and orientation of parts moving on the conveyor, and the robot picks them up. Conveyor tracking 100 reaches CPM per unit Previous RCX20 controller Example program (RCX20) New RCX30 controller Example program (RCX30) PTP command CTMOVE CTDRIVE MOVE P,P1 CTMOVE (1) CTDRIVE(10.0) Executed using multiple operation commands Unify movement commands New CTMOVE CTMOVE (1),Z=0.0,CTZ=10.0 Can be executed with a single command Multiple operating takt required Unify the move up command, follow workpiece command, move down command Pause Move while following the workpiece Move down while following the workpiece Predict workpiece location and move directly Seamless movement from move up to move down Tracking start position Move up Conveyor direction Workpiece pickup location Reduce operating takt Tracking start position Conveyor direction Workpiece pickup location Reduce movement distance Workpiece position when tracking begins Workpiece position when tracking begins Operating conditions: YK500XG / payload 1 kg (total of workpiece and tool) / horizontal movement 250 mm / vertical movement 1 mm / conveyor speed 100 mm/sec POINT 9 Control multiple for even more improvement in production efficiency. Shortened cycle time Improve throughput RCX30 + ivy2 RCX30 Connect up to four units 100 CPM/unit x units (maximum 00 CPM) Tracking board Program allows differentiation by model for even more improvement in production efficiency Control two to let downstream robot handle missed items Information from a single camera can be shared by multiple Conveyor direction 82
6 POINT 10 Approximately double the search speed (compared to previous model) Even a large number of workpieces can be detected at high speed. The search speed is approximately double that of the previous model. This can be used for a wide variety of applications, including molded plastic parts or food items. Sample workpiece ➊ Connector-shaped workpiece Sample workpiece ➋ Washer-shaped workpiece Sample workpiece ➌ Food item workpiece RCX20 + ivy ms RCX30 + ivy ms RCX20 + ivy ms RCX30 + ivy ms RCX20 + ivy 19.8 ms RCX30 + ivy ms POINT 11 Support for five-megapixel cameras (Choose from 300,000 pixel, 1.3 megapixel, and 2 megapixel, and 5 megapixel) Stable workpiece detection Decreased number of search detections POINT types can be registered Setup changes require only that part numbers be changed. Setup changes are easy. Detailed edge detection is possible even if workpieces are touching each other or have a complex shape. Previous: 300,000 pixel camera New: 1.3 megapixel camera A single search allows detection even for a large workpiece, improving takt. Previous: 300,000 pixel camera New: two-megapixel camera 25 types (0 253) can be registered (partial detail illustration) (partial detail illustration) Field of vision POINT 13 Monitor output is provided Monitor the operating status Monitor the search status while making calibration settings or during automatic operation. POINT 1 High-precision search even under low light Edge search engine is built-in Supports a variety of applications while being minimally affected by the external environment. Contents of output Selected type / Captured image Search result (position, score, scale) Executed command Time required by command Output method DVI-I (supports digital monitor or analog monitor) When lighting is sufficient Accurate search even if lighting is insufficient 83
7 ivy2 System Product Lineup POINT 15 Preparatory evaluation and advice give you peace of mind We borrow the workpiece from you, evaluate it, and submit an evaluation report. In addition, we draw on our wealth of experience and evaluation results to provide advice and training regarding selection and installation of and peripheral equipment. Hearing Workpiece is borrowed Preliminary evaluation Advice (evaluation report is submitted) training Follow-up after delivery Preliminary evaluation Advice (evaluation report is submitted) training Evaluation conditions (example) Workpiece Lighting Lighting height: 375 mm Lens: 8 mm WD: 00 mm Advice regarding camera, lens, and lighting settings Background: black We borrow a workpiece from you and conduct an evaluation. The results of our preliminary evaluation regarding camera, lens, lighting selection, and setup are summarized as a report and submitted. Training can be performed according to the content of the customer's application. POINT 16 Choose freely from Yamaha's lineup of A low-cost and convenient robot vision system can be constructed using the models that are optimal for the customer's application. XY-X Cartesian YK-XG SCARA YK-TW orbit type FLIP-X single-axis Note. The YA series is not supported. 8
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9 APPLICATION ROBOT VISION ivy2 SYSTEM Articulated YA Compact single-axis TRANSERVO Single-axis FLIP-X ivy2 System with image processing functions Integrated Vision System with plug-and-play simplicity. Basic specifications have been dramatically enhanced while retaining the current ivy system s ease of use. Applicable controllers RCX30 Linear motor single-axis PHASER Main functions P.70 Ordering method Cartesian XY-X RCX30 Controller No. of controllable axes Safety standards Controller option A to D (OP.A to D) TR : Tracking Controller option E (OP.E) No entry: Non-selection VY: ivy2 without light VL: ivy2 with light Absolute battery SCARA YK-X Note. For details on the various selection items, refer to P.521 Pick & place YP-X CLEAN CONTROLLER INFORMATION positioner Pulse string driver controller ivy2 Option Basic specifications vision basic specifications Item ivy2 unit Applicable controllers RCX30 68(H) 9(V) (300,000 pixels, VGA) 1280(H) 966(V) (1,300,000 pixels, SXGA) Number of screen pixels 162(H) 1236(V) (2,000,000 pixels, UXGA) 2592(H) 19(V) (5,000,000 pixels, QSXGA) Model setting capacity 25 models Number of connectable cameras Max. 2 cameras Basic specifications Search method Image capturing Function installation position Setting support function Lighting control options GigE camera (VGA, SXGA, UXGA) Connectable camera PoE: IEEE802.3af 1 ch up to 7W External interface Ethernet (1000BASE-T) Note. For setting and monitor operations DVI-I External monitor output Note. Also usable with an analog monitor by using a conversion adaptor. Monitor resolution: Power supply DC2V +/-10% 1.5A Max. Dimensions W5 H195 D130 (ivy2 unit only) Weight 0.8kg (ivy2 unit only, when the lighting control board option is selected) Edge search (correlated edge filter, Sobel filter) Trigger mode S/W trigger, H/W trigger External trigger input 2 points Position detection, automatic point data generation Fixed to the fixed camera (up, down) or robot (Y-axis, Z-axis). Perpendicular to the workpiece to be captured. Calibration, image save function, model registration Note, fiducial mark registration Note, monitor function Note Note. ivy2 Studio function (requires a Windows PC) Number of connectable Max. 2 lighting units lighting units PWM modulated light control (0 to 100%), PWM frequency switchable 62.5 khz/125 khz Modulated light format Continuous light, strobe light (follows camera exposure) 12VDC or 2VDC Lighting power input (external supply shared by both channels) For 12VDC supply: Total of less than 0W for both channels. Lighting output For 2VDC supply: Total of less than 80W for both channels. 55
10 Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. ivy2 System APPLICATION System configuration illustration Programming box PBX Monitor ivy2 unit Software ivy2 Studio Articulated YA Compact single-axis TRANSERVO Single-axis FLIP-X 2VDC power supply Linear motor single-axis PHASER Photoelectric or proximity sensor, etc. Lighting Tracking board (when installed in option slot ) Encoder * The illustration left shows an example system with the tracking board and an ivy2 unit (when the lighting control board option is selected). * Connections to the STD.DIO, ACIN, and SAFETY connectors are not shown in the left illustration. Cartesian XY-X SCARA YK-X Tracking board basic Specifications Item Tracking board Applicable controllers RCX30 Number of connected encoders Up to 2 units. Encoder power supply 5VDC (2 counters total 500 ma or less) (Supplied from controller) Applicable encoder 26LS31/26C31 or equivalent line driver (RS-22 compliance). Basic specifications Input phase A, A, B, B, Z, Z Max. response frequency 2MHz or less Counter 0 to Multiplier x Other With disconnection detection function Dimensional outlines Pick & place YP-X CLEAN CONTROLLER INFORMATION RCX30+iVY2 3-ф positioner Pulse string driver controller ivy2 Option 555
11 APPLICATION ivy2 System Dimensional outlines Articulated YA CCD camera 15.5± ± M depth (Top and bottom sides) Compact single-axis TRANSERVO Single-axis FLIP-X -R ф36 25±0.05 1"-32UNF (C-mount) ±0.05 Tripod depth 5 (Top and bottom sides) Linear motor single-axis PHASER Lenses Cartesian XY-X 8mm lens (Model No. : KCX-M721-00) mm lens (megapixel support) (Model No. : KCX-M721-0) SCARA YK-X ф28 M25.5 P=0.5 ф16. ф29.5 ф39 ф37 M35.5 P=0.5 ф22.5 Pick & place YP-X CLEAN CONTROLLER INFORMATION 12mm lens (Model No. : KCX-M721-10) ф29 M27 P=0.5 16mm lens (Model No. : KCX-M721-20) ф29 M27 P= ф16 ф ф16 ф mm lens (megapixel support) (Model No. : KCX-M721-50) ф30 ф28.5 M27 P=0.5 16mm lens (megapixel support) (Model No. : KCX-M721-60) ф30 ф28.5 M27 P= ф ф23 positioner 25mm lens (Model No. : KCX-M721-30) mm lens (megapixel support) (Model No. : KCX-M721-70) Pulse string driver controller ivy2 Option ф29 M27 P=0.5 ф16 ф29.5 ф30 ф28.5 M27 P=0.5 ф
12 Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. Lens characteristics ivy2 System APPLICATION Lens Model Focal length [mm] Aperture value [F No.] Angle-of-view (degrees) With 1/3 inch sensor KCX-M (300,000 pixel camera) KCX-M (1,300,000 pixel camera) Angle-of-view size, WD, and magnification when close-up ring is used Angle-of-view (degrees) With 1/1.8 inch sensor KCX-M (2,000,000 pixel camera) Vertical Horizontal Vertical Horizontal 8mm KCX-M F1.3 CLOSE mm KCX-M F1. CLOSE mm KCX-M F1. CLOSE mm KCX-M F1. CLOSE mm (megapixel support) KCX-M F1. F mm (megapixel support) KCX-M F1. F mm (megapixel support) KCX-M F1. F mm (megapixel support) KCX-M F1. F Note. This table shows the angle-of-view for Yamaha s standard lenses. If the angle-of-view is greater, there might be more distortion at the edge of the image. Closest approach distance [m] Articulated YA Compact single-axis TRANSERVO Single-axis FLIP-X Close-up ring [mm] None Angle-of-view size X Y [mm] Lens 8 mm KCX-M mm KCX-M mm KCX-M mm KCX-M WD [mm] KCX-M (300,000 pixels) KCX-M (1,300,000 pixels) KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification Note. WD is the lens tip reference. Close-up ring [mm] None Angle-of-view size X Y [mm] Lens 8 mm lens for megapixel 12 mm lens for megapixel 16 mm lens for megapixel 25 mm lens for megapixel KCX-M721-0 KCX-M KCX-M KCX-M WD [mm] KCX-M (300,000 pixels) KCX-M (1,300,000 pixels) KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification WD [mm] Angle-of-view size KCX-M (300,000 pixels) X Y KCX-M (1,300,000 pixels) [mm] KCX-M (2,000,000 pixels) Optical magnification Note. The above table shows the field of view when the standard lens and close-up ring are used. (Closest distance value is shown in No Close-up Ring column). Note. If a close-up ring is not used, a WD less than the value shown in this table cannot be used. Note. If a close-up ring is used, only WD in the region of this value can be used. Note. Values in this table are for reference only; Actual values may vary. Linear motor single-axis PHASER Cartesian XY-X SCARA YK-X Pick & place YP-X CLEAN CONTROLLER INFORMATION positioner Pulse string driver controller ivy2 Option 557
13 APPLICATION Articulated YA Compact single-axis TRANSERVO Single-axis FLIP-X Linear motor single-axis PHASER Cartesian XY-X SCARA YK-X Pick & place YP-X CLEAN CONTROLLER INFORMATION ivy2 System Accessories and part options ivy2 System Standard accessories ivy2 unit The ivy2 unit adds robot vision to the RCX30 robot controller. Support software for PC ivy2 Studio ivy2 Studio is support software for the ivy2 system that allows registering part types and reference marks as well as monitoring the work search status during automatic robot operation by connecting to the robot controller. No lighting Model KCX-M00-V0 With lighting KCX-M00-L0 ivy2 unit accessories Name Individual model trigger input cable connector KX0-M657K-00 2V power supply connector KCF-M Environment Software model KCX-M OS Microsoft Windows XP / Vista (32bit/6bit) / 7 (32bit/6bit) / 8, 8.1 (32bit/6bit) CPU Processor that meets or exceeds the suggested requirements for the OS being used. Memory Suggested amount of memory or more for the OS being used. Hard disk capacity 16MB of available space required on installation drive. Display 800 x 600 dot, or higher, colors (16bit High Color) or higher (recommended) Communication Port Ethernet Port of TCP/IP Note. Microsoft, Windows XP, Windows Vista, Windows 7, Windows 8, 8.1 are registered trademarks of the Microsoft Corporation, USA. positioner Pulse string driver controller ivy2 Option 558
14 Instruction manuals can be downloaded from our company website. Please use the following for more detailed information. Options ivy2 System APPLICATION 300,000 pixel 68 9 (VGA) KCX-M CCD camera 1,300,000 pixel (SXGA) KCX-M ,000,000 pixel (UXGA) KCX-M CMOS camera 5,000,000 pixel (QSXGA) KCX-M Articulated YA Lens 8mm 12mm 16mm 25mm Model 8mm (megapixel support) 12mm (megapixel support) 16mm (megapixel support) 25mm (megapixel support) KCX-M KCX-M KCX-M KCX-M KCX-M721-0 KCX-M KCX-M KCX-M Compact single-axis TRANSERVO Single-axis FLIP-X Close-up ring 0.5mm 1.0mm Model 2.0mm 5.0mm KX0-M KX0-M KX0-M KX0-M Linear motor single-axis PHASER Lighting control board This board adds lighting control functionality to the ivy2 system. (Installed in the ivy2 unit when shipped) Model KCX-M03-L0 Lighting control board accessories Name Model Lighting power cable connector KX0-M657K-10 Cartesian XY-X SCARA YK-X Model KCX-M00-T0 Tracking board This board adds conveyor tracking functionality to the RCX30 controller. cable Cable for connecting the camera to the ivy2 board. External diagram of camera cable 20 KCX-M66F0-000 M L± Tracking board accessories Name Single unit model AB phase input cable connector KX0-M657K-20 Recommended option cable Note Name Single unit model AB phase input cable (10 m, only for counter 1) KX0-M66AF-00 Note. Not included. We can provide an option that is pre-wired to the AB phase input cable connector. 5m Model 10m 15m KCX-M66F0-00 KCX-M66F0-10 KCX-M66F0-20 Pick & place YP-X CLEAN CONTROLLER INFORMATION LAN cable with shield cloth (5 m) Model KX0-M55G0-00 positioner Pulse string driver controller ivy2 Option 559
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