This robot-integrated vision system could be actualized only because Yamaha is a robot manufacturer. The robot, camera, illumination, and gripper are centrally controlled only by the robot program. This allows a robot vision system to be constructed simply.

iVY2 (RCX340)

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“plug-and-play” simplicity
Yamaha’s own unique solution for integrated robot vision

  • Supported controllers     : RCX340

  • Number of screen pixels : 300,000 pixels / 1,300,000 pixels / 5,000,000 pixels

  • Model setting capacuiy   : 254 models

1. Easy to use, and reduces the number of steps

Adding “eyes” to a robot significantly expands the range of applications.

Basic specifications have been dramatically enhanced while retaining the current iVY system's ease of use.

2. Various applications

  • Labelling device (affixing labels to food packages)
    • Industry  : food
    • Robot used: YK500TW omnidirectional robot
    • Advantage : Even if the incoming workpieces are irregularly spaced or positioned, labels can be affixed at the same position.
  • Sealant touch-up (engine block sealant)
    • Industry: automotive
    • Robot used: SXYX Cartesian robot
    • Advantage : Even if the workpiece is skewed from its correct position, the skew and angle are detected, and the application path is automatically compensated.
  • Screw attachment position detection (television panel screw attachment)
    • Industry: electronics
    • Robot used: NXY Cartesian robot
    • Advantage : Hole position is detected, and screws are fastened accurately.
  • Position compensation with upward-facing camera (installing irregularly-shaped parts on a circuit board)
    • Industry: electronics
    • Robot used: YK150XG SCARA robot
    • Advantage : 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.

3. Simplicity

  • Auto-calibration Requires as little as 5 minutes
  • Easy workpiece registration Requires as little as 3 minutes
  • No need to make time-consuming connection settings. Dramatic reduction in setup time.
  • No need to create a coordinate conversion program.
  • Easy inter-operation with peripheral equipment.
  • Also supports moving camera.

4. Sophisticated

  • Conveyor tracking
  • Control multiple robots for even more improvement in production efficiency
  • Approximately double the search speed (compared to previous model)
  • Support for five-megapixel cameras
  • Stable workpiece detection
  • Decreased number of search detections
  • 254 types can be registered
  • Monitor output is provided
  • High-precision search even under low light

1. Robot vision basic specifications

Specification itemiVY2 unit
Supported controllersRCX340
Number of screen pixels648(H) × 494(V) (300,000 pixels, VGA)
1280(H) × 966(V) (1,300,000 pixels, SXGA)
1624(H) × 1236(V) (2,000,000 pixels, UXGA)
2592(H) x 1944(V) (5,000,000 pixels, QSXGA)
Model setting capacity254 models
Number of connectable camerasMax. 2 cameras
Connectable cameraGigE camera PoE support
External interfaceEthernet (1000BASE-T)
* For setting and monitor operations
External monitor outputDVI-I
* Also usable with an analog monitor by using a conversion adaptor.
Monitor resolution: 1024 × 768
Power supplyDC24V +/- 10% 1.5A Max.
DimensionsW 45 × H 195 × D 130 (iVY2 unit only)
Weight0.8 kg (iVY2 unit only, when the lighting control board option is selected)
Search methodEdge search (correlated edge filter, Sobel filter)
Image capturingTrigger modeS/W trigger, H/W trigger
External trigger input2 points
FunctionPosition detection, automatic point data generation
Camera installation positionFixed to the fixed camera (up, down) or robot (Y-axis, Z-axis).
Perpendicular to the workpiece to be captured.
Setting support functionCalibration, image save function, model registration*, fiducial mark registration*, monitor function*
* iVY2 Studio function (requires a Windows PC)
Lighting control optionsNumber of connectable lighting unitsMax. 2 lighting units
Modulated light formatPWM modulated light control (0 to 100%), PWM frequency switchable 62.5 kHz/125 kHz
Continuous light, strobe light (follows camera exposure)
Lighting power input12VDC or 24VDC
(external supply shared by both channels)
Lighting outputFor 12VDC supply: Total of less than 40W for both channels.
For 24VDC supply: Total of less than 80W for both channels.

2. Tracking board basic specifications

Specification item

Tracking board



Supported controller


Number of connected encoders

up to two units

Encoder power supply

DC5V (less than 500 mA total for two counters) (provided by controller)

Applicable encoders

26LS31 / 26C31 equivalent line driver (RS422 compliant)

Input phase

A, A, B, B, Z, Z

Highest response frequency

2 MHz or lower


0 to 65535


4 times


disconnection detection function is provided

External view

Ordering method