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YAMAHA – ROBOT VISION
ROBOT VISION
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)
Play VideoBasic Info“plug-and-play” simplicity
Yamaha’s own unique solution for integrated robot visionSupported controllers : RCX340
Number of screen pixels : 300,000 pixels / 1,300,000 pixels / 5,000,000 pixels
Model setting capacuiy : 254 models
Feature1. Easy to use, and reduces the number of steps
Adding “eyes” to a robot significantly expands the range of applications.
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
Specification1. Robot vision basic specifications
Specification item iVY2 unit Basic
specificationsSupported controllers RCX340 Number of screen pixels 648(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 capacity 254 models Number of connectable cameras Max. 2 cameras Connectable camera GigE camera PoE support External interface Ethernet (1000BASE-T)
* For setting and monitor operationsExternal monitor output DVI-I
* Also usable with an analog monitor by using a conversion adaptor.
Monitor resolution: 1024 × 768Power supply DC24V +/- 10% 1.5A Max. Dimensions W 45 × H 195 × D 130 (iVY2 unit only) Weight 0.8 kg (iVY2 unit only, when the lighting control board option is selected) Search method Edge search (correlated edge filter, Sobel filter) Image capturing Trigger mode S/W trigger, H/W trigger External trigger input 2 points Function Position detection, automatic point data generation Camera installation position Fixed to the fixed camera (up, down) or robot (Y-axis, Z-axis).
Perpendicular to the workpiece to be captured.Setting support function Calibration, image save function, model registration*, fiducial mark registration*, monitor function*
* iVY2 Studio function (requires a Windows PC)Lighting control options Number of connectable lighting units Max. 2 lighting units Modulated light format PWM modulated light control (0 to 100%), PWM frequency switchable 62.5 kHz/125 kHz Continuous light, strobe light (follows camera exposure) Lighting power input 12VDC or 24VDC
(external supply shared by both channels)Lighting output For 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
Basic
specifications
Supported controller
RCX340
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
Counter
0 to 65535
Multiplier
4 times
Other
disconnection detection function is provided
Dimension
Ordering Method
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