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)
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Basic Info
“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
Feature
1. 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
Specification
1. Robot vision basic specifications
| Specification item | iVY2 unit | |
|---|---|---|
| Basic specifications | Supported 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 operations | |
| External monitor output | DVI-I * Also usable with an analog monitor by using a conversion adaptor. Monitor resolution: 1024 × 768 | |
| Power 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
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